CN101703423A - Surgical operation-assisting electrical locking bracket - Google Patents
Surgical operation-assisting electrical locking bracket Download PDFInfo
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- CN101703423A CN101703423A CN200910213400A CN200910213400A CN101703423A CN 101703423 A CN101703423 A CN 101703423A CN 200910213400 A CN200910213400 A CN 200910213400A CN 200910213400 A CN200910213400 A CN 200910213400A CN 101703423 A CN101703423 A CN 101703423A
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Abstract
The invention discloses a surgical operation-assisting electrical locking bracket, which comprises a handle, a wrist joint, a fore arm, an elbow joint, an upper arm, a shoulder joint, a waist joint and a base rod, wherein one end of the handle is connected with an operation-assisting tool; the other end of the handle is connected with the wrist joint connected with one end of the fore arm; the other end of the fore arm is connected with the elbow joint connected with one end of the upper arm; the other end of the upper arm is connected with the shoulder joint connected with the waist joint; the joint axes of the shoulder joint and the waist joint are perpendicular to each other; and the waist joint is connected with the base rod through a machine frame arranged on the waist joint. The bracket has four joints, six degrees of freedom, position and attitude decoupling and large tail-end working space and can meet needs of surgical departments such as thoracoabdominal department. In addition, the bracket has the advantages that: the operation is very convenient; the structure is simple; the cost is low; and a weight self-balancing mechanism can perform adjustment according to the load at a tail end.
Description
Technical field
The present invention relates to a kind of armarium, particularly relate to a kind of passive type electric locking support that is used for the assisted surgery location or supports with gravity self-balancing function.
Background technology
In thoracic surgery or abdomen surgical operation, no matter be micro-wound surgical operation or common surgical procedures, all need the auxiliary doctor of even several assistant to strut otch, push inner internal organs aside, make the operating doctor operation that can undergo surgery freely, but, when the operating time than long time, surgical staff is then very easily tired, to such an extent as to cause otch strut not in place, can not the inner internal organs of fine isolation and focus and then influence doctor's surgical field of view and operation.
At present, use surgical operation Aided Machine arm, promptly load onto corresponding surgical instrument at its end, being used for auxiliary doctor struts otch or pushes internal organs aside, mechanical arm accurate positioning and stable advantage had so both been brought into play, also enlarged doctor's surgical field of view, reduced personnel cost simultaneously, there have been many companies to develop this class surgical operation Aided Machine arm at present abroad, comprising the flexible arm that the auxiliary doctor of cardiac operation helps heart and struts tissue that is used for of Finland CHIRMED company production; The application that Germany Dimeda SurgicalInstruments company produces and the auxiliary flexible arm of cerebral surgery operation; Auxiliary jib and terminal dilator that Germany Ansabere company produces, but these products all are manual lockings, operation is inconvenience very, and prevailing price costliness, be difficult in domestic popularization, therefore developing the high surgical operation Aided Machine arm of a kind of cost performance, and make in its surgical operation at home and obtain wider popularization, is present problem demanding prompt solution.
Summary of the invention
In order to overcome the deficiencies in the prior art, the object of the present invention is to provide a kind of by motor-driven, flexible operation, the location is accurate and coupling mechanism force the is strong electric locking support that is used for assisted surgery.
The present invention is achieved through the following technical solutions:
A kind of electric locking support that is used for assisted surgery, it is characterized in that: comprise handle, carpal joint; forearm; elbow joint; big arm; shoulder joint; waist joint and base bar; wherein; an end of handle is connected with the operation aid; the other end is connected with carpal joint; carpal joint also is connected with an end of forearm; the other end of forearm then links together with elbow joint; elbow joint links to each other with an end of big arm simultaneously; the other end of big arm then is connected with shoulder joint, and shoulder joint also is connected with waist joint simultaneously, and shoulder joint is vertical mutually with the joints axes of waist joint; in addition, and waist joint also is connected with the base bar by frame disposed thereon.
Above-mentioned carpal joint comprises bulb connector, bulb, ball cup, bulb chassis and ball watt, wherein, the lower end of bulb connector is provided with a boss, the upper end is connected with bulb by screw thread, the surface of bulb is fitted with ball watt fully, and bulb is arranged on the ball cup, and cooperatively interact with it, the bottom of ball cup then links together by screw and bulb chassis, and also have cable hole A and cable hole B on the ball cup, in addition, on the outer surface on ball cup and bulb chassis, also be provided with the bulb shell, and be equipped with action button in bulb shell Shanghai.
The outer setting one handle branch sleeve of above-mentioned handle, the handle branch sleeve cooperates together by its inner endoporus step and the flange of handle, link together by screw thread and above-mentioned bulb connector simultaneously, in addition, upper end at handle also is provided with a groove, and the boss of described groove and bulb connector lower end cooperatively interacts.
