CN114521966B - Medical manipulator for abdominal cavity operation - Google Patents
Medical manipulator for abdominal cavity operation Download PDFInfo
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- CN114521966B CN114521966B CN202210141787.8A CN202210141787A CN114521966B CN 114521966 B CN114521966 B CN 114521966B CN 202210141787 A CN202210141787 A CN 202210141787A CN 114521966 B CN114521966 B CN 114521966B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a medical manipulator for abdominal surgery, which comprises a fixed handle, wherein a pair of movable shafts are rotatably arranged at the bottom of the fixed handle, one end of the fixed handle is fixedly connected with an operation panel, one end of the operation panel is fixedly connected with a connecting rod, one end of the connecting rod is fixedly connected with a transmission cavity, the surface of the transmission cavity is fixedly connected with an auxiliary rod, an adjusting device is rotatably arranged in the operation panel and comprises a first adjusting wheel and a second adjusting wheel, and the first adjusting wheel and the second adjusting wheel are symmetrically arranged; compared with the prior art, the invention can drive the transmission wheel to move by stirring the adjusting wheel, can enable the first transmission belt and the second transmission belt in the ring groove to move, can change the direction of the operating forceps, reduces the dead angle in the specific operating process, can help doctors to accurately cut the focus in the body, and can further improve the operating efficiency.
Description
Technical Field
The invention relates to the technical field of medical surgical instruments, in particular to a medical manipulator for abdominal surgery.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance. The device can replace heavy labor of people to realize mechanization and automation of production, can be operated in harmful environments to protect personal safety, and is widely applied to various industries.
Since many surgical operations are very fine, precise and accurate, and the operation requirements in the operation are very high, the operation of patients is often performed by using the surgical manipulator, but the operation of the surgical manipulator is limited by the surgical manipulator, so that the operation of the surgical manipulator is inflexible, more operation time is spent, the time and energy for completing the operation by a doctor are greatly increased, and for this reason, a medical manipulator for abdominal cavity operation is provided for solving the problems.
Disclosure of Invention
The invention aims to provide a medical manipulator for abdominal surgery, which solves the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a medical manipulator for abdominal cavity operation, includes fixed handle, fixed handle bottom rotates and is equipped with a pair of loose axle, fixed handle one end fixedly connected with operating panel, operating panel one end fixedly connected with connecting rod, connecting rod one end fixedly connected with transmission cavity, fixedly connected with auxiliary rod on the transmission cavity surface, operating panel inside rotates and is equipped with adjusting device, adjusting device includes first regulating wheel and second regulating wheel, first regulating wheel and second regulating wheel are the symmetry setting, operating panel is close to one side activity of fixed handle and is equipped with a pair of limit key, fixedly connected with buffering axle on the limit key inner wall, the inside fixedly connected with spacing ball of buffering axle, the buffer tank has been seted up on first regulating wheel and the second regulating wheel surface, and spacing ball offsets with the buffer tank inner wall;
the device comprises a first adjusting wheel, a second adjusting wheel, a support frame, a pair of driving wheels, a plurality of semicircular grooves, a metal plate, a fixing pipe and a fixing pipe, wherein the support frame is fixedly connected between the first adjusting wheel and the second adjusting wheel, the pair of driving wheels are arranged inside the support frame, the plurality of semicircular grooves are formed in the surfaces of the driving wheels, the metal plate is arranged between the driving wheels and is fixedly connected to the inner wall of the support frame, and the fixing pipe is fixedly connected with the support frame;
the utility model discloses a medical device, including auxiliary rod, fixed cover, operating panel, auxiliary rod one end fixedly connected with, fixed cover one side is equipped with the rubber seal cover, when performing the operation to the patient, can change the position and the direction of operating clamp in the patient inside through adjusting the adjusting device on operating panel surface, can reduce the condition that the operation is inflexible appears in the operation in-process, can save doctor's operation time, can reduce the condition that leads to the error that appears tired out of doctor appearance.
Preferably, one end of the driving wheel far away from the metal plate is fixedly connected with a driving shaft, the driving shaft is rotatably arranged in an operation panel, the driving shafts at two ends are fixedly connected with the inner walls of the first adjusting wheel and the second adjusting wheel respectively, a pair of compression rods are arranged at the bottom of the driving wheel, the compression rods are symmetrically arranged, the driving shaft drives the driving wheel to move along with stirring of the adjusting device, a first driving belt and a second driving belt in the ring groove can move, the direction of an operation clamp can be changed, the condition that dead angles appear in a specific operation process is reduced, doctors can be helped to accurately cut focuses in the body, and the operation efficiency can be further improved;
the driving wheel is characterized in that a plurality of clamping grooves are formed in the surface of the driving wheel, a ring groove is formed in the side wall of the driving wheel, a plurality of limiting plates are fixedly connected to the inner wall of the ring groove, the cross sections of the limiting plates are L-shaped and are arranged on the inner wall of the ring groove in an annular array, a plurality of fixing balls are fixedly connected to one end of each limiting plate, the fixing balls have attractive magnetism, one end of each fixing ball is fixedly connected with an arc plate, one end of each arc plate is propped against the inner wall of the ring groove, the surfaces of the first driving belt and the second driving belt can be extruded by means of magnetic force between the fixing balls in the rotating process of the driving wheel, the surfaces of the first driving belt and the second driving belt are attached to the inner side of the ring groove under the action of the arc plates, the accuracy in the operating process can be guaranteed, and the success rate of an operation can be improved.
