CN104546033B - Band wrist type micro instrument device for surgical operation - Google Patents
Band wrist type micro instrument device for surgical operation Download PDFInfo
- Publication number
- CN104546033B CN104546033B CN201410788752.9A CN201410788752A CN104546033B CN 104546033 B CN104546033 B CN 104546033B CN 201410788752 A CN201410788752 A CN 201410788752A CN 104546033 B CN104546033 B CN 104546033B
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- connecting rod
- thumb wheel
- motor
- wrist
- type
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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
Abstract
The invention discloses a band wrist type micro instrument device for surgical operation. The band wrist type micro instrument device comprises a wrist type three-axis converged mechanism, a driving mechanism, a fingertip execution mechanism and a control system, wherein the driving mechanism is fixedly connected with the wrist type three-axis converged mechanism, the fingertip execution mechanism is connected with the driving mechanism, and the control system controls the motion of the driving mechanism; encoders at corresponding joints inside the wrist type three-axis converged mechanism can be driven to move through the motion of the wrist type three-axis converged mechanism, motion information of the corresponding joints is measured through the encoders and then is fed back to the control system, the driving mechanism receives signals from the control system and then drives the fingertip execution mechanism to complete pitching, deflecting and clamping action, and both the driving mechanism and the wrist type three-axis converged mechanism are connected with the control system through lines. The band wrist type micro instrument device has the advantages that the fatigue of hands of an operator can be effectively relieved, so that the operator can carry out surgical operation in the most comfortable state, and the reliability and safety of operation are improved.
Description
Technical field:
The present invention relates to technical field of medical instruments, more specifically to one is for surgery hands
Micro-apparatus of art.
Background technology:
Surgical operation refers to through surgical device or surgery instrument, under the operation of doctor, enters
Tissue, gets rid of pathological changes in external force mode, changes structure or implant the processing procedure of exotic.
Often to complete operation by various different apparatuses in surgical operation, some is complicated
Operation generally require and be lot more time to, the hand of doctor holds after long-time gripping very much
The most tired out, thus easily cause the discomfort of doctor's hand, the precision of impact operation and effect.Cause
This, improved for problems of the prior art.
Summary of the invention:
The purpose of the present invention is aiming at the deficiency of prior art, and provides a kind of for surgery hands
The micro-apparatus of band wrist of art, it can effectively be alleviated the feeling of fatigue of operator's hand, make behaviour
Author can be operated when the most comfortable, improves reliability and the safety of operation
Property.
The technology solution of the present invention is as follows: a kind of for the operating micro-apparatus of band wrist
Device, including: wrist type three axis congruence hands over mechanism and described wrist type three axis congruence to hand over mechanism to fix
Connect drive mechanism is connected with described drive mechanism finger tip actuator, control described in drive
The control system of dynamic mechanism kinematic, wherein, described wrist type three axis congruence hands over the motion of mechanism can
Drive the motion of encoder at its internal corresponding joint, record corresponding joint by described encoder
Movable information, then movable information is fed back to described control system, described drive mechanism connects
Receive finger tip actuator described in the signal rear drive of described control system and complete pitching, beat and folder
Holding action, described drive mechanism and wrist type three axis congruence hand over mechanism all by circuit and described control
System is connected.
Preferred as technique scheme, described wrist type three axis congruence hands over mechanism to include first
The L-type that the second connecting rod that connecting rod is connected with described first connecting rod is connected with described second connecting rod
Connecting rod, the hand clamping device being fixedly installed on described L-type connecting rod, described first connecting rod leads to
Crossing revolute pair to be connected with described second connecting rod, described second connecting rod is by revolute pair and described L-type
Connecting rod connects, and the top of described L-type connecting rod is fixedly installed hand clamping device, wherein, institute
State first connecting rod and described second connecting rod, described second connecting rod and described L-type connecting rod and described
The joint of clamping device is provided with described encoder.