The inside of above-mentioned forearm is hollow-core construction, wherein be provided with the forearm push rod; the left end of forearm push rod is provided with it the forearm push rod block that cooperates; right-hand member then is equipped with locking nut A and dish spring A; the end face of dish spring A is pressed on the end face of above-mentioned ball watt; an end of forearm then is connected on the above-mentioned ball cup by screw A, in addition, also has cable hole C. on the forearm
Above-mentioned elbow joint comprises the elbow joint motor; Harmonic speed reducer; Speed reducer base; Accelerator output panel; The elbow joint axle; Big arm friction pulley and forearm friction pulley; Wherein, Elbow joint motor and speed reducer base link together by screw G; On the motor shaft of elbow joint motor, also be provided with motor sleeve; And be connected and fixed by jackscrew A; Harmonic speed reducer cooperates with the endoporus of speed reducer base by the input steel wheel of its left end; And be connected and fixed by screw F and speed reducer base; In the endoporus of the wave producer at harmonic speed reducer center also by the key motor sleeve that closely cooperated; The output steel wheel of its right-hand member then is connected with decelerator output panel by screw H; The axle head of decelerator output panel links to each other with the elbow joint axle by flat key; Described elbow joint axle left end is provided with trapezoidal external screw thread; And be combined with hex nut and form screw pair; The left end of described hex nut is the regular hexagon outline; The center that is combined with on it is the elbow joint end cap in regular hexagon hole; The right-hand member of hex nut is circular outline; Its circular inner hole with big arm friction pulley cooperates; And on the upper surface of hex nut, also be provided with the center pushing block; The both sides of the other end of center pushing block are provided with two inclined-planes; Two inclined-planes contact with the inclined-plane cooperation of big arm pushing block and big arm pushing block back-up block respectively; And also be provided with elbow joint seal cover B at the place, left side of big arm pushing block back-up block; In addition; Side in elbow joint B and above-mentioned big arm contact also is provided with joint connector B; Described joint connector B links together with big arm by screw J; In addition; Above-mentioned elbow joint end cap then links together with big arm friction pulley and speed reducer base respectively by screw D and screw E; Also be provided with the friction ring seat between wherein said big arm friction pulley and the forearm friction pulley; Wherein, Friction ring seat and forearm friction pulley contact jaw have cannelure; Be provided with drag ring in the cannelure; Drag ring and forearm friction pulley left side close contact; And two parts are respectively arranged with forearm pushing block rest pad and forearm pushing block about the forearm friction pulley right side; Also be provided with center pushing block rest pad between the inclined-plane of forearm pushing block rest pad and forearm pushing block; The inclined-plane of center pushing block rest pad cooperates with the inclined-plane of forearm pushing block rest pad and forearm pushing block; The other end of center pushing block rest pad then is sequentially set with the elbow joint pushing cylinder; Thrust ball bearing; Dish spring B; Dish spring back-up ring and locking nut B; And be in contact with one another respectively; In addition; Above-mentioned big arm friction pulley; The friction ring seat; The forearm friction pulley; The endoporus of center pushing block rest pad and elbow joint pushing cylinder all cooperates with the elbow joint shaft clearance; Thrust ball bearing and elbow joint elbow closely cooperate; Locking nut B then with the threaded engagement of elbow joint axle right-hand member; The right part lower end of elbow joint B also is provided with joint connector A; It links together by screw I and above-mentioned forearm; In addition; On joint connector A, also be connected with the elbow joint cap by screw B, and also be connected with elbow joint seal cover A by screw C on the elbow joint cap.
Above-mentioned shoulder joint C comprises the shoulder joint axle sleeve, the shoulder joint nodal axisn, the shoulder joint left socle, shoulder joint right support and shoulder joint briquetting, wherein, the shoulder joint axle sleeve links together by screw K with big arm, its endoporus then cooperates and is with the shoulder joint axle, and composition revolute pair, be respectively arranged with shoulder joint left socle and shoulder joint right support at the left and right sides of shoulder joint nodal axisn axle head, described shoulder joint briquetting then contacts with the arc surface of shoulder joint nodal axisn right-hand member, the other end of shoulder joint briquetting also is provided with the shoulder joint push rod, between shoulder joint push rod and shoulder joint briquetting, also be equipped with dish spring C and locking nut C, in addition, side at shoulder joint left socle and shoulder joint right support also is installed with stage clip adjustment screw, stage clip is adjusted the stage clip that is with on the screw with its matched in clearance and is adjusted sleeve, and the left end of adjusting screw at stage clip then is provided with locking nut D.
The inside of above-mentioned big arm is hollow structure, wherein be provided with big arm push rod, the upper end of big arm push rod is provided with the big arm push rod block that cooperates with it, right-hand member then cooperatively interacts with above-mentioned shoulder joint push rod, on the excircle at the two ends up and down of big arm push rod, also be provided with stage clip sleeve A and stage clip sleeve B, two telescopic large end faces of stage clip are oppositely arranged, and be provided with stage clip therebetween, in addition, be fixed on the big arm push rod by straight pin A and straight pin B respectively at stage clip sleeve A and stage clip sleeve B, and also be provided with pulley on the straight pin B, and a steel wire rope one end is fixed on the straight pin A, and by above-mentioned pulley, big arm push rod and big arm, its other end pass above-mentioned stage clip adjustment screw and stage clip is adjusted telescopic aperture and fixing.
