CN100581495C - Lens holding robot system for microinjury surgery - Google Patents
Lens holding robot system for microinjury surgery Download PDFInfo
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- CN100581495C CN100581495C CN200810152765A CN200810152765A CN100581495C CN 100581495 C CN100581495 C CN 100581495C CN 200810152765 A CN200810152765 A CN 200810152765A CN 200810152765 A CN200810152765 A CN 200810152765A CN 100581495 C CN100581495 C CN 100581495C
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- 238000002324 minimally invasive surgery Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
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Abstract
The invention discloses a mirror holding robot system for assisting touchup surgery. A base part comprises a drive shaft. A body part comprises a first support frame which is connected with the drive shaft. The first support frame is provided with a parallelogram linkage. Two drive rods on the parallelogram linkage are provided with drive mechanisms; wherein, a driven rod is connected with a far bar end. A component element part comprises a second frame support; wherein, one end of the second support frame is sequentially sleeved with a first bearing and a support sleeve, and the second support frame is opened with two through holes; the support sleeve is connected with the far bar end; an endoscope seat part comprises an endoscope seat which is connected with the support seat; the top part of the endoscope is respectively provided with an endoscope sleeve seat and a drive system; the lower part of an endoscope sleeve is connected with the endoscope sleeve seat; the interior of the endoscope is inserted with an endoscope. The system has strong self-adapting; even when a patient is unexpectedly moved, the robot can not hurt the patient and does not block the contact between the patient and the doctor in the operation course.
Description
Technical field
The present invention relates to the armarium in a kind of micro-wound surgical operation field, it can the auxiliary doctor of clamping endoscope implement the Minimally Invasive Surgery operation, the invention particularly relates to a kind of robot system with endoscope of holding that is used for assisted minimally invasive surgical operation.
Background technology
Be that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, the Minimally Invasive Surgery operation is meant that the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into the operation that undergos surgery in the body.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this misery that makes patient suffer significantly reduces; Therefore minimally invasive surgery is widely used in clinical operation.Yet when Minimally Invasive Surgery had brought many interests for patient, but the operation to the doctor had brought a series of difficulties; To hold the mirror doctor is example, and the difficulty of following several aspects is arranged: 1) because the restriction of body surface aperture, holding the mirror doctor, to operate the direction of endoscope opposite with desired direction, the harmony variation; Also can cause holding the instruction that the mirror doctor misreads operative doctor; 2) quantity of motion of endoscope tip amount of movement and doctor's hand is inconsistent; 3) shake of doctor's hand makes the judder of endoscope's output; 4) hold the mirror doctor and need keep for a long time with a kind of posture, tired easily; 5) holding the mirror doctor can interfere with operative doctor.Therefore, in the Minimally Invasive Surgery field, press for the ability that a kind of robot system is extended the doctor,, make the doctor can easierly finish the Minimally Invasive Surgery operation so that overcome above-mentioned shortcoming.At present, existing how tame research institution develops holds illuminating apparatus device people model machine, and minority system commercialization is arranged.As the AESOP series robot system that U.S. Computer Motion company succeeds in developing, the EndoAssist robot system of Britain's exploitation etc.All carried out the research of the surgical robot system that is used for assisting minimally invasive in the world in succession as the U.S., France, Germany, Britain, Poland, Japan, Korea S and other places, and a series of model machines have been produced, but these model machines are mostly identical with the mechanism that has existed or similar, lack novelty.China still is in the starting stage aspect robotic assisted surgery, the robot system that has existed can only play assist location in operation process, can not be applied to clinical operation.Therefore develop a robot system of overlapping novel assisted minimally invasive surgical operation and very important meaning is arranged filling up the blank of China in this field with independent intellectual property right.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of robot system with endoscope of holding of assisted minimally invasive surgical operation is provided, it can be operated by the auxiliary Minimally Invasive Surgery of implementing of clamping endoscope, and this system can satisfy the requirement that endoscope moves around the body surface otch all the time in operation process; And when mobile, robot can adapt to the variation of incision site to patient automatically by accident.