Preferred as technique scheme, described drive mechanism is fixedly installed on described first
One end of connecting rod, it includes drive mechanism outer housing, is fixedly installed in described drive mechanism outer housing
Beat motor, pitching motor and clamping motor, respectively with described beat motor, described pitching
Beat motor input thumb wheel, pitching motor that motor and described clamping motor connect one to one are defeated
Enter thumb wheel and clamping motor input thumb wheel, respectively with described beat motor input thumb wheel, described in bow
Face upward motor input thumb wheel and described clamping motor inputs the beat motor that thumb wheel connects one to one
Output thumb wheel, pitching motor output thumb wheel and clamping motor output thumb wheel, respectively with described beat
Motor output thumb wheel, described pitching motor output thumb wheel and described clamping motor output thumb wheel are one by one
The corresponding steel wire winding device connected, one end is fixedly installed in described drive mechanism outer housing, separately
One end extends to the elongated connecting rod outside described drive mechanism outer housing, wherein, described beat motor
Successively with described beat motor input thumb wheel, described beat motor output thumb wheel and described steel wire
Wind be connected, described pitching motor successively with described pitching motor input thumb wheel, described in bow
Face upward motor output thumb wheel and described steel wire winding device be connected, described clamping motor successively with institute
State clamping motor input thumb wheel, described clamping motor output thumb wheel and described steel wire winding device
Being connected, the steel wire of described steel wire winding device runs through described elongated connecting rod.
Preferred as technique scheme, described finger tip actuator and described elongated connecting rod
And the steel wire of described steel wire winding device is connected.
Preferred as technique scheme, the both sides of described L-type connecting rod are arranged in a mutually vertical manner,
And two the length of side be respectively equal to operator's palm of the hand distance to wrist point and the width of palm, its
In, the distance of described operator's palm of the hand to wrist point is the length of side of described L-type connecting rod horizontal segment,
The width of described operator's palm is the length of side of described L-type connecting rod vertical section.
Preferred as technique scheme, described wrist type three axis congruence hands over mechanism to be additionally provided with
The hand collar, the described hand collar is fixedly installed on one end of described first connecting rod by connecting rod.
Preferred as technique scheme, the described hand collar is made up of elastomeric material.
Preferred as technique scheme, described first connecting rod and described second connecting rod are half
" U " type structure.
The beneficial effects of the present invention is: the hand of operator is held in wrist type three axis congruence and hands over machine
On the L-type connecting rod of structure, hand over mechanism and drive mechanism can control finger tip by wrist type three axis congruence
Actuator completes pitching, beat and clamping movement, additionally, the rotation of operator's arm can
The axle transhipment being mapped to finger tip actuator is dynamic, greatly improves the flexibility ratio of apparatus, it is possible to
The feeling of fatigue and the raising operator that alleviate operator to a certain extent realize highly difficult operation
Ability；
It addition, wrist type three axis congruence hands over mechanism to have employed a mutual L-type connecting rod at a right angle, its
In, two length of sides of described L-type connecting rod be respectively equal to operator's palm of the hand to wrist point distance with
And the width of palm, when therefore the hand of operator holds L-type connecting rod, it is possible to ensure three rotations
The axis of rotating shaft intersects at the wrist point of operator, meets the requirement of ergonomics；
Wrist type three axis congruence is handed over and is additionally provided with the hand collar in mechanism, and the described hand collar can have
Effect auxiliary bears the weight of apparatus so that operator's wrist and finger being not subject to or can bear
Perform an operation in the case of minimum gravity action, alleviate the feeling of fatigue of operator, improve operation technique
Reliability and safety, it is possible to effectively promote precision and the quality of operation.
Accompanying drawing illustrates:
The following drawings is only intended to, in schematically illustrating the present invention and explaining, not limit this
Bright scope.Wherein:
Fig. 1 is the perspective view of the present invention；
Fig. 2 be the present invention wrist type three axis congruence hand over mechanism perspective view；
Fig. 3 be the present invention wrist type three axis congruence hand over mechanism overlook direction structural representation；
Fig. 4 is the structural representation of the motor part of the drive mechanism of the present invention；
Fig. 5 is the structural representation of the steel wire winding device part of the drive mechanism of the present invention.
In figure, 10, wrist type three axis congruence hand over mechanism；11, first connecting rod；12, second connecting rod；
13, L-type connecting rod；14, hand clamping device；15, the hand collar；20, drive mechanism；
21, beat motor input thumb wheel；22, pitching motor input thumb wheel；23, clamping motor input
Thumb wheel；24, beat motor；25, pitching motor；26, clamping motor；27, beat motor
Output thumb wheel；28, pitching motor output thumb wheel；29, clamping motor output thumb wheel；210、
Elongated connecting rod；211, steel wire winding device；30, finger tip actuator.