Above-mentioned waist joint D comprises the waist joint axle, locking nut E, the air plug plate, joint connector C, the waist joint upper bush, the waist joint lower sleeve, the waist joint motor, base connecting plate and base connecting axle, wherein, locking nut E is connected by external screw thread with waist joint axle upper end, locking nut E bottom is the air plug plate, the endoporus of joint connector C then closely cooperates with the waist joint axle, it contacts with the lower surface of above-mentioned air plug plate simultaneously, the bottom of waist joint axle is provided with the waist joint upper bush, its underpart is connected with the upper surface of base connecting plate, the lower surface of base connecting plate then is connected with the waist joint lower sleeve, end at the base connecting plate also is connected with the base connecting axle by screw L, the bottom of base connecting axle and base bar are by being threaded, also be provided with jackscrew C on the base bar, described waist joint motor is then fixedlyed connected with the waist joint lower sleeve by screw.
The invention has the beneficial effects as follows:
1, the present invention has 4 joints, 6 degree of freedom, position and attitude decoupling, and the distal point work space is big, can satisfy operating demands such as breast abdomen fully;
2, the locking in each joint of the present invention is adopted electronic control with loosening, and the user only needs the push button to get final product easy manipulation, uses very convenient;
3, the present invention adopts the compression spring to cooperate steel wire rope to realize the gravity self-balancing, makes that operation is very light, and the gravity self-balancing mechanism can be adjusted according to end load is different;
When 4, the present invention has only just realized four joints, six-freedom degree with two motors locking and loosen, simple in structure, with low cost.
Description of drawings
Fig. 1 is the overall structure sketch map of one embodiment of the invention;
Fig. 2 is a wrist joint structure sketch map of the present invention;
Fig. 3 is the structural representation of elbow joint of the present invention and forearm;
Fig. 4 is the structural representation of elbow joint of the present invention and big arm;
Fig. 5 is a shoulder joint structural representation of the present invention;
Fig. 6 is a gravity self-balancing spring adjustment structure sketch map of the present invention;
Fig. 7 is waist joint of the present invention and understructure sketch map.
Main Reference numeral implication is among the figure:
1. operation aid 2. handles 3. handle branch sleeves
4. bulb connector 5. bulb chassis 6. action buttons
7. bulb 8. ball cups 9. bulb shells
10. cable hole A 11. balls watt 12. dish spring A
13. locking nut A 14. cable hole B 15. screw A
16. forearm push rod 17. forearms 18. forearm push rod blocks
19. cable hole C 20. joint connector A 21. screw B
22. elbow joint medicated cap 23. center pushing block rest pads 24. locking nut B
25. dish spring back-up ring 26. dish spring B 27. thrust ball bearings
28. elbow joint pushing cylinder 29. screw C 30. elbow joint seal cover A
31. forearm pushing block rest pad 32. forearm friction pulleys 33. drag rings
34. friction ring seat 35. big arm friction pulley 36. screw D
37. screw E 38. harmonic speed reducers 39. decelerator seats
40. screw F 41. jackscrew A 42. elbow joint motors
43. screw G 44. motor sleeve 45. screw H
46. decelerator output panel 47. flat keys 48. hex nuts
49. elbow joint end cap 50. elbow joint axles 51. forearm pushing blocks
52. screw I 53. center pushing blocks 54. elbow joint seal cover B
55. big arm pushing block rest pad 56. big arm pushing block 57. joint connector B
58. big arm push rod block 59. big arm 60. stage clip sleeve A
61. straight pin A 62. stage clips 63. steel wire ropes
64. big arm push rod 65. stage clip sleeve B 66. straight pin B
67. pulley 68. dish spring C 69. locking nut C
70. shoulder joint push rod 71. screw J 72. screw K
73. shoulder joint axle sleeve 74. shoulder joint briquettings 75. shoulder joint nodal axisns
76. shoulder joint right support 77. stage clips are adjusted screw 78. stage clips and are adjusted sleeve
79. shoulder joint left socle 80. jackscrew B 81. locking nut D
82. jackscrew C 83. base bars 84. base connecting axles
85. screw L 86. base connecting plates 87. locking nut E
88. waist joint axle 89. joint connector C 90. air plug plates
91. waist joint upper bush 92. waist joint lower sleeves 93. waist joint motors
The specific embodiment
Below in conjunction with accompanying drawing, describe the specific embodiment of the present invention in detail:
Fig. 1 is the overall structure sketch map of one embodiment of the invention.
As shown in Figure 1: a kind of electric locking support that is used for assisted surgery, comprise handle 2, carpal joint A; forearm 17; elbow joint B; big arm 59; shoulder joint C; waist joint D and base bar 83; wherein; an end of handle 2 is connected with operation aid 1; other end is connected with carpal joint A; carpal joint A also is connected with an end of forearm 17; other end of forearm 17 then links together with elbow joint B; elbow joint B links to each other with an end of big arm 59 simultaneously; the other end of big arm 59 then is connected with shoulder joint C; shoulder joint C also is connected with waist joint D simultaneously; and shoulder joint C is vertical mutually with the joints axes of waist joint D; and in addition, waist joint D also is connected with base bar 83 by frame disposed thereon.
Fig. 2 is a wrist joint structure sketch map of the present invention.