A kind of robot system with endoscope of holding that is used for assisted minimally invasive surgical operation of the present invention, it comprises base part, body part, passive link part, interior microscope base part, described base part comprises the reductor and the drive motors that link to each other each other that is installed on the support, and the output shaft of described reductor links to each other with driving shaft on being installed in described support; Described body part comprise link to each other with described driving shaft and its first bracing frame that is provided with gear or opens slotted sheave, a parallel-crank mechanism is installed on described first bracing frame, described parallel-crank mechanism comprises first, two follower levers, be separately installed with first on it, two driven wheels or first, two drive first of sheave, two drive rods, described first, two driven wheels and described gear can be meshed transmission or described first, two driving sheaves can rotate with described sheave by silk and cooperate, described first, two driven wheels or described first, two drive sheave respectively by first, two gear shafts and first, two drive motors link to each other and an end of described first drive rod and an end of described first follower lever are rotatedly connected, the other end of described first follower lever links to each other with an end of second follower lever, one end of the other end of described second follower lever and described second drive rod is rotatedly connected, on described second follower lever, be fixedly connected with a rod end far away, end at described rod end far away axially has a hole along it, described passive link partly comprises one second bracing frame, one end of described second bracing frame has the shank of cylinder, described shank links to each other with the diapire of a U-shaped body, described shank is with clutch shaft bearing outward successively and has the support set of flange, described clutch shaft bearing end is provided with the clutch shaft bearing gland that first potentiometer is installed on it, two same axis in sidewall upper edge at described U-shaped body have two through holes, in described each through hole, be separately installed with second, three bearings, described second, the end of three bearings is equipped with second respectively, three bearing glands, described second, on the gland in three bearing glands second potentiometer is installed, described support set is inserted in the hole of described distal rod and by described flange and the described distal rod that is provided with on it and is fixedly linked; Microscope base comprises that partly it is provided with the interior microscope base of two connecting axles in described, described connecting axle is inserted in described second respectively, in three bearings, the drive system that the microscope base top portion is not equipped with the mirror block set and is made up of motor and decelerator in described, described drive system links to each other by drive system with described mirror block set, described mirror block set top is cone, on described cone side, have straight-line groove and on its end face, have cotter way, the mirror block set of described cone bottom is provided with external screw thread, the inner surface of quick change nut one end is provided with the external screw thread that puts with described microscope base and rotates the female thread of cooperation mutually, the other end of described quick change nut is provided with the through hole of diameter less than described internal thread diameter, its mirror cover that is provided with straight pin is installed in the top of described mirror block set, described straight pin is inserted in respectively in the described cotter way, is inserted with endoscope in the described mirror cover.
It comprises base part, body part, passive link part, interior microscope base part, described base part comprises the reductor and the drive motors that link to each other each other that is installed on the support, and the output shaft of described reductor links to each other with driving shaft on being installed in described support; Described body part comprise link to each other with described driving shaft and its first bracing frame that is provided with gear or opens slotted sheave, a parallel-crank mechanism is installed on described first bracing frame, described parallel-crank mechanism comprises first, two follower levers, be separately installed with first on it, two driven wheels or first, two drive first of sheave, two drive rods, described first, two driven wheels and described gear can be meshed transmission or described first, two driving sheaves can rotate with described sheave by silk and cooperate, described first, two driven wheels or described first, two drive sheave respectively by first, two gear shafts and first, two drive motors link to each other and an end of described first drive rod and an end of described first follower lever are rotatedly connected, the other end of described first follower lever links to each other with an end of second follower lever, one end of the other end of described second follower lever and described second drive rod is rotatedly connected, on described second follower lever, be fixedly connected with a rod end far away, end at described rod end far away axially has a hole along it, described passive link partly comprises one second bracing frame, one end of described second bracing frame has the shank of cylinder, described shank links to each other with the diapire of a U-shaped body, described shank is disposed with clutch shaft bearing outward and has the support set of flange, described clutch shaft bearing end is provided with the clutch shaft bearing gland that first potentiometer is installed on it, two same axis in sidewall upper edge at described U-shaped body have two through holes, in described each through hole, be separately installed with second, three bearings, described second, the end of three bearings is equipped with second respectively, three bearing glands, described second, on the gland in three bearing glands second potentiometer is installed, described support set is inserted in the hole of described distal rod and by described flange and the described distal rod that is provided with on it and is fixedly linked; Microscope base comprises that partly it is provided with the interior microscope base of two connecting axles in described, described connecting axle is inserted in described second respectively, in three bearings, the drive system that the microscope base top portion is not equipped with the mirror block set and is made up of motor and decelerator in described, described drive system links to each other by drive system with described mirror block set, described mirror block set top is cone, on described cone side, have straight-line groove and on its end face, have cotter way, the mirror block set of described cone bottom is provided with external screw thread, the inner surface of quick change nut one end is provided with the external screw thread that puts with described microscope base and rotates the female thread of cooperation mutually, the other end of described quick change nut is provided with the through hole of diameter less than described internal thread diameter, a mirror cover is arranged in the described cotter way by the straight pin that is provided with on it, and described mirror cover links to each other with described endoscope.
