CN104706417B - Fixed magnetic hanging hole laparoscopic surgical robot system - Google Patents

Fixed magnetic hanging hole laparoscopic surgical robot system Download PDF

Info

Publication number
CN104706417B
CN104706417B CN201510056246.5A CN201510056246A CN104706417B CN 104706417 B CN104706417 B CN 104706417B CN 201510056246 A CN201510056246 A CN 201510056246A CN 104706417 B CN104706417 B CN 104706417B
Authority
CN
China
Prior art keywords
wire
tube
pin
robot system
fixed
Prior art date
Application number
CN201510056246.5A
Other languages
Chinese (zh)
Other versions
CN104706417A (en
Inventor
张忠涛
刘达
郭伟
刘洋
周鹏
赵英含
Original Assignee
首都医科大学附属北京友谊医院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 首都医科大学附属北京友谊医院 filed Critical 首都医科大学附属北京友谊医院
Priority to CN201510056246.5A priority Critical patent/CN104706417B/en
Publication of CN104706417A publication Critical patent/CN104706417A/en
Application granted granted Critical
Publication of CN104706417B publication Critical patent/CN104706417B/en

Links

Abstract

本发明公开了一种磁固定悬挂式单孔腹腔镜手术机器人系统,包括执行机构,执行机构包括夹钳、连接架、腕部管,夹钳与所述连接架通过第一销轴铰接,连接架与腕部管通过第二销轴铰接,第一销轴与第二销轴相互垂直,腕部管的后端设有伸缩节,夹钳的两个钳角分别连接有两根钢丝。 The present invention discloses a magnetically suspended fixing hole laparoscopic surgical robot system comprising the actuator, the actuator comprises a clamp, connecting bracket, tube arm, and the clamp bracket is connected via a first hinge pin, connector frame and the second tube arm hinge pin, the first pin and a second pin perpendicular to each other, the rear end of the tube is provided with a telescopic joint arm, two clamp jaws corners two wires are connected. 伸缩节内设有滑动的钢丝固定块,伸缩节插入到所述腕部管内,钢丝固定块通过第三销轴固定在腕部管上,钢丝固定块至少连接有一根钢丝。 It features a telescopic section wire fixed block slidable telescopic section inserted into the tube arm, a third pin wire fixing block fixed to the arm tube, wire fixing block is connected at least via a wire. 采用机电系统,通过人机交互完成指定操作规程,夹钳能完成多自由度运动,其动作基本能完成实际单孔腹腔镜手术的操作,并且其能够避免多器械的干涉问题。 With electromechanical systems, the rules specify the complete computer interaction, the clamp can complete the multi-degrees of freedom, which is basically the operation the actual hole to complete the operation of laparoscopic surgery, it is possible to avoid interference problems and multiple instruments.

Description

磁固定悬挂式单孔腹腔镜手术机器人系统 Fixed magnetic hanging hole laparoscopic surgical robot system

技术领域 FIELD

[0001] 本发明涉及一种腹腔镜手术机器人,尤其涉及一种磁固定悬挂式单孔腹腔镜手术机器人系统。 [0001] The present invention relates to a laparoscopic surgical robot, particularly to a magnetic fixing hole suspended laparoscopic surgical robot system.

背景技术 Background technique

[0002] 随着人们生活水平的提高,现代医疗技术也是更新换代,腹腔手术从原来的传统开腹手术,走到了腹腔镜微创手术的时代,近来,单孔腹腔镜手术在部分医疗情况下成为了现实。 [0002] With the improvement of people's living standards, modern medical technology is upgrading from previous abdominal surgery traditional open surgery, laparoscopic reached the age of minimally invasive surgery, recently, single port laparoscopic surgery in some medical cases become a reality. 腹腔镜手术就是在腹部的不同部位做数个直径5~12毫米的小切口,通过这些小切口插入摄像镜头和各种特殊的手术器械,将插入腹腔内的摄像头所拍摄的腹腔内各种脏器的图像传输到电视屏幕上,外科医生通过观察图像,用各种手术器械在体外进行操作来完成手术。 Laparoscopic surgery is done at different parts of the belly of a number of 5 to 12 mm in diameter of a small incision, the imaging lens is inserted through these small incisions and special surgical instrument, the insertion of various camera dirty intraperitoneal intraperitoneal photographed the image transmission device to the TV screen, a surgeon, operating through a variety of surgical instruments with an observation image in vitro to complete the operation. 而单孔腹腔镜则是将小切口数量减少到一个。 While the number of small laparoscopic incision hole to a sucked reduced.