As shown in Figure 2: carpal joint A comprises bulb connector 4, bulb 7, ball cup 8, bulb chassis 5 and ball watts 11, wherein, the lower end of bulb connector 4 is provided with a boss, the upper end is connected with bulb 7 by screw thread, the surface of bulb 7 is fitted with ball watts 11 fully, when ball watts 11 moves right when compressing bulb 7, carpal joint A just has been locked, when ball watts 11 is moved to the left away from bulb 7, carpal joint A has just been loosened, and bulb 7 is arranged on the ball cup 8, and cooperatively interact with it, ball cup 8 is in order to the translation of three directions of restriction bulb, it can only be rotated, the bottom of ball cup 8 then links together by screw and bulb chassis 5, the angle that two other axis except the axis of bulb connector 4 rotates is wound in order to restriction bulb 7 in bulb chassis 5, and also have cable hole A10 and cable hole B14 on the ball cup 8, in addition, on the outer surface on ball cup 8 and bulb chassis 5, also be provided with bulb shell 9, and be equipped with action button 6 in bulb shell 9 Shanghai, be used to control the locking of entire bracket and loosen.
And the outer setting one handle branch sleeve 3 of above-mentioned handle 2, handle branch sleeve 3 cooperates together by the flange of its inner endoporus step and handle 2, link together by screw thread and above-mentioned bulb connector 4 simultaneously, like this after handle branch sleeve 3 and bulb connector 4 link together, the position of handle 2 has also just been determined, be convenient to like this before each operation handle 2 be disassembled sterilization, in addition, upper end at handle 2 also is provided with a groove, and the boss of described groove and bulb connector 4 lower ends cooperatively interacts.
In addition, the inside of above-mentioned forearm 17 is hollow-core construction, wherein be provided with forearm push rod 16; left end of forearm push rod 16 is provided with it the forearm push rod block 18 that cooperates; right-hand member then is equipped with locking nut A13 and dish spring A12; the end face of dish spring A12 is pressed on the end face of above-mentioned ball watts 11; end of forearm 17 then is connected on the above-mentioned ball cup 8 by screw A15; when needs locking carpal joint A; coupling mechanism force passes to forearm push rod 16 from forearm push rod block 18, and repeated transmission is passed locking nut A13 and dish spring A12, thereby pass to ball watts 11; make ball watts 11 compress bulb 7, realize the locking of carpal joint A; When needs loosen carpal joint A, coupling mechanism force disappears, compressed dish spring A12 relies on elastic force that forearm push rod 16 is turned left and pushes away, make the ball watts 11 and the thrust of bulb 7 be decreased to 0, carpal joint A has just realized loosening, adjust the position of locking nut A13 on forearm push rod 16, just can control the size of coupling mechanism force, in addition; also have cable hole C19 on the forearm 17; holding wire of action button 6 will pass through cable hole A10, cable hole B14 and cable hole C19 successively, and enter the control box of electric locking support.
Fig. 3 is the structural representation of elbow joint of the present invention and forearm; Fig. 4 is the structural representation of elbow joint of the present invention and big arm.
As shown in Figure 3 and Figure 4: elbow joint B comprises elbow joint motor 42, harmonic speed reducer 38, decelerator seat 39, accelerator output panel 46, elbow joint axle 50, big arm friction pulley 35 and forearm friction pulley 32, wherein, elbow joint motor 42 links together by screw G43 with decelerator seat 39, on the motor shaft of elbow joint motor 42, also be provided with motor sleeve 44, and be connected and fixed by jackscrew A41, harmonic speed reducer 38 cooperates with the endoporus of decelerator seat 39 by the input steel wheel of its left end, and be connected and fixed by screw F40 and decelerator seat 39, in the endoporus of the wave producer at harmonic speed reducer 38 centers also by the key motor sleeve 44 that closely cooperated, with transferring power, the output steel wheel of its right-hand member then is connected with decelerator output panel 46 by screw H45, the axle head of decelerator output panel 46 links to each other with elbow joint axle 50 by flat key 47, and transferring power.
Described elbow joint axle 50 left ends are provided with trapezoidal external screw thread; And be combined with hex nut 48 and form screw pairs; The left end of described hex nut 48 is the regular hexagon outline; The center that is combined with on it is the elbow joint end cap 49 in regular hexagon hole; The right-hand member of hex nut 48 is circular outline; Its circular inner hole with big arm friction pulley 35 cooperates; And on the upper surface of hex nut 48, also be provided with center pushing block 53; The both sides of the other end of center pushing block 53 are provided with two inclined-planes; Two inclined-planes contact with the inclined-plane cooperation of big arm pushing block 56 and big arm pushing block back-up block 55 respectively; And also be provided with elbow joint seal cover B54 at the place, left side of big arm pushing block back-up block 55; In addition; A side that contacts with above-mentioned big arm 59 at elbow joint B also is provided with joint connector B57; Described joint connector B57 links together with big arm 59 by screw J71; In addition; 49 of above-mentioned elbow joint end caps link together with big arm friction pulley 35 and speed reducer base 39 respectively by screw D36 and screw E37; Also be provided with friction ring seat 34 between wherein said big arm friction pulley 35 and the forearm friction pulley 32; Wherein, Friction ring seat 34 has cannelure with forearm friction pulley 32 contact jaws; Be provided with drag ring 33 in the cannelure; Drag ring 33 and forearm friction pulley 32 left side close contacts; And two parts are respectively arranged with forearm pushing block rest pad 31 and forearm pushing block 51 about forearm friction pulley 32 right sides; Also be provided with center pushing block rest pad 23 between the inclined-plane of forearm pushing block rest pad 31 and forearm pushing block 51; The inclined-plane of center pushing block rest pad 23 cooperates with the inclined-plane of forearm pushing block rest pad 31 and forearm pushing block 51; The other end of center pushing block rest pad 23 then is sequentially set with elbow joint pushing cylinder 28; Thrust ball bearing 27; Dish spring B26; Dish spring back-up ring 25 and locking nut B24; And be in contact with one another respectively; In addition; Above-mentioned big arm friction pulley 35; Friction ring seat 34; Forearm friction pulley 32; The endoporus of center pushing block rest pad 23 and elbow joint pushing cylinder 28 all with elbow joint axle 50 matched in clearance; And can be free to slide vertically; Thrust ball bearing 27 closely cooperates with elbow joint elbow 50; Locking nut B24 then with the threaded engagement of elbow joint axle 50 right-hand members; After locking nut 24 lockings; Part on the elbow joint axle 50 just can not continue to slide to the right; The right part lower end of elbow joint B also is provided with joint connector A20; It links together by screw I52 and above-mentioned forearm 17; In addition; On joint connector A20, also be connected with elbow joint cap 22 by screw B21, and also be connected with elbow joint seal cover A30. by screw C29 on the elbow joint cap.