It comprises base part, body part, passive link part, interior microscope base part, described base part comprises the reductor and the drive motors that link to each other each other that is installed on the support, and the output shaft of described reductor links to each other with driving shaft on being installed in described support; Described body part comprise link to each other with described driving shaft and its bracing frame that is provided with gear or opens slotted sheave, a parallel-crank mechanism is installed on described bracing frame, described parallel-crank mechanism comprises first, two follower levers, be separately installed with first on it, two driven wheels or first, two drive first of sheave, two drive rods, described first, two driven wheels and described gear can be meshed transmission or described first, two driving sheaves can rotate with described sheave by silk and cooperate, described first, two driven wheels are respectively by first, two gear shafts and first, two drive motors link to each other and an end of described first drive rod and an end of described first follower lever are rotatedly connected, the other end of described first follower lever links to each other with an end of second follower lever, one end of the other end of described second follower lever and described second drive rod is rotatedly connected, on described second follower lever, be fixedly connected with a rod end far away, end at described rod end far away axially has a hole along it, described passive link partly comprises a bracing frame, one end of described bracing frame has the shank of cylinder, described shank links to each other with the diapire of a U-shaped body, described shank is disposed with clutch shaft bearing outward and has the support set of flange, described clutch shaft bearing end is provided with the clutch shaft bearing gland that first potentiometer is installed on it, two same axis in sidewall upper edge at described U-shaped body have two through holes, in described each through hole, be separately installed with second, three bearings, described second, the end of three bearings is equipped with second respectively, three bearing glands, described second, on the gland in three bearing glands second potentiometer is installed, described support set is inserted in the hole of described distal rod and by described flange and the described distal rod that is provided with on it and is fixedly linked; Microscope base comprises that partly it is provided with the interior microscope base of two connecting axles in described, described connecting axle is inserted in described second respectively, in three bearings, the drive system that the microscope base top portion is not equipped with the mirror block set and is made up of motor and decelerator in described, described drive system links to each other by drive system with described mirror block set, described mirror block set top is cone, on described cone side, have straight-line groove and on its end face, have cotter way, the mirror block set of described cone bottom is provided with external screw thread, the inner surface of quick change nut one end is provided with the external screw thread that puts with described microscope base and rotates the female thread of cooperation mutually, the other end of described quick change nut is provided with the through hole of diameter less than described internal thread diameter, a mirror cover is installed in the described cotter way by the straight pin that is provided with on it, and described mirror cover links to each other with described endoscope.
The robot system with endoscope of holding that the present invention is used for assisted minimally invasive surgical operation compared with prior art has following beneficial effect:
1. apparatus of the present invention satisfy the requirement of Minimally Invasive Surgery operation by the mode of adding passive link, and the advantage of this mode is, adaptivity is strong, though patient by accident when mobile, robot can not damage patient yet;
2. apparatus of the present invention make full use of the characteristics of parallelogram sturcutre, by driving its adjacent two bars, for mechanism provides two degree of freedom, have simple in structure, volume is little, advantage such as in light weight;
3. apparatus of the present invention can be assisted the enforcement operation technique by the clamping operation tool;
4. the advantage of structure of the present invention is drive end to be arranged in the place away from patient, adopts this mode can reduce the space that robot takies the patient body top, does not hinder the contact between the doctors and patients in the operation process;
5. the quick-changing mechanism that apparatus of the present invention adopted just can be realized endoscope's dismounting and Fast Installation requirement where necessary, efficient height by rotating special nut.