Preferably, one end of the compression rod is fixedly connected to the inner wall of the supporting ring, the surface of the compression rod is fixedly connected with a supporting plate, a limiting groove is formed in the surface of the supporting plate, and a rubber sheet is arranged on the inner wall of the limiting groove;
the utility model discloses a device, including backup pad, fixed connection, elastic ring, supporting plate, fixed connection and spacing axle on the backup pad surface, fixed connection has the elastic ring on the spacing axle surface, and the elastic ring surface offsets with the semicircle inslot wall, when the drive wheel is in the static state, can make spacing axle and semicircle inslot wall offset, can play spacing effect, can play the shake of doctor's hand in the filtration operation process, can guarantee the stability of operation in-process apparatus, can promote the security of equipment.
Preferably, a limiting sleeve rod is fixedly connected to the inner wall of the fixed sleeve, one end, close to the auxiliary rod, of the limiting sleeve rod is fixedly connected with a transmission gear ring, a driving gear ring is meshed on the transmission gear ring, a straight rod is fixedly connected to the inner wall of the fixed sleeve, the driving gear ring is rotatably arranged on the surface of the straight rod, a movable sleeve rod is fixedly connected to the surface of the straight rod, and the movable sleeve rod is fixedly connected with the driving gear ring;
the annular groove is formed in the surface of the driving gear ring, the fixing disc is movably clamped in the annular groove, the fixing disc is fixedly connected with the straight rod, the extrusion groove is formed in the annular groove, the plurality of round grooves are formed in the extrusion groove, an annular air bag is fixedly connected to one end of the fixing disc on the surface, the other end of the fixing disc is propped against the fixing disc, the diameter of the annular air bag is larger than the inner diameter of the extrusion groove, when the driving gear ring is in a static state, the annular air bag can be attached to the inside of the extrusion groove, the friction effect of the driving gear ring can be further enhanced, the stability of the driving gear ring in the static state can be ensured, the condition that an adjusting device is always pressed in the operation process is avoided, and the pressure of doctors in the operation process can be reduced;
the transmission hole has been seted up on the auxiliary rod surface, and the inside activity of transmission hole is equipped with the second drive belt, the second drive belt is connected with the drive wheel transmission, the transmission of second drive belt other end sets up in drive gear ring one side, along with the rotation of second drive belt, can make drive gear ring move spacing loop bar and appear rotating to can change the operating direction of operating pliers, compare doctor manual operation, have better precision, can with reduce the risk at the operation in-process, promote successful efficiency.
Preferably, one end of the auxiliary rod is rotatably provided with a rotating disc, a plurality of fixing rods are fixedly connected to the surface of the rotating disc, a connecting frame is fixedly connected between the fixing rods, and one end of the connecting frame is fixedly connected with a fixing shaft;
the transmission groove is formed in the fixed shaft, the transmission groove is in a Y shape, the transmission rope is arranged in the rotating disc and is in transmission connection with the movable shaft, a first transmission belt is movably arranged at two ends of the rotating disc and is in transmission connection with the transmission wheel, the movable shaft can drive the transmission rope to move, the clamping rod can move, and the shape of the extrusion air bag is changed.
Preferably, a plurality of hinge rings are arranged in the rubber sealing sleeve, the surfaces of the hinge rings are fixedly connected with hinge blocks, the hinge blocks are symmetrically arranged, friction grooves are formed in the surfaces of the hinge rings, a pair of limiting end blocks are fixedly connected to the inner walls of the hinge rings, one end of each hinge ring is fixedly connected with a limiting sleeve rod, and a fixing plate is fixedly connected between the hinge rings on one side;
the fixed plate is fixedly connected with an operation clamp on the surface, the inner wall of the operation clamp is fixedly connected with an anti-slip gasket, an extrusion air bag is arranged in the operation clamp, two ends of the extrusion air bag are fixedly connected with an elastic rope, a limiting clamping groove is formed in the surface of the hinge block, a clamping rod is fixedly connected with the inside of the limiting clamping groove, a driving rope penetrates through the clamping rod, the limiting key is pressed down in the operation process to play a limiting role on the adjusting device, the angle of the internal operation clamp can be in a fixed state, and the situation that the position is deviated when other operations are performed is avoided;
the extrusion air bag is characterized in that a pair of end blocks are fixedly connected to the inner wall of the extrusion air bag and fixedly connected with the driving rope, a pair of hinge rods are fixedly connected to the inside of the extrusion air bag, and a reset spring is fixedly connected between the hinge rods.
Preferably, a movable plate is arranged inside the hinge ring, the movable plate is U-shaped, a fixed ring is arranged between the movable plates, the fixed ring is fixedly connected with the inner wall of the limit sleeve rod, a pair of arc-shaped grooves are formed in the surface of the fixed ring, the movable plate penetrates through the arc-shaped grooves, a reset plate is arranged on one side of the fixed ring, one end of the reset plate is fixedly connected with a straight rod, and one end of the straight rod is fixedly connected with one end of the fixed shaft;
the inside activity of reset plate is equipped with first drive belt, a pair of metal axle of fixedly connected with on the first drive belt, and metal axle activity sets up in reset plate both sides, fixedly connected with gag lever post on the reset plate surface, fixedly connected with lantern ring on the gag lever post, first drive belt activity sets up inside the lantern ring, a pair of sheetmetal of fixedly connected with on the first drive belt, sheetmetal and fly leaf inner wall fixed connection, the compressed groove has been seted up on the fly leaf outer wall, and the pivoted in-process appears in the first drive belt, can drive the sheetmetal and appear the motion, can make the fly leaf drive the driving ball appear rotating, can make the articulated ring appear the motion under the effect of frictional force.