When elbow joint motor 42 is just changeing, driving harmonic speed reducer 38 by motor sleeve 44 rotates, harmonic speed reducer 38 outfans drive 46 motions of decelerator output panel, decelerator output panel 46 drives elbow joint axle 50 by flat key 47 and rotates, this moment is because the hex hole of elbow joint end cap 49 has limited the rotation of hex nut 48, thereby hex nut 48 can move right.
And when hex nut 48 promotion center pushing blocks 53 move upward, center pushing block 53 promotes big arm pushing block 56 simultaneously and big arm pushing block rest pad 55 moves upward, because the existence on inclined-plane, big arm pushing block rest pad 55 can produce thrust left simultaneously, is pressed on the elbow joint seal cover B54; Big arm pushing block 56 can produce thrust to the right simultaneously, by the big arm push rod block 58 that cooperates with big arm pushing block 56 endoporus, power is passed to big arm push rod 64, big arm push rod 64 other ends cooperate with shoulder joint push rod 70, the right-hand member of shoulder joint push rod 70 is equipped with locking nut C69 and dish spring C68, be used to hold out against shoulder joint C, the power that big arm pushing block 56 and big arm pushing block rest pad 55 make progress holds out against friction ring seat 34, thereby drag ring 33 is held out against on forearm friction pulley 32, because the frictional force effect of drag ring 33, make to be connected the big arm 59 on the big arm friction pulley 35 and to be connected between the forearm 17 on the forearm friction pulley 32 and can not relatively rotate, so just locked carpal joint A.
In addition; Forearm friction pulley 32 holds out against forearm pushing block rest pad 31 and forearm pushing block 51 to the right under thrust; Because locking nut B24 has limited the part motion to the right on the elbow joint axle 50; Forearm pushing block rest pad 31 and forearm pushing block 51 will be subjected to the effect from the support reaction of center pushing block rest pad 23; Thereby so that forearm friction pulley 32 can not move right; Normal pressure and the required frictional force of locking elbow joint B between drag ring 33 and the forearm friction pulley 32 have been guaranteed; Also because the existence on inclined-plane; Forearm pushing block 51 can produce downward thrust; By the forearm push rod block 18 that cooperates with forearm pushing block 51 endoporus; Power is passed to forearm push rod 16; Thereby realize the locking of wrist joint A; Rely on like this power of elbow joint motor 42 just to realize elbow joint B; Locking in the time of wrist joint A and three joints of shoulder joint C; Equally, three joints just can be relaxed simultaneously during motor reversal.
Fig. 5 is a shoulder joint structural representation of the present invention; Fig. 6 is a gravity self-balancing spring adjustment structure sketch map of the present invention.
As shown in Figure 5 and Figure 6: shoulder joint C comprises shoulder joint axle sleeve 73, shoulder joint nodal axisn 75, shoulder joint left socle 79, shoulder joint right support 76 and shoulder joint briquetting 74, wherein, shoulder joint axle sleeve 73 links together by screw K72 with big arm 59, its endoporus then cooperates and is with shoulder joint axle 75, and composition revolute pair, be respectively arranged with shoulder joint left socle 79 and shoulder joint right support 76 at the left and right sides of shoulder joint nodal axisn 75 axle head, described shoulder joint briquetting 74 then contacts with the arc surface of shoulder joint nodal axisn 75 right-hand members, the other end of shoulder joint briquetting 74 also is provided with shoulder joint push rod 70, between shoulder joint push rod 70 and shoulder joint briquetting 74, also be equipped with dish spring C68 and locking nut C69, in addition, side at shoulder joint left socle 79 and shoulder joint right support 76 also is installed with stage clip adjustment screw 77, stage clip is adjusted the stage clip that is with on the screw 77 with its matched in clearance and is adjusted sleeve 78, and the left end of adjusting screw 77 at stage clip then is provided with locking nut D81.When thrust is delivered to big arm push rod 64 from big arm push rod block 58, after repeated transmission is delivered to shoulder joint push rod 70, locking nut C69 and dish spring C68, this thrust just tightly is pressed in shoulder joint briquetting 74 on the arc surface of shoulder joint nodal axisn 75, shoulder joint nodal axisn 75 can not be rotated, thereby realize the locking of shoulder joint.