Description of drawings
Fig. 1 is the schematic diagram of holding robot system with endoscope that the present invention is used for assisted minimally invasive surgical operation;
Fig. 2 be the present invention be used for assisted minimally invasive surgical operation hold robot system with endoscope overall structure sketch map;
Fig. 3 is the structural representation of base part of the present invention;
Fig. 4 is the structural representation of body part of the present invention;
Fig. 5 is the structural representation of the passive link part of the present invention;
Fig. 6-Fig. 6 .3 is the structural representation of microscope base part in the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
A kind of robot system with endoscope of holding that is used for assisted minimally invasive surgical operation of the present invention in conjunction with the accompanying drawings, it comprises base part 1, body part 2, passive link part 3, interior microscope base part 4, described base part comprises the reductor 1-2 and the drive motors 1-1 that link to each other each other that is installed on the support 1-3, and the output shaft of described reductor 1-2 links to each other with driving shaft 1-4 on being installed in described support; Described body part 2 comprise link to each other with described driving shaft 1-4 and its first bracing frame 2-1 that is provided with gear or opens slotted sheave, on the described first bracing frame 2-1, a parallel-crank mechanism is installed, described parallel-crank mechanism comprises first, two follower lever 2-4,2-5, be separately installed with first on it, two driven wheel 2-31,2-32 or first, two drive first of sheave, two drive rod 2-2,2-3, described first, two driven wheels and described gear can be meshed transmission or described first, two driving sheaves can rotate with described sheave by silk and cooperate, described first, two driven wheels or described first, two drive sheave respectively by first, two gear shafts and first, two drive motors 2-31,2-21 links to each other and the end of the described first drive rod 2-2 and the end of the described first follower lever 2-4 are rotatedly connected, the other end of the described first follower lever 2-4 links to each other with the end of the second follower lever 2-5, one end of the other end of described second follower lever and described second drive rod is rotatedly connected, on described second follower lever, be fixedly connected with a rod end 2-6 far away, end at described rod end far away axially has a hole along it, described passive link part 3 comprises one second bracing frame 3-2, the end of the described second bracing frame 3-2 has the shank of cylinder, described shank links to each other with the diapire of a U-shaped body, described shank sets gradually the support set 3-1 that is with clutch shaft bearing and has flange outward, described clutch shaft bearing end is provided with the clutch shaft bearing gland that the first potentiometer 3-4 is installed on it, two same axis in sidewall upper edge at described U-shaped body have two through holes, in described each through hole, be separately installed with second, three bearings, described second, the end of three bearings is equipped with second respectively, three bearing glands, described second, on the gland in three bearing glands second potentiometer 3-8 is installed, described support set 3-1 is inserted in the hole of described distal rod 2-6 and by described flange and the described distal rod that is provided with on it and is fixedly linked; Microscope base part 4 comprises that it is provided with the interior microscope base 4-1 of two connecting axles in described, described connecting axle is inserted in described second respectively, in three bearings, the drive system that microscope base 4-1 top is separately installed with the microscope base cover and is made up of motor and decelerator in described, described drive system links to each other by drive system with described mirror block set 4-3, described mirror block set top is cone, on described cone side, have straight-line groove and on its end face, have cotter way, the microscope base cover of described cone bottom is provided with external screw thread, the inner surface of quick change nut one end be provided with described cover microscope base on external screw thread rotate the female thread of cooperation mutually, the other end of described quick change nut 4-4 is provided with the through hole of diameter less than described internal thread diameter, its mirror cover 4-21 who is provided with straight pin is installed in the top of described mirror block set, described straight pin is inserted in respectively in the described cotter way, is inserted with endoscope in the described mirror cover.The described potentiometer that is used to provide the joint angles value can replace with absolute encoder or angular transducer.