Detailed description of the invention:
Embodiment: by particular specific embodiment, embodiments of the present invention, ability are described below
It is excellent that field technique personnel can be understood other of the present invention easily by content disclosed in the present specification
Point and effect.It is according to common that " top " and " bottom " mentioned in the present embodiment describes
Meaning and define, such as, the definition of the direction of reference to gravitational, the direction of gravity is lower section, phase
Anti-direction be top, the most up be top or top, lower section is bottom
Or bottom；The description of " first " and " second " mentioned in the present embodiment is for ease of narration
Understand, and without concerning the importance of parts, be more not used to limit the enforceable model of the present invention
Enclose, being altered or modified of its relativeness, changing under technology contents without essence, also when being considered as
The enforceable category of the present invention.
As shown in Figure 1, one is used for the operating micro-apparatus of band wrist, including: hands
Wrist three axis congruence hands over mechanism 10 to hand over the fixing driving being connected of mechanism 10 with described wrist type three axis congruence
Finger tip actuator 30 that mechanism 20 is connected with described drive mechanism 20, control described driving machine
The control system (not shown) of structure 20 motion, the motion of mechanism 10 is handed in described wrist type three axis congruence
The motion of encoder (not shown) at its internal corresponding joint can be driven, by described coding
Device records the movable information of corresponding joint, and then movable information feeds back to described control system,
Described drive mechanism 20 receives finger tip actuator described in the signal rear drive of described control system
30 complete pitching, beat and holding action, and described drive mechanism 20 hands over machine with wrist type three axis congruence
Structure 10 is all connected with described control system by circuit.Mechanism 10 is handed in described wrist type three axis congruence
Being additionally provided with the hand collar 15, the described hand collar 15 is fixedly installed on described first by connecting rod
One end of connecting rod 11, the described hand collar 15 is made up of elastomeric material.
As shown in Fig. 2 and Fig. 3, described wrist type three axis congruence hand over mechanism 10 include first connecting rod 11,
The L-type that the second connecting rod 12 being connected with described first connecting rod 11 is connected with described second connecting rod 12
Connecting rod 13, the hand clamping device 14 being fixedly installed on described L-type connecting rod 13, described first
Connecting rod 11 is connected with described second connecting rod 12 by revolute pair, and described second connecting rod 12 is by rotating
Secondary and described L-type connecting rod 13 is connected, and the top of described L-type connecting rod 13 is fixedly installed hand folder
Hold device 14.
Revolute pair respective operations person's wrist point between described first connecting rod 11 and second connecting rod 12
The pitching joint at place, the revolute pair respective operations between described second connecting rod 12 and L-type connecting rod 13
Beat joint at person's wrist point, the motion of described hand clamping device 14 can respective operations person's hands
The clamping joint referred to.Wherein, described first connecting rod 11 and described second connecting rod 12, described second
Connecting rod 12 is provided with described volume with the joint of described L-type connecting rod 13 and described clamping device 14
Code device, described encoder is able to record that the movable information at corresponding joint, then feeds back to control
System.
Wherein, the both sides of described L-type connecting rod 13 are arranged in a mutually vertical manner, and two length of sides are respectively equal to
Operator's palm of the hand distance to wrist point and the width of palm, wherein, described operator's palm of the hand
Distance to wrist point is the length of side of described L-type connecting rod 13 horizontal segment, described operator's palm
Width is the length of side of described L-type connecting rod 13 vertical section.Described first connecting rod 11 and described second is even
Bar 12 is half " U " type structure.
Described drive mechanism 20 is fixedly installed on one end of described first connecting rod 11, sees Fig. 4 and Fig. 5
Shown in, it includes drive mechanism outer housing (not shown), is fixedly installed on outside described drive mechanism
Beat motor 24, pitching motor 25 and clamping motor 26 in cover, respectively with described beat motor
24, the beat motor input that described pitching motor 25 and described clamping motor 26 connect one to one
Thumb wheel 21, pitching motor input thumb wheel 22 and clamping motor input thumb wheel 23, respectively with described partially
Pendulum motor input thumb wheel 21, described pitching motor input thumb wheel 22 and the input of described clamping motor are dialled
Beat motor output thumb wheel 27, pitching motor output thumb wheel 28 and the folder that wheel 23 connects one to one
Hold motor output thumb wheel 29, export thumb wheel 27, described pitching motor with described beat motor respectively
The steel wire winding dress that output thumb wheel 28 and described clamping motor output thumb wheel 29 connect one to one
Put 211, in one end is fixedly installed on described drive mechanism outer housing, the other end extend to described in drive
Elongated connecting rod 210 outside motivation structure outer housing, wherein, described beat motor 24 is successively with described
Beat motor input thumb wheel 21, described beat motor output thumb wheel 27 and described steel wire winding dress
Put 211 to be connected, described pitching motor 25 successively with described pitching motor input thumb wheel 22, described
Pitching motor output thumb wheel 28 and described steel wire winding device 211 are connected, described clamping motor
26 export thumb wheel 29 and institute with described clamping motor input thumb wheel 23, described clamping motor successively
Stating steel wire winding device 211 to be connected, the steel wire of described steel wire winding device 211 runs through described elongated
Connecting rod 210.Described finger tip actuator 30 and described elongated connecting rod 210 and described steel wire winding dress
Put 211 steel wire be connected.