In addition, the inside of big arm 59 is hollow structure, wherein be provided with big arm push rod 64, the upper end of big arm push rod 64 is provided with the big arm push rod block 58 that cooperates with it, right-hand member then cooperatively interacts with above-mentioned shoulder joint push rod 70, on the excircle at the two ends up and down of big arm push rod 64, also be provided with stage clip sleeve A60 and stage clip sleeve B65, two telescopic large end faces of stage clip are oppositely arranged, and be provided with stage clip 62 therebetween, in addition, be fixed on the big arm push rod 64 by straight pin A61 and straight pin B66 respectively at stage clip sleeve A60 and stage clip sleeve B65, and also be provided with pulley 67 on the straight pin B66, and a steel wire rope 63 1 ends are fixed on the straight pin A61, and by above-mentioned pulley 67, big arm push rod 64 and big arm 59, its other end passes the aperture of above-mentioned stage clip adjustment screw 77 and stage clip adjustment sleeve 78 and fixes. when steel wire rope 63 is pulled outwardly, steel wire rope 63 will be with straight pin A61 and stage clip sleeve A60 to left movement, thereby stage clip 62 is compressed, produce certain elastic force, this elastic force just can be used to prevent that big arm 59 and the elbow joint B that is connected with big arm 59 from toppling over to upper left side shown in Figure 5 (or lower right shown in Figure 1) because of action of gravity, plays the effect of balancing gravity.
As shown in Figure 6, described steel wire rope 63 passes the aperture on stage clip adjustment screw 77 and the stage clip adjustment sleeve 78, when stage clip is adjusted screw 77 rotations, just steel wire rope 63 being wrapped in stage clip adjusts on the sleeve 78, will continue compression press spring 62, thereby increase the spring force of balancing gravity, after steel wire rope 63 has been adjusted, the locking nut 81D that just stage clip can be adjusted screw 77 left ends makes stage clip adjustment screw 77 not rotate with jackscrew B80 locking.
Fig. 7 is waist joint of the present invention and understructure sketch map.
As shown in Figure 7: described waist joint D comprises waist joint axle 88, locking nut E87, air plug plate 90, joint connector C89, waist joint upper bush 91, waist joint lower sleeve 92, waist joint motor 93, base connecting plate 86 and base connecting axle 84, wherein, locking nut E87 is connected by external screw thread with waist joint axle 88 upper ends, locking nut E87 bottom is an air plug plate 90, be used to install aviation plug, the endoporus of joint connector C89 then closely cooperates with waist joint axle 88, it contacts with the lower surface of above-mentioned air plug plate 90 simultaneously, be used to connect waist joint D and shoulder joint C, the bottom of waist joint axle 88 is provided with waist joint upper bush 91, its underpart is connected with the upper surface of base connecting plate 86, the lower surface of base connecting plate 86 then is connected with waist joint lower sleeve 92, end at base connecting plate 86 also is connected with base connecting axle 84 by screw L85, the bottom of base connecting axle 84 and base bar 83 are by being threaded, also be provided with jackscrew C82 on the base bar 83, after jackscrew C82 being screwed into base bar 83 lateral top wire holes, base connecting axle 84 has just linked together reliably with base bar 83, described waist joint motor 93 is then fixedlyed connected with waist joint lower sleeve 92 by screw, and waist joint motor 93 is power sources that waist joint D locks and loosens.
Below disclose the present invention with preferred embodiment, so it is not in order to restriction the present invention, and all employings are equal to replaces or technical scheme that the equivalent transformation mode is obtained, all drops within protection scope of the present invention.
Claims (8)
1. electric locking support that is used for assisted surgery; It is characterized in that: comprise handle (2); Wrist joint (A); Forearm (17); Elbow joint (B); Big arm (59); Shoulder joint (C); Waist joint (D) and base bar (83); Wherein, One end of handle (2) is connected with operation aid (1); The other end is connected with wrist joint (A); Wrist joint (A) also is connected with an end of forearm (17); The other end of forearm (17) then links together with elbow joint (B); Elbow joint (B) links to each other with an end of big arm (59) simultaneously; The other end of big arm (59) then is connected with shoulder joint (C); Shoulder joint (C) also is connected with waist joint (D) simultaneously; And shoulder joint (C) is mutually vertical with the joints axes of waist joint (D); In addition, waist joint (D) also is connected with base bar (83) by frame disposed thereon.
2. a kind of electric locking support that is used for assisted surgery according to claim 1, it is characterized in that: described carpal joint (A) comprises bulb connector (4), bulb (7), ball cup (8), bulb chassis (5) and ball watt (11), wherein, the lower end of bulb connector (4) is provided with a boss, the upper end is connected with bulb (7) by screw thread, the surface of bulb (7) is fitted with ball watt (11) fully, and bulb (7) is arranged on the ball cup (8), and cooperatively interact with it, the bottom of ball cup (8) then links together by screw and bulb chassis (5), and also have cable hole A (10) and cable hole B (14) on the ball cup (8), in addition, on the outer surface of ball cup (8) and bulb chassis (5), also be provided with bulb shell (9), and be equipped with action button (6) in bulb shell (9) Shanghai.