Below in conjunction with each accompanying drawing the preferred embodiments of the present invention are described in detail:
Figure 1 shows that schematic diagram of the present invention, revolute pair A, B, C, D have constituted parallelogram sturcutre, adjacent two bar AD, AB by driving this parallelogram be as figure R2, R3, an O is realized in the plane at tetragon ABCD place about and the motion of both direction up and down; By driving revolute pair R1, can make an O along moving perpendicular to the planar direction in tetragon ABCD place.Rp1 and Rp2 are two passive joints, and potentiometer is housed on it, in order to the absolute location information of record joint rotation.The P point is the body surface otch, and OP represents the axis of endoscope, can make endoscope around this axis rotation by driving revolute pair R4.
Fig. 2 is a population structure sketch map of the present invention; As can be seen, the present invention is made up of base part 1, body part 2, passive link 3 and interior microscope base part 4.
The structural representation of base part 1 as shown in Figure 3, drive motors 1-1 and reductor 1-2 are installed on the support 1-3, driving shaft 1-4 rotates under the driving of motor 1-1 and reductor 1-2, this has constituted one of this mechanism initiatively joint, i.e. R1 among Fig. 1.Driving shaft 1-4 is fixedlyed connected with the bracing frame 2-1 of robot body part 2.Support 1-3 links to each other with the passive adjustment rack of robot, described passive adjustment rack can adopt patent (application number: structure 200610129845.6), can certainly adopt existing structure, this part content does not belong to category of the present invention.
The structural representation of body part 2 as shown in Figure 4, the bracing frame 2-1 that links to each other with driving shaft 1-4, two drive rod 2-2,2-3 are installed on the first bracing frame 2-1, and have formed parallelogram sturcutre with first and second follower lever 2-4,2-5.The second driven wheel 2-32 that is installed on the second drive rod 2-3 rotates under the driving that is installed on the drive motors 2-31 on the second drive rod 2-3.The engagement of the second driven wheel 2-31 and the first bracing frame 2-1 addendum flank makes the second drive rod 2-3 rotate around axis l; This has constituted another active joint, the i.e. R3 among Fig. 1 of this mechanism.The first drive rod 2-2 around axis l rotation, has constituted the 3rd active joint, the i.e. R2 among Fig. 1 of this mechanism by the type of drive identical with the second drive rod 2-3.Distal rod 2-6 is fixedlyed connected with follower lever 2-5, and its end links to each other with the support set 3-1 of passive link 3.
The structural representation of passive link 3 as shown in Figure 5, support set 3-1 links to each other with the distal rod 2-6 of body part 2 by itself ring flange, bearing gland 3-3 is installed in the opposite side of support set 3-1.The second bracing frame 3-2 is installed on the support set 3-1 by bearing 3-5, and the first potentiometer 3-4 that is installed on the clutch shaft bearing gland 3-3 can write down the absolute location information that the second bracing frame 3-2 rotates on support set 3-1.Bearing 3-9 and second and third bearing gland 3-6,3-7 are installed on bracing frame 3-2, the interior microscope base part 4 of robot in bearing 3-9 upper support, interior microscope base part 4 is provided by the second potentiometer 3-8 that is installed on the second bearing gland 3-6 in the absolute location information of rotating on the bracing frame 3-2.