Preferably, a transmission ball is movably arranged between the movable plates, an elastic shaft is fixedly connected inside the hinge ring, the transmission ball is rotationally arranged on the elastic rod, a movable ring is arranged between the transmission balls and is fixedly connected on the elastic shaft, a reset shaft is arranged between the transmission balls, one end of the reset shaft is fixedly connected between the fixed plate and the movable ring, a plurality of steering sleeves are fixedly connected on the reset shaft, pull ropes are inserted at two ends of the steering sleeves, one end of each pull rope is fixedly connected between the transmission balls, the pull ropes are symmetrically arranged, and a plurality of transmission grooves are formed in the surface of each transmission ball;
the movable plate is characterized in that a plurality of extrusion shafts are fixedly connected to the inner wall of the movable plate, the surfaces of the extrusion shafts are propped against the inner wall of the transmission groove, an arc-shaped extrusion groove is formed in the surface of the movable plate, the inner wall of the arc-shaped extrusion groove is propped against the extrusion end block, and when the hinge ring is subjected to position deviation, the position of the operating forceps can be changed, the extrusion shafts can be mutually extruded with the inner wall of the hinge ring after expansion, so that the stability effect can be achieved, and the operation efficiency can be further improved;
preferably, the inside fixedly connected with spacing box of fixed handle, the loose axle activity sets up inside spacing box, the inside reset groove of seting up of spacing box with stir the groove, reset groove and stir and be equipped with the spread groove between the groove, and inside fixedly connected with one-way baffle of spread groove, the loose axle activity is inserted and is equipped with a pair of reset lever, the reset lever activity sets up inside stirring the groove, loose axle fixedly connected with metal spring, and metal spring and spacing box inner wall fixed connection, loose axle and elastic cord fixed connection, fixedly connected with friction block on the loose axle, a plurality of spacing expansion plates of spacing box inner wall top fixed connection, a plurality of roof have been set firmly between the spacing expansion plate, spacing box inner wall and roof fixed connection, spacing expansion plate runs through the roof, and roof bottom and friction block surface offset, through stirring the axle and can make the elastic cord appear moving to can control operating pliers, and can carry out spacing to the loose axle through spacing expansion plate, can adjust clamping force according to different circumstances, and downward pulling loose axle can make reset lever effect the inside the metal knife with the help of the main knife.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the transmission shaft can drive the transmission wheel to move by stirring the adjusting wheel, so that the first transmission belt and the second transmission belt in the ring groove can move, the direction of the operating forceps can be changed, the condition of dead angles in a specific operation process is reduced, a doctor can be helped to accurately cut off a focus in the body, and the operation efficiency can be further improved;
2. according to the invention, in the process of rotation of the driving wheel, the surfaces of the first driving belt and the second driving belt can be extruded by means of magnetic force between the fixing balls, and the first driving belt and the second driving belt are attached to the inside of the annular groove under the action of the arc plate, so that the accuracy in the operation process can be ensured, and the success rate of an operation can be improved;
3. when the driving wheel is in a static state, the limiting shaft can be abutted against the inner wall of the semicircular groove, so that the limiting function can be realized, the shaking of hands of a doctor in the filtering operation process can be realized, the stability of instruments in the operation process can be ensured, and the safety of equipment can be improved;
4. according to the invention, in the process of rotating the first transmission belt, the metal sheet can be driven to move, the movable plate can drive the transmission ball to rotate, so that the position of the hinged ring is deviated, the position of the operating forceps can be changed, the extrusion shaft can be mutually extruded with the hinged rod after expansion, the stable effect can be achieved, the operation efficiency can be further improved, the limiting key can be pressed in the operation process to limit the adjusting device, the angle of the internal operating forceps can be in a fixed state, and the situation that the position deviates when other operations are carried out is avoided;
5. according to the invention, through the rotation of the second transmission belt, the drive gear belt drives the limit sleeve rod to rotate, so that the operation direction of the operating forceps can be changed, and compared with the manual operation of a doctor, the operating forceps has better accuracy, the risk in the operation process can be reduced, and the success efficiency is improved;
6. according to the invention, when the driving gear ring is in a static state, the annular air bag can be attached to the inside of the extrusion groove, the friction effect of the driving gear ring can be further enhanced, the stability of the driving gear ring in the static state can be ensured, the condition that the adjusting wheel is always pressed in the operation process is avoided, and the pressure of a doctor in the operation process can be reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the junction operation panel of the present invention;
FIG. 3 is a schematic view of the structure of the support plate of the present invention;
FIG. 4 is a schematic diagram of a driving wheel structure of the present invention;
FIG. 5 is an enlarged schematic view of a portion of FIG. 4A according to the present invention;
FIG. 6 is a schematic view of the internal structure of the fixing sleeve of the present invention;
FIG. 7 is a schematic view of the internal structure of the rubber sealing sleeve of the invention;
FIG. 8 is an enlarged partial schematic view of the portion A of FIG. 7 according to the present invention
FIG. 9 is a schematic view showing the internal structure of the squeeze air bag of the present invention