3. a kind of electric locking support that is used for assisted surgery according to claim 2, it is characterized in that: the outer setting one handle branch sleeve (3) of described handle (2), handle branch sleeve (3) cooperates together by the flange of its inner endoporus step and handle (2), link together by screw thread and above-mentioned bulb connector (4) simultaneously, in addition, upper end at handle (2) also is provided with a groove, and the boss of described groove and bulb connector (4) lower end cooperatively interacts.
4. a kind of electric locking support that is used for assisted surgery according to claim 2, it is characterized in that: the inside of described forearm (17) is hollow-core construction, wherein be provided with forearm push rod (16); the left end of forearm push rod (16) is provided with the forearm push rod block (18) that cooperates with it; right-hand member then is equipped with locking nut A (13) and dish spring A (12); the end face of dish spring A (12) is pressed on the end face of above-mentioned ball watt (11); an end of forearm (17) then is connected on the above-mentioned ball cup (8) by screw A (15); in addition, also has cable hole C (19) on the forearm (17).
5. a kind of electric locking support for assisted surgery according to claim 1; It is characterized in that; Described elbow joint (B) comprises elbow joint motor (42); Harmonic speed reducer (38); Speed reducer base (39); Accelerator output panel (46); Elbow joint axle (50); Big arm friction pulley (35) and forearm friction pulley (32); Wherein, Elbow joint motor (42) links together by screw G (43) with speed reducer base (39); On the motor shaft of elbow joint motor (42), also be provided with motor sleeve (44); And be connected and fixed by jackscrew A (41); Harmonic speed reducer (38) cooperates with the endoporus of speed reducer base (39) by the input steel wheel of its left end; And be connected and fixed by screw F (40) and speed reducer base (39); In the endoporus of the wave producer at harmonic speed reducer (38) center also by the key motor sleeve (44) that closely cooperated; The output steel wheel of its right-hand member then is connected with decelerator output panel (46) by screw H (45); The axle head of decelerator output panel (46) links to each other with elbow joint axle (50) by flat key (47); Described elbow joint axle (50) left end is provided with trapezoidal external screw thread; And be combined with hex nut (48) and form screw pair; The left end of described hex nut (48) is the regular hexagon outline; The center that is combined with on it is the elbow joint end cap (49) in regular hexagon hole; The right-hand member of hex nut (48) is circular outline; Its circular inner hole with big arm friction pulley (35) cooperates; And on the upper surface of hex nut (48), also be provided with center pushing block (53); The both sides of the other end of center pushing block (53) are provided with two inclined-planes; Two inclined-planes contact with the inclined-plane cooperation of big arm pushing block (56) and big arm pushing block back-up block (55) respectively; And also be provided with elbow joint seal cover B (54) at the place, left side of big arm pushing block back-up block (55); In addition; A side that contacts with above-mentioned big arm (59) at elbow joint (B) also is provided with joint connector B (57); Described joint connector B (57) links together with big arm (59) by screw J (71); In addition; Above-mentioned elbow joint end cap (49) then links together with big arm friction pulley (35) and speed reducer base (39) respectively by screw D (36) and screw E (37); Also be provided with friction ring seat (34) between wherein said big arm friction pulley (35) and the forearm friction pulley (32); Wherein, Friction ring seat (34) has cannelure with forearm friction pulley (32) contact jaw; Be provided with drag ring (33) in the cannelure; Drag ring (33) and forearm friction pulley (32) left side close contact; And two parts are respectively arranged with forearm pushing block rest pad (31) and forearm pushing block (51) about forearm friction pulley (32) right side; Also be provided with center pushing block rest pad (23) between the inclined-plane of forearm pushing block rest pad (31) and forearm pushing block (51); The inclined-plane of center pushing block rest pad (23) cooperates with the inclined-plane of forearm pushing block rest pad (31) and forearm pushing block (51); The other end of center pushing block rest pad (23) then is sequentially set with elbow joint pushing cylinder (28); Thrust ball bearing (27); Dish spring B (26); Dish spring back-up ring (25) and locking nut B (24); And be in contact with one another respectively; In addition; Above-mentioned big arm friction pulley (35); Friction ring seat (34); Forearm friction pulley (32); The endoporus of center pushing block rest pad (23) and elbow joint pushing cylinder (28) all with elbow joint axle (50) matched in clearance; Thrust ball bearing (27) closely cooperates with elbow joint elbow (50); Locking nut B (24) then with the threaded engagement of elbow joint axle (50) right-hand member; The right part lower end of elbow joint (B) also is provided with joint connector A (20); It links together with above-mentioned forearm (17) by screw I (52); In addition; On joint connector A (20), also be connected with elbow joint cap (22) by screw B (21), and also be connected with elbow joint seal cover A (30) by screw C (29) on the elbow joint cap..