[0003] 目前,经脐的单孔腹腔镜手术的优势明显,因为脐部切口为10-20mm,体表无明显手术瘢痕,再加上手术切口被气孔褶皱所掩盖,所以具有令人满意的美容效果;可降低手术并发症发生的概率、减小术后疼痛感,减少了术中、术后麻醉药和镇痛药的用量,术后恢复快,住院时间短。 [0003] Currently, the hole transumbilical obvious advantages for laparoscopic surgery, because the umbilical incision is 10-20mm, no surgical scar surface, is coupled with the incision hole folds masked, so a satisfactory cosmetic effect; can reduce the probability of surgical complications, postoperative pain is reduced, reducing intraoperative, postoperative dosage of analgesic and anesthetics, faster recovery, shorter hospital stay.

[0004] 然而,单孔腹腔镜手术因为其手术操作复杂,手术器械工作相互干涉,导致医生操作困难,手术对医生的操作要求很高。 [0004] However, because of the complexity of its hole laparoscopic surgical procedures, the surgical instrument work interfere with each other, resulting in operational difficulties doctors, high operative requirements of the doctor.

[0005] 为了改进现有单孔腹腔镜手术的问题,现有技术中的单孔腹腔镜手术工具,在外型上为了适应手术的需求,已经做了很大改进,但是实用起来仍然有不方便。 [0005] In order to improve the existing single port laparoscopic surgery problems, prior art single port laparoscopic surgical tools, in order to meet the demand outlook surgery, has done a great improvement, but it still has a convenient and practical . 另一方面,也有人将达芬奇外科手术机器人应用于单孔腹腔镜手术,手术运用了专门设计的运动夹钳, 避免运动干涉,手术能达到比较好的效果。 On the other hand, it was also the da Vinci surgical robot used in single port laparoscopic surgery, the use of a specially designed clamp movement, movement to avoid interference, surgery can achieve better results.

[0006] 与此同时,现有技术中存在一种方向是设计专门的针对单孔腹腔镜外科手术的机械结构。 [0006] Meanwhile, the prior art direction is the presence of a special mechanical structure design for single port laparoscopic surgery. 该方向采用了磁固定技术,磁固定技术是指在外在磁场的作用下,牵扯控制体内带有磁性材料的组织或微小器械,从而完成传统方式难以进行的体腔内部疾病诊断和治疗的一种定位方式。 The fixed magnetic orientation technique using magnetic technology is fixed under the effect of external magnetic field, involves the control of a tissue or body of magnetic material with a fine instrument to complete for positioning inside a body cavity in a conventional manner difficult disease diagnosis and treatment of the way. 运用磁力将执行结构固定于腹壁,进行手术操作,但目前只能完成一些简单夹持和固定的操作。 It will be performed using magnetic structure is secured to the abdominal wall, surgical operation, but can only do some simple clamping and fixed operation.

[0007] 如图1所示,现有技术中的单孔腹腔镜手术工具,手术夹钳外部直径5mm,夹钳尾部为人工手持部分,头部是夹钳的执行机构。 [0007] 1, the prior art single port laparoscopic surgical tools, surgical clamps outer diameter 5mm, a handheld clamp the tail part of the artificial head is a jaw actuator. R-Port (腹腔镜穿刺通道)呈盘状,需要1.5cm~ 2cm长的筋膜切口,可容纳2个5mm及1个12mm器械,鞘的大小可调,通过内外环固定于腹壁, 深度可根据腹壁厚度调解,鞘腹表面有一种自我膨胀环,紧贴在皮肤,用于防漏气。 R-Port (laparoscopic puncture channel) disk-shaped, it needs to 1.5cm 2cm long incision ~ fascia, can accommodate two 5mm and a 12mm instrument, the sheath size is adjustable, is fixed to the inner and outer ring through the abdominal wall, depth the thickness of the abdominal wall mediation ventral surface of the sheath a self-expanding ring, close to the skin, a gas leak. 还有其他的类似的穿过肚脐的装置,不过是大同小异。 There are other similar device through the navel, but is similar.