FIG. 10 is a schematic diagram of a driving gear structure according to the present invention;
FIG. 11 is a schematic view of a mounting plate according to the present invention;
FIG. 12 is a schematic view of the internal structure of the hinge ring of the present invention;
FIG. 13 is a schematic view of the inside cross-section of the stop collar of the present invention;
FIG. 14 is a schematic view in partial cross-section of a spacing device of the present invention;
FIG. 15 is a schematic view of the internal structure of the limit case of the present invention;
in the figure: 1. a fixed handle; 2. an operation panel; 3. an auxiliary lever; 4. a rubber sealing sleeve; 5. operating pliers; 6. a driving wheel; 7. a limit box; 11. a movable shaft; 12. a connecting rod; 13. a transmission chamber; 21. an adjusting device; 211. a first adjustment wheel; 212. a second adjustment wheel; 22. a limit key; 221. a buffer shaft; 23. a fixed tube; 24. a compression rod; 25. a limiting shaft; 26. a support plate; 261. a limit groove; 31. a fixed sleeve; 32. a limit loop bar; 33. a drive gear ring; 34. a drive gear ring; 341. a fixed plate; 342. an annular groove; 343. an extrusion groove; 344. an annular air bag; 35. a first belt; 36. a rotating disc; 361. a fixed rod; 362. a connecting frame; 37. a second belt; 38. a fixed shaft; 41. a hinge ring; 42. a hinge block; 43. a clamping rod; 44. a drive ball; 441. a reset shaft; 442. a transmission groove; 45. a movable plate; 451. a metal sheet; 46. a compression tank; 47. a reset plate; 471. a limit rod; 48. a fixing ring; 49. a steering sleeve; 491. a pull rope; 51. extruding the air bag; 52. a fixing plate; 53. an anti-slip gasket; 54. a hinge rod; 55. a return spring; 61. a transmission shaft; 62. a ring groove; 63. a limiting plate; 64. a fixed ball; 71. a reset groove; 72. a toggle groove; 73. a reset lever; 74. limiting expansion plate.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-11, the present invention provides a technical solution: the utility model provides a medical manipulator for abdominal surgery, including fixed handle 1, fixed handle 1 bottom rotates and is equipped with a pair of loose axle 11, fixed handle 1 one end fixedly connected with operating panel 2, operating panel 2 one end fixedly connected with connecting rod 12, connecting rod 12 one end fixedly connected with transmission cavity 13, fixedly connected with auxiliary rod 3 on the surface of transmission cavity 13, operating panel 2 inside rotates and is equipped with adjusting device 21, adjusting device 21 includes first regulating wheel 211 and second regulating wheel 212, first regulating wheel 211 and second regulating wheel 212 are the symmetry setting, operating panel 2 is close to one side activity of fixed handle 1 and is equipped with a pair of limit key 22, fixedly connected with buffer axle 221 on the limit key 22 inner wall, buffer axle 221 inside fixedly connected with limit ball, the buffer tank has been seted up on the surface to first regulating wheel 211 and second regulating wheel 212, and limit ball offsets with the buffer tank inner wall;
a support frame is fixedly connected between the first adjusting wheel 211 and the second adjusting wheel 212, a pair of driving wheels 6 are arranged in the support frame, a plurality of semicircular grooves are formed in the surface of the driving wheels 6, a metal plate is arranged between the driving wheels 6 and fixedly connected to the inner wall of the support frame, a fixed pipe 23 is arranged in the operation panel 2, and the fixed pipe 23 is fixedly connected with the support frame;
the fixed cover 31 of auxiliary rod 3 one end fixedly connected with, fixed cover 31 one side is equipped with rubber seal cover 4, when carrying out the operation to the patient, can change the position and the direction of operating clamp 5 in the patient inside through adjusting device 21 on the surface of operating panel 2, can reduce the condition that the operation is inflexible in the operation in-process appears.
One end of the driving wheel 6 far away from the metal plate is fixedly connected with a driving shaft 61, the driving shaft 61 is rotatably arranged in the operation panel 2, the driving shafts 61 at two ends are fixedly connected with the inner walls of the first adjusting wheel 211 and the second adjusting wheel 212 respectively, a pair of compression rods 24 are arranged at the bottom of the driving wheel 6, the compression rods 24 are symmetrically arranged, and the driving shaft 61 can drive the driving wheel 6 to move along with stirring the adjusting device 21, so that a first driving belt 35 and a second driving belt 37 in the ring groove 62 can move, and the direction of the operating forceps 5 can be changed;
a plurality of draw-in grooves have been seted up on the drive wheel 6 surface, annular 62 has been seted up on the drive wheel 6 lateral wall, fixedly connected with a plurality of limiting plates 63 on the annular 62 inner wall, limiting plates 63 cross-section is "L" form and be annular array setting on annular 62 inner wall, a plurality of fixed balls 64 of limiting plates 63 one end fixedly connected with, fixed ball 64 have the magnetism that attracts each other in the interval, fixed ball 64 one end fixedly connected with arc, and arc one end offsets with annular 62 inner wall, in the pivoted in-process appears in drive wheel 6, can extrude first drive belt 35 and second drive belt 37 surface with the help of the magnetic force between fixed ball 64, make its laminating in annular 62 inside under the effect of arc, can guarantee the accuracy of operation in-process.
One end of the compression rod 24 is fixedly connected to the inner wall of the support ring, a support plate 26 is fixedly connected to the surface of the compression rod 24, a limit groove 261 is formed in the surface of the support plate 26, and a rubber sheet is arranged on the inner wall of the limit groove 261;
the straight rod is fixedly connected to the surface of the supporting plate 26, the limiting shaft 25 is fixedly connected to the surface of the straight rod, the elastic ring is fixedly connected to the surface of the limiting shaft 25, the surface of the elastic ring abuts against the inner wall of the semicircular groove, when the driving wheel 6 is in a static state, the limiting shaft 25 abuts against the inner wall of the semicircular groove, the limiting effect can be achieved, and shaking of hands of a doctor in the filtering operation process can be achieved.