The structural representation of interior microscope base part 4 as shown in Figure 6, interior microscope base 4-1 is installed on the second bracing frame 3-2 by the spring bearing 3-9 of passive link 3.In mirror block set 4-3 and motor reducer combination 4-5 is installed on the microscope base 4-1, mirror block set 4-3 can rotate under motor reducer makes up the driving of 4-5, and the kind of drive can be gear drive or silk transmission.After adjusting relative position, 4-2 of endoscope and mirror cover 4-21 just be installed together no longer dismounting; Two straight pin 4-22 are vertically mounted on the mirror cover 4-21, shown in Fig. 6 .1.Have two cotter way 4-31 that cooperate with straight pin 4-22 on the mirror block set 4-3, by the cooperation between straight pin 4-22 and the cotter way 4-31 can make mirror cover 4-21 when each the installation and the relative position relation of mirror block set 4-3 constant.On mirror block set 4-3, except that having cotter way 4-31, also be processed with a taper seat and screw thread, on taper seat, be processed with straight-line groove 4-32, shown in Fig. 6 .2.The sketch map of quick change nut 4-4 is processed with screw thread at the inner surface of quick change nut 4-4 one end shown in Fig. 6 .3, the other end is the through hole of diameter less than bottom diameter, and this through hole cooperates with the taper seat of mirror block set 4-3; When quick change nut 4-4 rotates on mirror block set 4-3 like this, just can make mirror block set 4-3 clamping or open mirror cover 4-21, realize the quick replacing of the 4-2 of endoscope.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those skilled in the art is enlightened by it; under the situation that does not break away from the invention aim; the transmission, driving device and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar to this technical scheme.
The following describes the action implementation process of holding robot system with endoscope of assisted minimally invasive surgical operation of the present invention.
1, the realization that endoscopic procedure requires in the minimal invasive surgical procedures:
The present invention be used for assisted minimally invasive surgical operation to hold the mode that the auxiliary principle of implementing operation technique of robot system with endoscope clamping endoscope and tradition manually hold mirror similar.Be fulcrum promptly with the body surface otch, being added with two in the part of clamping endoscope of robot can free active passive joint, like this, robot each initiatively during joint motions, two passive joints just can be adjusted its movement angle automatically, to satisfy the requirement of Minimally Invasive Surgery.
2. the quick-replaceable realization of endoscope:
Because in operation process, endoscope tip can be subjected to the influence of surgical environments, as: atomizing or spattering has blood, and can't show the information of surgical scene clearly.Therefore endoscope need be withdrawn patient fast, wiping or clean after can be installed to original position easily, the necessity of Here it is this robot design quick replacement device.After adjusting relative position with endoscope, the mirror cover of the present invention's design just is fixed together no longer dismounting; When the cotter way on straight pin that mirror puts and the mirror block set can guarantee that endoscope and mirror are enclosed within each install and the relative position relation of mirror block set fix.By the rotary quick change nut, can make the taper seat clamping of mirror block set or unclamp the mirror cover, and then realize the quick replacing of endoscope.
Claims (2)
1. robot system with endoscope of holding that is used for assisted minimally invasive surgical operation, it is characterized in that: it comprises base part, body part, passive link part and interior microscope base part, described base part comprises the reductor and the drive motors that link to each other each other that is installed on the support, and the output shaft of described reductor links to each other with driving shaft on being installed in described support; Described body part comprise link to each other with described driving shaft and its first bracing frame that is provided with gear or opens slotted sheave, a parallel-crank mechanism is installed on described first bracing frame, described parallel-crank mechanism comprises first, two follower levers, with and on be separately installed with first, two driven wheels or first, two drive first of sheave, two drive rods, described first, two driven wheels and the gear of described first bracing frame can be meshed transmission or described first, two driving sheaves can rotate with described sheave by silk and cooperate, described first, two driven wheels or described first, two drive sheave respectively by first, two gear shafts and first, two drive motors link to each other and an end of described first drive rod and an end of described first follower lever are rotatedly connected, the other end of described first follower lever links to each other with an end of second follower lever, one end of the other end of described second follower lever and described second drive rod is rotatedly connected, on described second follower lever, be fixedly connected with a rod end far away, end at described rod end far away axially has a hole along it, described passive link partly comprises one second bracing frame, one end of described second bracing frame has the shank of cylinder, described shank links to each other with the diapire of a U-shaped body, described shank is with clutch shaft bearing outward successively and has the support set of flange, described clutch shaft bearing end is provided with the clutch shaft bearing gland that first potentiometer is installed on it, two same axis in sidewall upper edge at described U-shaped body have two through holes, in described each through hole, be separately installed with second, three bearings, described second, the end of three bearings is equipped with second respectively, three bearing glands, described second, on the gland in three bearing glands second potentiometer is installed, described support set is inserted in the hole of described distal rod and by described flange and the described distal rod that is provided with on it and is fixedly linked; Microscope base comprises that partly it is provided with the interior microscope base of two connecting axles in described, described connecting axle is inserted in described second respectively, in three bearings, the drive system that the microscope base top portion is not equipped with the mirror block set and is made up of motor and decelerator in described, described drive system links to each other by drive system with described mirror block set, described mirror block set top is cone, on described cone side, have straight-line groove and on its end face, have cotter way, the mirror block set of described cone bottom is provided with external screw thread, the inner surface of quick change nut one end is provided with the external screw thread that puts with described microscope base and rotates the female thread of cooperation mutually, the other end of described quick change nut is provided with the through hole of diameter less than described internal thread diameter, its mirror cover that is provided with straight pin is installed in the top of described mirror block set, described straight pin is inserted in respectively in the described cotter way, is inserted with endoscope in the described mirror cover.