[0008] 现有技术中的单孔腹腔镜手术至少存在以下缺点: [0008] The prior art single port laparoscopic surgery at least the following disadvantages:

[0009] 因器械置入位置集中,难以形成操作三角,器械互相干扰操作和手术视野,影响手术实际操作效果。 [0009] concentrated by instrument placement position, the operation is difficult to form a triangular, interference between the instrument and the surgical field operations, operational effects affect the actual surgery. 器械和光源同轴在一定程度上影响术者对深度和距离的判断。 And a light source device coaxially affect patients who determines the depth and distance to a certain extent. 因为操作孔道数目限制,手术部位或邻近脏器的牵引有一定困难,对医生的操作也是一种挑战。 Because the number of channels operating restrictions, the surgical site or adjacent organs traction will be difficult, the operation is also a challenge for doctors.

发明内容 SUMMARY

[0010] 本发明的目的是提供一种能完成多自由度运动、并且能够避免多器械干涉的磁固定悬挂式单孔腹腔镜手术机器人系统。 [0010] The object of the present invention is to provide a complete multi-degrees of freedom, and the instrument is possible to avoid interference of multiple fixed magnetic hanging hole laparoscopic surgical robot system.

[0011] 本发明的目的是通过以下技术方案实现的: [0011] The object of the present invention is achieved by the following technical solution:

[0012] 本发明的磁固定悬挂式单孔腹腔镜手术机器人系统,包括执行机构,所述执行机构包括夹钳、连接架、腕部管,所述夹钳与所述连接架通过第一销轴铰接,所述连接架与所述腕部管通过第二销轴铰接,所述第一销轴与第二销轴相互垂直,所述腕部管的后端设有伸缩节,所述夹钳的两个钳角分别连接有两根钢丝。 [0012] The present invention is a fixed magnetic hanging hole laparoscopic surgical robot system comprising the actuator, the actuator comprises a clamp, connecting bracket, tube arm, the grip and the connecting frame by a first pin articulated shaft, connected to the frame and the arm tubes through a second hinge pin, the first pin and a second pin perpendicular to each other, the rear end of the arm is provided with a telescopic joint tube, said clip two clamp jaws are connected to corners two wires.

[0013] 由上述本发明提供的技术方案可以看出,本发明实施例提供的磁固定悬挂式单孔腹腔镜手术机器人系统,由于执行机构包括夹钳、连接架、腕部管,夹钳与连接架通过第一销轴铰接,连接架与腕部管通过第二销轴铰接,第一销轴与第二销轴相互垂直,腕部管的后端设有伸缩节,夹钳的两个钳角分别连接有两根钢丝。 [0013] provided by the technical solution of the present invention can be seen, the magnetic provided in the embodiment of the present invention is fixed hanging hole laparoscopic surgical robot system, since the clamp actuator comprises a connecting bracket, the tube arm, and a clamp a first hinge pin through a connecting bracket connected to the rear end of the arm frame and a second tube via a hinge pin, the first pin and a second pin perpendicular to each other, the tube has a telescopic joint arm, two clamp two clamp corner wire are connected. 夹钳能完成多自由度运动,其动作基本能完成实际单孔腹腔镜手术的操作,并且其能够避免多器械的干涉问题。 Clamps to complete the multi-degrees of freedom, which is basically the operation the actual hole to complete the operation of laparoscopic surgery, it is possible to avoid interference problems and multiple instruments.

附图说明 BRIEF DESCRIPTION

[0014] 图1为现有技术中机器人执行机构的结构示意图; [0014] FIG. 1 is a schematic view of the structure of the prior art actuator of the robot;

[0015] 图2为本发明实施例中磁固定悬挂式单孔腹腔镜手术机器人系统框图; [0015] FIG 2 hole laparoscopic surgical robot system block diagram of the fixed magnetic suspended embodiment of the present invention;

[0016] 图3为本发明实施例中机器人执行机构的结构示意图; [0016] FIG. 3 is a schematic structure of the actuator embodiment of the present invention, the robot;

[0017] 图4为本发明实施例中机器人执行机构的剖视结构示意图; [0017] FIG. 4 is a schematic cross-sectional view of the actuator structure of the robot in the embodiment of the present invention;