A limiting sleeve rod 32 is fixedly connected to the inner wall of the fixed sleeve 31, a transmission gear ring 33 is fixedly connected to one end, close to the auxiliary rod 3, of the limiting sleeve rod 32, a driving gear ring 34 is meshed with the transmission gear ring 33, a straight rod is fixedly connected to the inner wall of the fixed sleeve 31, the driving gear ring 34 is rotatably arranged on the surface of the straight rod, a movable sleeve rod is fixedly connected to the surface of the straight rod, and the movable sleeve rod is fixedly connected with the driving gear ring 34;
an annular groove 342 is formed in the surface of the driving gear ring 34, a fixed disc 341 is movably clamped in the annular groove 342, the fixed disc 341 is fixedly connected with a straight rod, an extrusion groove 343 is formed in the annular groove 342, a plurality of round grooves are formed in the extrusion groove 343, an annular air bag 344 is fixedly connected to one end surface of the fixed disc 341, the other end of the fixed disc 341 abuts against the fixed disc, the diameter of the annular air bag 344 is larger than the inner diameter of the extrusion groove 343, when the driving gear ring 34 is in a static state, the annular air bag 344 can be attached to the inside of the extrusion groove 343, the friction effect born by the driving gear ring 34 can be further enhanced, and the stability of the driving gear ring 34 in static state can be ensured;
the transmission hole is formed in the surface of the auxiliary rod 3, a second transmission belt 37 is movably arranged in the transmission hole, the second transmission belt 37 is in transmission connection with the transmission wheel 6, the other end of the second transmission belt 37 is in transmission arrangement on one side of the driving gear ring 34, and along with rotation of the second transmission belt 37, the driving gear ring 34 can drive the limit sleeve rod 32 to rotate, so that the operation direction of the operating forceps 5 can be changed, and compared with manual operation of a doctor, the accuracy is better.
One end of the auxiliary rod 3 is rotatably provided with a rotating disc 36, a plurality of fixed rods 361 are fixedly connected to the surface of the rotating disc 36, connecting frames 362 are fixedly connected between the fixed rods 361, and one end of each connecting frame 362 is fixedly connected with a fixed shaft 38;
the transmission groove is formed in the fixed shaft 38, the transmission groove is in a Y shape, a transmission rope is arranged in the rotating disc 36 and is in transmission connection with the movable shaft 11, a first transmission belt 35 is movably arranged at two ends of the rotating disc 36, the first transmission belt 35 is in transmission connection with the transmission wheel 6, the movable shaft 11 can drive the transmission rope to move, the transmission rope can move in the clamping rod 43, and the shape of the extrusion air bag 51 is changed.
The inside of the rubber sealing sleeve 4 is provided with a plurality of hinge rings 41, the surface of the hinge rings 41 is fixedly connected with hinge blocks 42, the hinge blocks 42 are symmetrically arranged, friction grooves are formed in the surface of the hinge rings 41, the inner wall of the hinge rings 41 is fixedly connected with a pair of limiting end blocks, one end of one side of the hinge ring 41 is fixedly connected with a limiting sleeve rod 32, and the other side of the hinge ring 41 is fixedly connected with a fixing plate 52;
the surface of the fixed plate 52 is fixedly connected with the operating clamp 5, the inner wall of the operating clamp 5 is fixedly connected with the anti-slip gasket 53, the inside of the operating clamp 5 is provided with the extrusion air bag 51, the two ends of the extrusion air bag 51 are fixedly connected with the elastic ropes, the surface of the hinging block 42 is provided with the limiting clamping groove, the inside of the limiting clamping groove is fixedly connected with the clamping rod 43, the driving rope penetrates through the clamping rod 43, the limiting key 22 is pressed down in the operating process to limit the adjusting device 21, the angle of the inside operating clamp 5 is in a fixed state, and the situation that the position is deviated in other operations is avoided;
a pair of end blocks are fixedly connected to the inner wall of the extrusion air bag 51, the end blocks are fixedly connected with the driving rope, a pair of hinge rods 54 are fixedly connected to the inside of the extrusion air bag 51, and a reset spring 55 is fixedly connected between the hinge rods 54.
The hinge ring 41 is internally provided with a movable plate 45, the movable plate 45 is U-shaped, a fixed ring 48 is arranged between the movable plates 45, the fixed ring 48 is fixedly connected with the inner wall of the limit sleeve rod 32, a pair of arc-shaped grooves are formed in the surface of the fixed ring 48, the movable plate 45 penetrates through the arc-shaped grooves, one side of the fixed ring 48 is provided with a reset plate 47, one end of the reset plate 47 is fixedly connected with a straight rod, and one end of the straight rod is fixedly connected with one end of the fixed shaft 38;
the inside activity of reset plate 47 is equipped with first drive belt 35, fixedly connected with a pair of metal axle on the first drive belt 35, and the metal axle activity sets up in reset plate 47 both sides, fixedly connected with gag lever post 471 on the reset plate 47 surface, fixedly connected with lantern ring on the gag lever post 471, first drive belt 35 activity sets up inside the lantern ring, fixedly connected with a pair of sheetmetal 451 on the first drive belt 35, sheetmetal 451 and fly leaf 45 inner wall fixed connection, the compressed groove 46 has been seted up on the fly leaf 45 outer wall, in the pivoted in-process appears in first drive belt 35, can drive the sheetmetal and appear moving, can make fly leaf 45 drive the driving ball 44 and appear rotating, can make articulated ring 41 appear moving under the effect of frictional force.