6. a kind of electric locking support that is used for assisted surgery according to claim 6, it is characterized in that, described shoulder joint (C) comprises shoulder joint axle sleeve (73), shoulder joint nodal axisn (75), shoulder joint left socle (79), shoulder joint right support (76) and shoulder joint briquetting (74), wherein, shoulder joint axle sleeve (73) links together by screw K (72) with big arm (59), its endoporus then cooperates and is with shoulder joint axle (75), and composition revolute pair, left and right sides axle head at shoulder joint nodal axisn (75) is respectively arranged with shoulder joint left socle (79) and shoulder joint right support (76), described shoulder joint briquetting (74) then contacts with the arc surface of shoulder joint nodal axisn (75) right-hand member, the other end of shoulder joint briquetting (74) also is provided with shoulder joint push rod (70), between shoulder joint push rod (70) and shoulder joint briquetting (74), also be equipped with dish spring C (68) and locking nut C (69), in addition, side at shoulder joint left socle (79) and shoulder joint right support (76) also is installed with stage clip adjustment screw (77), stage clip is adjusted the stage clip that is with on the screw (77) with its matched in clearance and is adjusted sleeve (78), and the left end of adjusting screw (77) at stage clip then is provided with locking nut D (81).
7. a kind of electric locking support that is used for assisted surgery according to claim 6, it is characterized in that, the inside of described big arm (59) is hollow structure, wherein be provided with big arm push rod (64), the upper end of big arm push rod (64) is provided with the big arm push rod block (58) that cooperates with it, right-hand member then cooperatively interacts with above-mentioned shoulder joint push rod (70), on the excircle at the two ends up and down of big arm push rod (64), also be provided with stage clip sleeve A (60) and stage clip sleeve B (65), two telescopic large end faces of stage clip are oppositely arranged, and be provided with stage clip (62) therebetween, in addition, be fixed on the big arm push rod (64) by straight pin A (61) and straight pin B (66) respectively at stage clip sleeve A (60) and stage clip sleeve B (65), and also be provided with pulley (67) on the straight pin B (66), and a steel wire rope (63) one ends are fixed on the straight pin A (61), and by above-mentioned pulley (67), it is also fixing that big arm push rod (64) and big arm (59), its other end pass the aperture of above-mentioned stage clip adjustment screw (77) and stage clip adjustment sleeve (78).
8. a kind of electric locking support that is used for assisted surgery according to claim 1, it is characterized in that, described waist joint (D) comprises waist joint axle (88), locking nut E (87), air plug plate (90), joint connector C (89), waist joint upper bush (91), waist joint lower sleeve (92), waist joint motor (93), base connecting plate (86) and base connecting axle (84), wherein, locking nut E (87) is connected by external screw thread with waist joint axle (88) upper end, locking nut E (87) bottom is air plug plate (90), the endoporus of joint connector C (89) then closely cooperates with waist joint axle (88), it contacts with the lower surface of above-mentioned air plug plate (90) simultaneously, the bottom of waist joint axle (88) is provided with waist joint upper bush (91), its underpart is connected with the upper surface of base connecting plate (86), the lower surface of base connecting plate (86) then is connected with waist joint lower sleeve (92), end at base connecting plate (86) also is connected with base connecting axle (84) by screw L (85), the bottom of base connecting axle (84) and base bar (83) are by being threaded, also be provided with top C (82) on the base bar (83), described waist joint motor (93) is then fixedlyed connected with waist joint lower sleeve (92) by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910213400XA CN101703423B (en) | 2009-11-03 | 2009-11-03 | Surgical operation-assisting electrical locking bracket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910213400XA CN101703423B (en) | 2009-11-03 | 2009-11-03 | Surgical operation-assisting electrical locking bracket |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101703423A true CN101703423A (en) | 2010-05-12 |
| CN101703423B CN101703423B (en) | 2011-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910213400XA Expired - Fee Related CN101703423B (en) | 2009-11-03 | 2009-11-03 | Surgical operation-assisting electrical locking bracket |
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| Country | Link |
|---|---|
| CN (1) | CN101703423B (en) |
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| CN102462533A (en) * | 2010-11-11 | 2012-05-23 | 北京理工大学 | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery |
| CN105142537A (en) * | 2013-03-14 | 2015-12-09 | 蛇牌股份公司 | Surgical device for stabilizing or immobilizing moving tissue |
| CN107441631A (en) * | 2017-08-30 | 2017-12-08 | 安阳市翔宇医疗设备有限责任公司 | A kind of medical multifunctional support arm |
| CN109199593A (en) * | 2018-09-13 | 2019-01-15 | 中国科学院苏州生物医学工程技术研究所 | A kind of passive mechanical arm of multiple degrees of freedom |
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| CN1190171C (en) * | 2003-05-28 | 2005-02-23 | 天津大学 | Mechanical arm used in microsurgery operation robot |
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| CN102462533B (en) * | 2010-11-11 | 2014-03-12 | 北京理工大学 | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery |
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| CN105142537A (en) * | 2013-03-14 | 2015-12-09 | 蛇牌股份公司 | Surgical device for stabilizing or immobilizing moving tissue |
| US10098623B2 (en) | 2013-03-14 | 2018-10-16 | Aesculap Ag | Surgical device for stabilizing or immobilizing moving tissue |
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| CN113499139B (en) * | 2021-04-01 | 2022-08-23 | 杭州键嘉机器人有限公司 | Quick-change flange of orthopedic surgery robot |
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| CN101703423B (en) | 2011-06-22 |
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