[0018] 图5为本发明实施例中夹钳的结构示意图; [0018] Fig 5 a schematic structural diagram of the embodiment of the clamp of the present invention;

[0019] 图6为本发明实施例中连接架的结构示意图; [0019] FIG. 6 is a schematic structural diagram coupling frame in the embodiment of the present invention;

[0020] 图7为本发明实施例中腕部管的结构示意图; [0020] Figure 7 a schematic structural diagram of the embodiment of the present invention, the tube arm;

[0021] 图8为本发明实施例中伸缩节的结构示意图; [0021] FIG. 8 a schematic structural diagram of the embodiment of the present invention, the telescopic section;

[0022] 图9为本发明实施例中钢丝固定块的结构示意图; Structure [0022] FIG. 9 embodiment wire fixing block schematic diagram of the embodiment of the present invention;

[0023] 图10为本发明实施例中的结构示意图; [0023] FIG 10 a schematic structural diagram of the embodiment of the present invention;

[0024] 图11为本发明实施例中的结构示意图。 [0024] FIG 11 a schematic structural diagram of the embodiment of the present invention.

[0025] 图中: [0025] FIG:

[0026] 1、夹钳,2、连接架,3、腕部管,4、伸缩节,5、第一销轴,6、第二销轴,7、第三销轴,8、 钢丝固定块,9、体外大磁体,10、腹壁,11、体内小磁体。 [0026] 1, clamps, 2, connecting bracket, 3, arm pipe 4, telescopic section 5, a first pin, 6, a second pin, 7, a third pin, 8, wire fixing block 9, in vitro large magnet, 10, the abdominal wall 11, a small magnet body.

具体实施方式 Detailed ways

[0027] 下面将对本发明实施例作进一步地详细描述。 [0027] The following embodiments will be described in further detail according to the present invention.

[0028] 本发明的磁固定悬挂式单孔腹腔镜手术机器人系统,其较佳的具体实施方式是: [0028] The present invention is a fixed magnetic hanging hole laparoscopic surgical robot system, specific embodiments thereof are preferred:

[0029] 包括执行机构,所述执行机构包括夹钳、连接架、腕部管,所述夹钳与所述连接架通过第一销轴铰接,所述连接架与所述腕部管通过第二销轴铰接,所述第一销轴与第二销轴相互垂直,所述腕部管的后端设有伸缩节,所述夹钳的两个钳角分别连接有两根钢丝。 [0029] The actuator comprises a clamp actuator comprises a connecting frame, wrist tube, the clamp and the connecting frame by a first hinge pin, said arm is connected to the frame by a first tube two hinge pin, the first pin and a second pin perpendicular to each other, the rear end of the tube is provided with a telescopic joint arm, angle of the two clamp jaws are connected to two wires.

[0030] 所述伸缩节内设有滑动的钢丝固定块,所述伸缩节插入到所述腕部管内,所述钢丝固定块通过第三销轴固定在所述腕部管上,所述钢丝固定块至少连接有一根钢丝,该钢丝绕过所述伸缩节的前端后伸出。 [0030] features a telescopic section of the wire is fixed to slide block, the wrist telescopic section inserted into the tube, the wire fixing block through a third pin secured to the arm tube, said wire at least one fixed wire connecting block, the front end of the wire extending bypasses the telescopic section.

[0031] 所述钢丝通过传导装置与驱动模块连接。 [0031] The conductive wire is connected by means of the drive module.

[0032] 所述传导装置包括多节相互铰接的传导管,铰接部位设有滑轮。 [0032] The conducting means comprises a plurality of sections hinged to each other transfer pipe, the hinge portion is provided with a pulley.

[0033] 所述驱动模块包括丝杠螺母直线运动装置。 [0033] The drive module comprises a spindle nut linear motion device.

[0034] 还包括磁固定结构,所述磁固定结构包括体外大磁体和体内小磁体,所述执行机构固定在所述体内小磁体上。 [0034] further comprises a stationary magnetic structure, said magnetic fixing structure include in vitro and in vivo small magnets large magnet, said actuator being fixed to the body of the small magnet.