2. the robot system with endoscope of holding that is used for assisted minimally invasive surgical operation according to claim 1 is characterized in that: described drive system is gear train or silk drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810152765A CN100581495C (en) | 2008-10-31 | 2008-10-31 | Lens holding robot system for microinjury surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810152765A CN100581495C (en) | 2008-10-31 | 2008-10-31 | Lens holding robot system for microinjury surgery |
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| CN101396298A CN101396298A (en) | 2009-04-01 |
| CN100581495C true CN100581495C (en) | 2010-01-20 |
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| CN200810152765A Active CN100581495C (en) | 2008-10-31 | 2008-10-31 | Lens holding robot system for microinjury surgery |
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| ES2388029B1 (en) * | 2009-05-22 | 2013-08-13 | Universitat Politècnica De Catalunya | ROBOTIC SYSTEM FOR LAPAROSCOPIC SURGERY. |
| RU2484946C1 (en) * | 2011-12-20 | 2013-06-20 | Юрий Иванович Русанов | Yu rusanov computer-aided device for back-and-force turn of surgical elements of multifunctional robotics system for patient table |
| RU2481072C1 (en) * | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Device for axial reciprocal turning of actuating element of receiving and holding surgical elements in multifunctional diagnostic and surgical robotic system for operation table with possibility of information and computer control named after yirusanov |
| RU2481071C1 (en) * | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Device for horizontal movement of diagnostic apparatus of multifunctional diagnostic-surgical robotic system for operation table with possibility of information and computer control named after yirusanov |
| RU2481074C1 (en) * | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Device for turning diagnostic and surgical elements of robotic system of operation table with possibility of information and computer control named after yirusanov |
| RU2484761C1 (en) * | 2011-12-20 | 2013-06-20 | Юрий Иванович Русанов | Yi rusanov's device for horizontal rotation of use apparatus functional element of multifunctional diagnostic-surgical robotic system for spherical case projecting device with possibility of information-computer control |
| RU2481064C1 (en) * | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Device for closing sliding clamp elements inside spherical case of multifunctional diagnostic-surgical robotic system with possibility of information and computer control named after yirusanov |
| RU2479264C1 (en) * | 2011-12-20 | 2013-04-20 | Юрий Иванович Русанов | Yu i rusanov clamp extended element system and its positional arrangement inside the spherical body of multifunctional diagnostic surgical robotic system with possibility of computerised control |
| RU2470594C1 (en) * | 2011-12-20 | 2012-12-27 | Юрий Иванович Русанов | Device of sliding element of clamp of j.i. rusanov's multifunctional diagnostic-surgical robotic system with possibility of information-computer control |
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| CN109820688B (en) * | 2019-03-04 | 2021-03-02 | 中南大学湘雅三医院 | Wrist joint training driving device and wrist joint training equipment |
| CN110025283B (en) * | 2019-04-30 | 2024-06-21 | 北京瑞沃医疗器械有限公司 | Multidimensional moving device and endoscope operating device |
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| US3450457A (en) * | 1963-03-11 | 1969-06-17 | Serge Clave | Extensible periscope |
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| CN101396298A (en) | 2009-04-01 |
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Effective date of registration: 20220909 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Effective date of registration: 20220909 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. |