A transmission ball 44 is movably arranged between the movable plates 45, an elastic shaft is fixedly connected inside the hinge ring 41, the transmission ball 44 is rotatably arranged on the elastic rod, a movable ring is arranged between the transmission balls 44 and is fixedly connected on the elastic shaft, a reset shaft 441 is arranged between the transmission balls 44, one end of the reset shaft 441 is fixedly connected between the fixed plate 52 and the movable ring, a plurality of steering sleeves 49 are fixedly connected on the reset shaft 441, pull ropes 491 are inserted at two ends of the steering sleeves 49, one end of each pull rope 491 is fixedly connected between the transmission balls 44, the pull ropes 491 are symmetrically arranged, and a plurality of transmission grooves 442 are formed in the surface of each transmission ball 44;
the movable plate 45 is fixedly connected with a plurality of extrusion shafts on the inner wall, and the surface of the extrusion shafts are propped against the inner wall of the transmission groove 442, the surface of the movable plate 45 is provided with an arc extrusion groove, and the inner wall of the arc extrusion groove is propped against the extrusion end block, when the hinge ring 41 is shifted in position, the position of the operating clamp 5 can be changed, and the extrusion shafts can be mutually extruded with the inner wall of the hinge ring 41 after being expanded, so that the stable effect can be achieved.
Fixed handle 1 inside fixedly connected with spacing box 7, loose axle 11 activity sets up inside spacing box 7, reset groove 71 has been seted up inside spacing box 7 and stir groove 72, be equipped with the spread groove between reset groove 71 and stir groove 72, and inside fixedly connected with one-way baffle of spread groove, loose axle 11 activity is inserted and is equipped with a pair of reset lever 73, reset lever 73 activity sets up inside stirring groove 72, loose axle 11 fixedly connected with metal spring, and metal spring and spacing box 7 inner wall fixed connection, loose axle 11 and elastic cord fixed connection, fixedly connected with friction block on the loose axle 11, spacing box 7 inner wall top fixed connection has a plurality of spacing expansion plates 74, a plurality of roof has been set firmly between spacing expansion plates 74, spacing box 7 inner wall and roof fixed connection, spacing expansion plates 74 run through the roof, and roof bottom offsets with the friction block surface, through stirring the loose axle 11 can make the elastic cord appear moving, thereby can control operating pliers 5, and can carry out spacing to loose axle 11 through spacing expansion plates, can adjust the clamping force according to different circumstances, and downward pulling loose axle 11 can make reset lever 73 card establish at the inside the reset lever 71, the main knife is convenient for the doctor can reset the main knife with the help of the effect of the metal spring.
Working principle: firstly, when a patient is operated, the position and the direction of the operating forceps 5 in the patient can be changed by adjusting the adjusting device 21 on the surface of the operating panel 2, the situation that the operation is inflexible in the operation process can be reduced, the operation time of a doctor can be saved, the situation that the doctor is tired and leads to errors can be reduced, along with stirring the adjusting device 21, the transmission shaft 61 can drive the transmission wheel 6 to move, the first transmission belt 35 and the second transmission belt 37 in the annular groove 62 can move, the direction of the operating forceps 5 can be changed, the situation that dead angles appear in the specific operation process can be reduced, the doctor can be helped to accurately cut the focus in the body, the operation efficiency can be further improved, meanwhile, the surfaces of the first transmission belt 35 and the second transmission belt 37 can be extruded by means of the magnetic force between the fixing balls 64 in the rotation process of the transmission wheel 6, the doctor can be enabled to be attached in the annular groove 62 under the action of the arc plate, the accuracy in the operation process can be guaranteed, the success rate of the operation can be improved, and when the transmission wheel 6 is in the static state, the limit shaft 25 can be enabled to abut against the inner wall 25, the limit groove can be enabled to move, the safety of the hand can be guaranteed, and the safety of the operation can be ensured, and the hand stability can be operated in the operation process;
then, in the process of rotating the first transmission belt 35, the metal sheet can be driven to move, the movable plate 45 can drive the transmission ball 44 to rotate, so that the position of the hinged ring 41 can be shifted, the position of the operating forceps 5 can be changed, the extrusion shaft can be mutually extruded with the inner wall of the hinged ring 41 after expansion, the stable effect can be achieved, the operation efficiency can be further improved, the limiting key 22 can be pressed down in the operation process to play a limiting role on the adjusting device 21, the angle of the internal operating forceps 5 can be in a fixed state, the situation that the position is deviated in other operations is avoided, and along with the rotation of the second transmission belt 37, the driving gear ring 34 can drive the limiting sleeve rod 32 to rotate, so that the operation direction of the operating forceps 5 can be changed, compared with the manual operation, the operating forceps have better precision, the risks in the operation process can be reduced by doctors, and the success efficiency is improved;
finally, when the driving gear ring 34 is in a static state, the annular air bag 344 can be attached to the inside of the extrusion groove 343, so that the friction action of the driving gear ring 34 can be further enhanced, the stability of the driving gear ring 34 in the static state can be ensured, the condition that the adjusting device 21 is always pressed in the operation process is avoided, and the pressure of a doctor in the operation process can be reduced.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. Medical manipulator for abdominal surgery, including fixed handle (1), its characterized in that: the novel automatic buffer device is characterized in that a pair of movable shafts (11) are rotationally arranged at the bottom of the fixed handle (1), one end of the fixed handle (1) is fixedly connected with an operation panel (2), one end of the operation panel (2) is fixedly connected with a connecting rod (12), one end of the connecting rod (12) is fixedly connected with a transmission cavity (13), an auxiliary rod (3) is fixedly connected to the surface of the transmission cavity (13), an adjusting device (21) is rotationally arranged in the operation panel (2), the adjusting device (21) comprises a first adjusting wheel (211) and a second adjusting wheel (212), the first adjusting wheel (211) and the second adjusting wheel (212) are symmetrically arranged, one side, close to the fixed handle (1), of the operation panel (2) is movably provided with a pair of limit keys (22), a buffer shaft (221) is fixedly connected to the inner wall of the limit keys, a buffer groove is formed in the surface of the first adjusting wheel (211) and the second adjusting wheel (212), and the limit balls are propped against the inner wall of the buffer groove;