[0035] 所述磁固定结构采用永磁铁或电磁铁。 The [0035] magnetic fixing structure using an electromagnet or permanent magnet.

[0036] 还包括控制部分,所述控制部分设有人机交互的视屏和操作键。 [0036] further includes a control section, the control section of the video screen and operating keys provided human-computer interaction.

[0037] 本发明在磁固定的悬挂技术上,采用机电系统,通过人机交互完成指定操作规程, 夹钳能完成多自由度运动,其动作基本能完成实际单孔腹腔镜手术的操作,并且其能够避免多器械的干涉问题。 [0037] In the present invention, the fixed magnetic suspension technology, with electromechanical systems, the rules specify the complete computer interaction, the clamp can complete the multi-degrees of freedom, which is basically finished actual operation hole laparoscopic surgery, and multi-instrument capable of avoiding interference problems.

[0038] 具体实施例: [0038] Specific Example:

[0039] 如图2所示,为磁固定悬挂式单孔腹腔镜手术机器人系统的大致框图。 [0039] As shown in FIG 2, a block diagram of Formula hole substantially laparoscopic surgical robot system is stationary magnetic suspension.

[0040] 一、基本运动结构: [0040] First, the basic structure of the movement:

[0041] 如图3所示,结构整体采用钢丝牵拉的方式,依靠钢丝拉拽牵引作为驱动方式。 [0041] As shown in FIG. 3, the overall structure of the steel wire pulling manner, relying as steel strands pull traction drive system. 该结构将固定在体内,它的整体长度为约11〇_,主要包括夹钳、连接架、腕部管、伸缩节、钢丝固定块、圆柱销等零件。 The fixed structure in vivo, its overall length of about 11〇_, including clamps, connecting bracket, the arm tube, expansion joints wire fixing block cylindrical pins and other parts.

[0042] 如图4所示,钢丝固定块放在伸缩节和腕部管连接处,和I mm圆柱销相连。 [0042] As shown, the wire is connected to the fixed arm and the telescopic joint block on the manifold connection, the cylindrical pin 4 and I mm.

[0043] 二、对各零件进行详细描述: [0043] Second, each of the parts described in detail:

[0044] 1.夹钳: [0044] The clamp 1:

[0045] 如图5所示,夹钳是该机构最终动作输出的一个零件,就单纯的钳子而言,其运动时绕一个心轴旋转。 As shown in [0045] FIG. 5, the clamp is a part of the final output of the operation means, it is simple in terms of the forceps, as it moves about a rotation of the spindle. 钳子有四个孔,使钢丝从孔内穿过,使钢丝和钳子相对位置固定。 Pliers four holes, so that the wire passes through the hole, and the relative position of the wire fixing pliers.

[0046] 2.连接架: [0046] 2. The coupling frame:

[0047] 如图6所示,连接架是用来固定钳子的,钳子通过连接架的轴销固定在连接架上, 实现一定角度的旋转运动。 As shown in [0047] 6, connecting frame is fixed to the forceps, pliers fixed to the coupling frame by a shaft pin connector holder, the rotational movement to achieve a certain angle.

[0048] 3.腕部管: [0048] 3. The arm tube:

[0049] 如图7所示,腕部管的主要作用是支撑前端的连接架和钳子,和伸缩部位连接。 [0049] As shown in FIG 7, the main role is to support the wrist front end of the tube holder and the forceps is connected, and a telescopic connection portion.

[0050] 4.伸缩节: [0050] 4. telescopic section:

[0051] 如图8所示,伸缩节是用来支撑前段和固定伸缩的。 [0051] As shown in FIG. 8, the telescopic joint is fixed for supporting the anterior and retractable. 伸缩节内部有一个钢丝固定块,钢丝固定在该块上,当钢丝运动时,则带动了伸缩节的运动。 Inner telescopic section wire has a fixed block, the block is fixed to the wire, when the wire motion is driven by the movement of the telescopic section.

[0052] 5.钢丝固定块,如图9所示。 [0052] The wire fixing block, as shown in FIG.