During use, the hand of operator is walked around the hand collar 15 and is held L-type connecting rod 13, thumb
Pinning hand clamping device 14 with forefinger, the pitching of wrist, beat and clamping movement can depend on
Sub-band start wrist three axis congruence hand over the pitching of mechanism 10, beat and clamping joint carry out accordingly
Motion.Then, the movable information collected is sent to control by the encoder of each joint
System, becomes each Motion mapping of wrist via each motor and steel wire winding device 211
The pitching of finger tip actuator 30, beat and holding action.Additionally, operator's arm
The axle transhipment that rotation can be mapped to finger tip actuator 30 is dynamic.
Heretofore described beat, pitching and holding action to realize process as follows: described beat
Motor 24 is connected with beat motor input thumb wheel 21 and beat motor output thumb wheel 27 successively, then warp
By steel wire winding device 211, finger tip actuator 30 is driven to complete corresponding beat action；Institute
State pitching motor 25 and export thumb wheel 28 phase with pitching motor input thumb wheel 22 and pitching motor successively
Even, then via steel wire winding device 211, finger tip actuator 30 is driven to complete corresponding pitching
Action；Described clamping motor 26 is dialled with clamping motor input thumb wheel 23 and clamping motor output successively
Wheel 29 is connected, then via steel wire winding device 211, drives finger tip actuator 30 to complete accordingly
Holding action.
Described embodiment is in order to the illustrative present invention, not for limiting the present invention.Any
Those skilled in the art all can be under the spirit and the scope of the present invention, to described embodiment
Modify, therefore the scope of the present invention, should be as listed by the claim of the present invention.
Claims (5)
1. one kind is used for the operating micro-apparatus of band wrist, it is characterised in that including:
Wrist type three axis congruence hands over mechanism (10) and described wrist type three axis congruence to hand over mechanism (10) to fix
The finger tip actuator that the drive mechanism (20) connected is connected with described drive mechanism (20)
(30), the control system that described drive mechanism (20) is moved, wherein, described wrist are controlled
Formula three axis congruence hands over the motion of mechanism (10) can drive the fortune of encoder at its internal corresponding joint
Dynamic, recorded the movable information of corresponding joint by described encoder, then movable information is fed back
To described control system, described drive mechanism (20) receives the signal rear-guard of described control system
Dynamic described finger tip actuator (30) completes pitching, beat and holding action, described driving machine
Structure (20) and wrist type three axis congruence hand over mechanism (10) all by circuit and described control system phase
Even；
Described wrist type three axis congruence hands over mechanism (10) to include first connecting rod (11) and described the
The second connecting rod (12) that one connecting rod (11) connects is connected with described second connecting rod (12)
L-type connecting rod (13), the hand clamping device being fixedly installed on described L-type connecting rod (13)
(14), described first connecting rod (11) is connected with described second connecting rod (12) by revolute pair,
Described second connecting rod (12) is connected with described L-type connecting rod (13) by revolute pair, described L
The top of type connecting rod (13) is fixedly installed hand clamping device (14), wherein, described
One connecting rod (11) and described second connecting rod (12), described second connecting rod (12) and described L
The joint of type connecting rod (13) and described clamping device (14) is provided with described encoder；
The both sides of described L-type connecting rod (13) are arranged in a mutually vertical manner, and two length of sides respectively equal to behaviour
Author's palm of the hand distance to wrist point and the width of palm, wherein, described operator's palm of the hand arrives
The distance of wrist point is the length of side of described L-type connecting rod (13) horizontal segment, described operator's palm
The length of side that width is described L-type connecting rod (13) vertical section；
Described first connecting rod (11) and described second connecting rod (12) are half " U " type structure.