the first adjusting wheel (211) and the second adjusting wheel (212) are fixedly connected with a supporting frame, a pair of driving wheels (6) are arranged in the supporting frame, a plurality of semicircular grooves are formed in the surface of the driving wheels (6), metal plates are arranged between the driving wheels (6) and fixedly connected to the inner wall of the supporting frame, a fixed pipe (23) is arranged in the operating panel (2), the fixed pipe (23) is fixedly connected with the supporting frame, one end, far away from the metal plates, of the driving wheels (6) is fixedly connected with a driving shaft (61), the driving shaft (61) is rotatably arranged in the operating panel (2), the transmission shafts (61) at the two ends are fixedly connected with the inner walls of the first adjusting wheel (211) and the second adjusting wheel (212) respectively, a pair of compression rods (24) are arranged at the bottom of the transmission wheel (6), the compression rods (24) are symmetrically arranged, a plurality of clamping grooves are formed in the surface of the transmission wheel (6), annular grooves (62) are formed in the side walls of the transmission wheel (6), a plurality of limiting plates (63) are fixedly connected to the inner walls of the annular grooves (62), the cross sections of the limiting plates (63) are L-shaped and are arranged on the inner walls of the annular grooves (62) in an annular array, a plurality of fixing balls (64) are fixedly connected to one end of each limiting plate (63), and the fixing balls (64) have attractive magnetism, the fixed ball (64) is fixedly connected with an arc plate at one end, one end of the arc plate is propped against the inner wall of the annular groove (62), one end of the compression rod (24) is fixedly connected onto the inner wall of the supporting ring, a supporting plate (26) is fixedly connected onto the surface of the compression rod (24), a limit groove (261) is formed on the surface of the supporting plate (26), a rubber sheet is arranged on the inner wall of the limit groove (261), a straight rod is fixedly connected onto the surface of the supporting plate (26), a limit shaft (25) is fixedly connected onto the surface of the straight rod, an elastic ring is fixedly connected onto the surface of the limit shaft (25), and the surface of the elastic ring is propped against the inner wall of the semicircular groove;
one end of the auxiliary rod (3) is fixedly connected with a fixed sleeve (31), one side of the fixed sleeve (31) is provided with a rubber sealing sleeve (4), one end of the fixed sleeve (31) close to the auxiliary rod (3) is fixedly connected with a transmission gear ring (343), the transmission gear ring (34) is meshed with the transmission gear ring, a straight rod is fixedly connected to the inner wall of the fixed sleeve (31), the driving gear ring (34) is rotatably arranged on the surface of the straight rod, an annular groove (342) is formed in the surface of the driving gear ring (34), an inner movable clamp of the annular groove (342) is provided with a fixed disc (341), a plurality of round grooves are formed in the transmission gear ring (343), one end of the fixed disc (341) is fixedly connected with a straight rod, an annular groove (342) is formed in the inner portion of the annular groove (342), a large diameter of the transmission gear ring (343) is formed in the inner surface of the fixed disc (344), and the transmission gear ring (343) is provided with a large diameter of the transmission hole (37), the utility model discloses a transmission mechanism for a bicycle, including drive wheel (6), second drive belt (37), auxiliary rod (3), auxiliary rod (36), fixed rod (361), link (362), fixed shaft (38) is connected with drive wheel (6) transmission to second drive belt (37), second drive belt (37) other end transmission sets up in drive gear ring (34) one side, auxiliary rod (3) one end is rotated and is equipped with rolling disc (36), fixedly connected with a plurality of dead levers (361) on rolling disc (36) surface, fixedly connected with link (362) between dead lever (361), fixed shaft (38) are fixedly connected with one end of link (362), transmission groove has been seted up to inside of fixed shaft (38), and the transmission groove is "Y" form, rolling disc (36) inside is equipped with the driving rope, and the driving rope is connected with loose axle (11) transmission, rolling disc (36) both ends activity is equipped with first drive belt (35), first drive belt (35) are connected with drive wheel (6) transmission.
2. A medical manipulator for abdominal surgery according to claim 1, characterized in that: the novel rubber sealing sleeve is characterized in that a plurality of hinge rings (41) are arranged in the rubber sealing sleeve (4), hinge blocks (42) are fixedly connected to the surfaces of the hinge rings (41), the hinge blocks (42) are symmetrically arranged, friction grooves are formed in the surfaces of the hinge rings (41), a pair of limiting end blocks are fixedly connected to the inner wall of the hinge rings (41), one end of each hinge ring (41) is fixedly connected with a limiting sleeve rod (32), and a fixing plate (52) is fixedly connected between the hinge rings (41) on one side;
the anti-slip clamp comprises a fixing plate (52), an operation clamp (5) is fixedly connected to the surface of the fixing plate, an anti-slip gasket (53) is fixedly connected to the inner wall of the operation clamp (5), an extrusion air bag (51) is arranged in the operation clamp (5), two ends of the extrusion air bag (51) are fixedly connected with an elastic rope, a limiting clamping groove is formed in the surface of a hinging block (42), a clamping rod (43) is fixedly connected to the inside of the limiting clamping groove, and a transmission rope penetrates through the clamping rod (43);
a pair of end blocks are fixedly connected to the inner wall of the extrusion air bag (51), the end blocks are fixedly connected with the transmission rope, a pair of hinge rods (54) are fixedly connected to the inside of the extrusion air bag (51), and a reset spring (55) is fixedly connected between the hinge rods (54).