[0053] 三、具体运动分析: [0053] Third, the specific motion analysis:

[0054] 1.钳子运动原理: [0054] 1. pliers movement principle:

[0055] 钳子的运动是因为钳子和钢丝相对位置固定,当钢丝受力产生位移时,假设钢丝运动时产生的钢丝变形量很小,即钢丝是刚性的,则钳子随钢丝产生了一定的旋转角度变化。 [0055] The movement of the forceps because of the relatively fixed position of the forceps and the wire, when the wire is displaced by the force, it is assumed deformation amount of the wire generated when the movement of the wire is small, i.e., the wire is rigid, the forceps wire produced with a constant rotation change the angle.

[0056] 2.钳子运动模式: [0056] 2. forceps motion mode:

[0057] 钳子因为钢丝之间的配合能完成夹持(松开),绕连接架旋转,绕腕部旋转,整体伸缩基本动作四种动作。 [0057] Since the forceps can be completed with the wire sandwiched between the (released), the rotation about the connecting frame, the wrist is rotated about the overall basic operation of the telescopic four actions.

[0058] 3.钳子和钢丝运动的相对逻辑关系: [0058] 3. The opposite logic forceps and wire movement:

[0059] 该结构整体采用了5根或6根钢丝。 [0059] The overall configuration using five or six wires. 现在分别表示成钢丝1,2,3,4,5 (6),钳子编号为A、B。 1,2,3,4,5 now denoted as wires (6), the forceps numbered A, B. 钢丝被分成3组,1-2,3-4,5-6。 Wires were divided into three groups, 1-2,3-4,5-6. 钢丝1-2和钳子A连,钢丝3-4和钳子B相连,钢丝5 (6) 和伸缩关节相连,其中钢丝6与钢丝固定块位置关系固定。 A forceps and connected wire 1-2, 3-4, and wire B is connected to the forceps, the wire 5 (6) and telescopic joint is connected, wherein the wire 6 and the wire fixing block fixed positional relationship.

[0060] 同时初始化钢丝和钳子运动的对应关系(钳子的顺时针和逆时针都是从正对钳子A可见绳子的方向为目测方向,而腕部的旋转方向是以钳子A的无牙型的面为直视方向): [0060] Meanwhile correspondence relationship initialization wires and forceps movement (clockwise and counterclockwise are forceps from the forceps facing the A direction of the rope is visible visual direction and the direction of rotation of the wrist is toothless forceps type A is plane of vision direction):

[0061] 钢丝1受拉、钢丝2放松时,钳子A逆时针运动 [0061] The wire 1 is pulled, the wire 2 relax, moving counterclockwise A forceps

[0062] 钢丝3受拉、钢丝4放松时,钳子B顺时针运动 When [0062] the wire 3 is pulled, the wire 4 to relax, the forceps clockwise motion B

[0063] 运动关系和钢丝对应如下表所示(钢丝受拉为1,放松为0,保持不变为NULL): [0063] Relationship Between the following table and the corresponding wires (1 wire tension, relaxation is 0, remain unchanged as NULL):

[0064] [0064]

Figure CN104706417BD00061

[0065] 四、钢丝传动结构: [0065] Fourth, the wire transmission structure:

[0066] 如图10所示,钢丝由体内的执行机构传导到体外的驱动模块。 [0066] As shown in FIG. 10, the conductive wire is performed by means of in vitro to in vivo drive module. 之间需要有可靠的传导装置。 It requires reliable conduction between devices. 钢丝传导主要是因为空间上的问题。 Wire conduction mainly because of problems on the space. 因为空间的限制,另外是由于钢丝的运动要求顺滑性。 Due to space constraints, the other is due to the movement of the wire required smoothness. 本专利采用滑轮导向的方式,引导钢丝从体内的位置传输到体外,与外部的驱动模块相连。 This patent uses the guide pulleys, to guide the wire from the transfer position to the outside of the body, connected to an external drive module. 驱动钢丝的结构是丝杠螺母直线运动。 Driving spindle nut structure is a wire linear motion.