One the most according to claim 1 fills for the operating micro-apparatus of band wrist
Put, it is characterised in that: described drive mechanism (20) is fixedly installed on described first connecting rod (11)
One end, it includes drive mechanism outer housing, and be fixedly installed in described drive mechanism outer housing is inclined
Pendulum motor (24), pitching motor (25) and clamping motor (26), respectively with described beat
Motor (24), described pitching motor (25) and described clamping motor (26) one_to_one corresponding are even
Beat motor input thumb wheel (21), pitching motor input thumb wheel (22) and the clamping motor connect
Input thumb wheel (23), respectively with described beat motor input thumb wheel (21), described pitching electricity
It is inclined that machine input thumb wheel (22) and described clamping motor input thumb wheel (23) connect one to one
Pendulum motor output thumb wheel (27), pitching motor output thumb wheel (28) and clamping motor output are dialled
Wheel (29), dials with described beat motor output thumb wheel (27), the output of described pitching motor respectively
The steel wire winding dress that wheel (28) and described clamping motor output thumb wheel (29) connect one to one
Putting (211), one end is fixedly installed in described drive mechanism outer housing, the other end extends to described
Elongated connecting rod (210) outside drive mechanism outer housing, wherein, described beat motor (24)
Successively with described beat motor input thumb wheel (21), described beat motor output thumb wheel (27)
And described steel wire winding device (211) is connected, described pitching motor (25) successively with institute
State pitching motor input thumb wheel (22), described pitching motor output thumb wheel (28) and described
Steel wire winding device (211) is connected, and described clamping motor (26) is electric with described clamping successively
Machine input thumb wheel (23), described clamping motor output thumb wheel (29) and described steel wire winding
Device (211) is connected, and the steel wire of described steel wire winding device (211) runs through described elongated company
Bar (210).
One the most according to claim 2 fills for the operating micro-apparatus of band wrist
Put, it is characterised in that: described finger tip actuator (30) and described elongated connecting rod (210)
And the steel wire of described steel wire winding device (211) is connected.
One the most according to claim 1 fills for the operating micro-apparatus of band wrist
Put, it is characterised in that: described wrist type three axis congruence hands over mechanism (10) to be additionally provided with the hand collar
(15), the described hand collar (15) is fixedly installed on described first connecting rod (11) by connecting rod
One end.
One the most according to claim 4 fills for the operating micro-apparatus of band wrist
Put, it is characterised in that: the described hand collar (15) is made up of elastomeric material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788752.9A CN104546033B (en) | 2014-12-17 | 2014-12-17 | Band wrist type micro instrument device for surgical operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788752.9A CN104546033B (en) | 2014-12-17 | 2014-12-17 | Band wrist type micro instrument device for surgical operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104546033A CN104546033A (en) | 2015-04-29 |
| CN104546033B true CN104546033B (en) | 2017-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410788752.9A Active CN104546033B (en) | 2014-12-17 | 2014-12-17 | Band wrist type micro instrument device for surgical operation |
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| Country | Link |
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| CN (1) | CN104546033B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101732093A (en) * | 2009-11-30 | 2010-06-16 | 哈尔滨工业大学 | Micromanipulator for enterocoelia minimally invasive surgery |
| CN102341049A (en) * | 2009-03-06 | 2012-02-01 | 伊顿株式会社 | Surgical instrument |
| CN104116547A (en) * | 2014-07-25 | 2014-10-29 | 上海交通大学 | Low-friction low-inertia surgical instrument for minimally invasive surgical robot |
| CN204484185U (en) * | 2014-12-17 | 2015-07-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of for the micro-apparatus of operating band wrist- |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6714839B2 (en) * | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
| US6839612B2 (en) * | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
| US7386365B2 (en) * | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| US8918207B2 (en) * | 2009-03-09 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
-
2014
- 2014-12-17 CN CN201410788752.9A patent/CN104546033B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102341049A (en) * | 2009-03-06 | 2012-02-01 | 伊顿株式会社 | Surgical instrument |
| CN101732093A (en) * | 2009-11-30 | 2010-06-16 | 哈尔滨工业大学 | Micromanipulator for enterocoelia minimally invasive surgery |
| CN104116547A (en) * | 2014-07-25 | 2014-10-29 | 上海交通大学 | Low-friction low-inertia surgical instrument for minimally invasive surgical robot |
| CN204484185U (en) * | 2014-12-17 | 2015-07-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of for the micro-apparatus of operating band wrist- |
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| Publication number | Publication date |
|---|---|
| CN104546033A (en) | 2015-04-29 |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: Room 08, 15th Floor, No. 368, Changjiang Road, Nangang Concentration District, Harbin Economic Development Zone, Harbin, Heilongjiang 150090 Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
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