3. A medical manipulator for abdominal surgery according to claim 2, characterized in that: the movable plate (45) is arranged inside the hinge ring (41), the movable plate (45) is U-shaped, a fixed ring (48) is arranged between the movable plates (45), the fixed ring (48) is fixedly connected with the inner wall of the limit sleeve rod (32), a pair of arc-shaped grooves are formed in the surface of the fixed ring (48), the movable plate (45) penetrates through the arc-shaped grooves, a reset plate (47) is arranged on one side of the fixed ring (48), a straight rod is fixedly connected to one end of the reset plate (47), and one end of the straight rod is fixedly connected to the fixed shaft (38);
the inside activity of reset plate (47) is equipped with first drive belt (35), fixedly connected with metal axle on first drive belt (35), and metal axle activity sets up in reset plate (47) both sides, fixedly connected with gag lever post (471) on reset plate (47) surface, fixedly connected with lantern ring on gag lever post (471), first drive belt (35) activity sets up inside the lantern ring, fixedly connected with a pair of sheetmetal (451) on first drive belt (35), sheetmetal (451) and fly leaf (45) inner wall fixed connection, compression groove (46) have been seted up on fly leaf (45) outer wall.
4. A medical manipulator for abdominal surgery according to claim 3, characterized in that: the novel steering device is characterized in that a transmission ball (44) is movably arranged between the movable plates (45), an elastic shaft is fixedly connected inside the hinge ring (41), the transmission ball (44) is rotatably arranged on an elastic rod, a movable ring is arranged between the transmission balls (44) and is fixedly connected to the elastic shaft, a reset shaft (441) is arranged between the transmission balls (44), one end of the reset shaft (441) is fixedly connected between the fixed plates (52) and the movable ring, a plurality of steering sleeves (49) are fixedly connected to the reset shaft (441), pull ropes (491) are inserted at two ends of each steering sleeve (49), one end of each pull rope (491) is fixedly connected between the transmission balls (44), the pull ropes (491) are symmetrically arranged, and a plurality of transmission grooves (442) are formed in the surface of each transmission ball (44);
the movable plate (45) is fixedly connected with a plurality of extrusion shafts on the inner wall, the surfaces of the extrusion shafts are propped against the inner wall of the transmission groove (442), an arc-shaped extrusion groove is formed in the surface of the movable plate (45), and the inner wall of the arc-shaped extrusion groove is propped against the extrusion end block.
5. A medical manipulator for abdominal surgery according to claim 1, characterized in that: fixed handle (1) inside fixedly connected with spacing box (7), loose axle (11) activity sets up inside spacing box (7), reset groove (71) and stir groove (72) have been seted up to inside spacing box (7), be equipped with the spread groove between reset groove (71) and stir groove (72), and inside fixedly connected with one-way baffle of spread groove, loose axle (11) activity is inserted and is equipped with a pair of reset lever (73), reset lever (73) activity sets up inside stirring groove (72), loose axle (11) fixedly connected with metal spring, and metal spring and spacing box (7) inner wall fixed connection, loose axle (11) and elastic cord fixed connection, fixedly connected with clutch block on loose axle (11), a plurality of roof of spacing expansion plate (74) are fixed to inside wall top of spacing box (7), spacing box (7) inner wall and roof fixed connection, roof expansion plate (74) run through the roof surface with roof counterbalance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210141787.8A CN114521966B (en) | 2022-02-16 | 2022-02-16 | Medical manipulator for abdominal cavity operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210141787.8A CN114521966B (en) | 2022-02-16 | 2022-02-16 | Medical manipulator for abdominal cavity operation |
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| CN114521966B true CN114521966B (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210141787.8A Active CN114521966B (en) | 2022-02-16 | 2022-02-16 | Medical manipulator for abdominal cavity operation |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5452836A (en) * | 1994-02-07 | 1995-09-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with improved jaw closure and staple firing actuator mechanism |
| DE202005020964U1 (en) * | 2005-03-11 | 2007-01-04 | Olympus Winter & Ibe Gmbh | Medical instrument e.g. forceps, for use in e.g. surgery, has turning lever with holding device at its provision in unlocked rotational position, where holding device is designed for frictional holding of lever opposite to grip part |
| US8945095B2 (en) * | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
| DE202016107261U1 (en) * | 2015-12-28 | 2017-02-03 | Oplnstruments GmbH | Non-invasive and freely bendable vascular occlusion forceps |
| CN209678630U (en) * | 2018-12-28 | 2019-11-26 | 朱玉鹏 | A kind of operation on gallbladder gall-bladder clamp |
| CN111772694A (en) * | 2020-07-15 | 2020-10-16 | 深圳市资福医疗技术有限公司 | Auxiliary device for minimally invasive surgery |
| CN213641099U (en) * | 2020-09-27 | 2021-07-09 | 上海市瑞金康复医院 | Medical forceps for endoscopic surgery |
| CN112603501B (en) * | 2020-12-07 | 2022-05-10 | 张玲 | Tumor stripping equipment for gynecological tumor operation |
| CN113143484A (en) * | 2021-05-11 | 2021-07-23 | 刘涛 | Scale for laparoscopic surgery and measuring method thereof |
| CN113749696B (en) * | 2021-09-30 | 2023-09-22 | 苏州法兰克曼医疗器械有限公司 | Adjustable binding clip assembly and biopsy forceps |
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