[0067] 五、磁固定结构: [0067] Fifth, the fixed magnetic structure:

[0068] 如图11所示,磁固定采用永磁铁和电磁铁的都可行。 [0068] As shown in FIG 11, using a permanent magnet and the fixed magnetic electromagnet are possible. 本设计方案暂时采用永磁铁方案。 This design uses a permanent magnet program temporarily. 通过体内外两个永磁铁,将执行机构固定在腹腔内壁上。 Vivo by two permanent magnets, the actuator is fixed on the inner wall of the abdominal cavity. 形状较大的是外部磁固定, 而相对较小的是体内磁固定,中间是人体的腹腔内壁。 Shape is larger external magnetic fixed, relatively small magnetic body is fixed, at an inner wall of the body's abdominal cavity. 在磁力适合的情况下,磁体间的磁力既不会伤害到组织,也不会影响手术的执行。 In the magnetic appropriate, the magnetic force between the magnets will neither harm to the organization, it will not affect the implementation of surgery.

[0069] 六、控制部分: [0069] Sixth, the control section:

[0070] 控制部分主要控制的对象是电机,然后需要执行一些人机交互的操作。 Object [0070] The main control part controls the motor, and then needs to perform some of the operations of human-computer interaction. 具体的操作形式多样。 Specific forms of operation.

[0071] 本发明技术方案带来的有益效果: [0071] aspect of the present invention brings advantageous effects:

[0072] 本发明主要是在磁固定的作用下,于体内进行微创手术。 [0072] The present invention is fixed under the magnetic action in the body for minimally invasive surgery. 因为其不占用腹部单孔的位置,避免了夹钳运动干涉打架的问题。 Because it does not occupy the position of the abdominal hole, to avoid interference problems clamp movement fighting. 该系统改善了现有单孔腹腔镜手术执行机构运动性能不佳的情况。 The system improves the poor performance of existing single port laparoscopic surgery motion actuator situation. 操作简单,不需要医生直接操作手术钳,而是用人机交互的方式进行操作。 Simple operation, the doctor does not need to directly operate the forceps, but the man-machine interactive operation manner.

[0073] 从经济方面考虑,该手术系统是针对单孔腹腔镜手术的,相对于达芬奇等复杂的手术系统,这种专门针对单孔腹腔镜手术的系统,价格更为低廉,而且使用性能也不差。 [0073] From an economic standpoint, the surgical system is for single port laparoscopic surgery, da Vinci and other complex surgical system relative to this system specifically for single port laparoscopic surgery, more affordable, and the use of performance is not bad.

[0074] 具体实施例中,执行机构方面实现的形式还有其它的,如通过气动推动式的连杆结构,类似蛇形机器人的结构。 [0074] In embodiments, there are other, such as the link structure driven by a pneumatic type, similar to the structure of the robot in the form of serpentine actuator achieving specific embodiments. 目的是产生夹钳空间上的位移;在钢丝传动的保护管的选用上,有选用柔性管,和刚性管。 Object is displaced on the clamping space; selection of the protective tube in the drive wire, there is the choice of a flexible tube and a rigid tube. 目的都是顺滑使钢丝传动,摩擦力减小的同时,也保证尺寸能和单孔手术兼容;磁固定方面主要应用的永磁铁和电磁铁,永磁吸附力固定,电磁铁吸附力可调,二者都有优劣。 The goal is to make the wire transmission smooth, reduced friction, but also to ensure that the size and compatible with the operation hole; magnetically fixed major aspect of the permanent magnet and the electromagnet application, fixed permanent suction force, the suction force is adjustable electromagnet both have advantages and disadvantages.

[0075]以上所述,仅为本发明较佳的具体实施方式,但本发明的保护范围并不局限于此, 任何熟悉本技术领域的技术人员在本发明披露的技术范围内,可轻易想到的变化或替换, 都应涵盖在本发明的保护范围之内。 [0075] The above are only the preferred specific embodiments of the invention, but the scope of the present invention is not limited thereto, any skilled in the art in the art within the technical scope disclosed in the present invention can be easily thought variations or replacements shall fall within the protection scope of the present invention. 因此,本发明的保护范围应该以权利要求书的保护范围为准。 Accordingly, the scope of the present invention, the scope of the claims should prevail.

Claims (7)

1. 一种磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,包括执行机构,所述执行机构包括夹钳、连接架、腕部管,所述夹钳与所述连接架通过第一销轴铰接,所述连接架与所述腕部管通过第二销轴铰接,所述第一销轴与第二销轴相互垂直,所述腕部管的后端设有伸缩节,所述夹钳的两个钳角分别连接有两根钢丝; 所述伸缩节内设有滑动的钢丝固定块,所述伸缩节插入到所述腕部管内,所述钢丝固定块通过第三销轴固定在所述腕部管上,所述钢丝固定块至少连接有一根钢丝,该钢丝绕过所述伸缩节的前端后伸出。 A magnetic fixing hanging hole laparoscopic surgical robot system, characterized in that it comprises actuators, the actuator comprises a clamp, connecting bracket, tube arm, the said clamp and through a first connection frame a hinge pin, the connecting arm portion of said frame and a second tube by a hinge pin, the first pin and a second pin perpendicular to each other, the rear end of the tube is provided with a telescopic joint arm, the two corners of said clamp jaws are connected to two wires; equipped with the telescopic section of the wire fixing block slide, the wrist telescopic section inserted into the tube, the wire fixing block through a third pin fixed to the arm tube, a connecting wire fixing block has at least one wire, extending the front end of the telescopic section of the bypass wire.
2. 根据权利要求1所述的磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,所述钢丝通过传导装置与驱动模块连接。 The magnetic fixing said hanging hole laparoscopic surgical robot system as claimed in claim, wherein said conductive wire is connected by means of the drive module.
3. 根据权利要求2所述的磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,所述传导装置包括多节相互铰接的传导管,铰接部位设有滑轮。 The magnetic fixing said hanging hole laparoscopic surgical robot system as claimed in claim, characterized in that each hinge means comprising a plurality of conductive sections of the conductive tube, the hinge portion is provided with a pulley.
4. 根据权利要求3所述的磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,所述驱动模块包括丝杠螺母直线运动装置。 According to claim 3, wherein said stationary magnetic hanging hole laparoscopic surgical robot system, characterized in that the drive module comprises a spindle nut linear motion device.
5. 根据权利要求1至4任一项所述的磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,还包括磁固定结构,所述磁固定结构包括体外大磁体和体内小磁体,所述执行机构固定在所述体内小磁体上。 The magnet according to any one of claims 1 to 4 is fixed hanging hole laparoscopic surgical robot system as claimed in claim, characterized in that, further comprising a stationary magnetic structure, said magnetic fixing structure include in vitro and in vivo small magnets large magnet, the actuator fixed to the body of the small magnet.
6. 根据权利要求5所述的磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,所述磁固定结构采用永磁铁或电磁铁。 The magnet 5 is fixed hanging hole laparoscopic surgical robot system as claimed in claim, wherein said stationary magnetic structure using permanent magnets or electromagnets.
7. 根据权利要求6所述的磁固定悬挂式单孔腹腔镜手术机器人系统,其特征在于,还包括控制部分,所述控制部分设有人机交互的视屏和操作键。 The magnet 6 is fixed to the hanging hole laparoscopic surgical robot system as claimed in claim, characterized in that, further comprising a control section, said control section and an operation key provided Screen HCI.
CN201510056246.5A 2015-02-03 2015-02-03 Fixed magnetic hanging hole laparoscopic surgical robot system CN104706417B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510056246.5A CN104706417B (en) 2015-02-03 2015-02-03 Fixed magnetic hanging hole laparoscopic surgical robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510056246.5A CN104706417B (en) 2015-02-03 2015-02-03 Fixed magnetic hanging hole laparoscopic surgical robot system

Publications (2)

Publication Number Publication Date
CN104706417A CN104706417A (en) 2015-06-17
CN104706417B true CN104706417B (en) 2017-05-10

Family

ID=53406480

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510056246.5A CN104706417B (en) 2015-02-03 2015-02-03 Fixed magnetic hanging hole laparoscopic surgical robot system

Country Status (1)

Country Link
CN (1) CN104706417B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105326470B (en) * 2015-11-30 2017-03-29 西安交通大学第附属医院 Laparoscopic systems with fixed-based magnetic anchor near-infrared light visual diagnosis
CN105662539B (en) * 2016-03-15 2018-01-12 西安交通大学第附属医院 A magnetic built-in anchoring system grasper system
CN105748123A (en) * 2016-04-11 2016-07-13 济南创泽生物医药科技有限公司 Novel microscopic needle holder

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9309142D0 (en) * 1993-05-04 1993-06-16 Gyrus Medical Ltd Laparoscopic instrument
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
CN2534981Y (en) * 2002-03-22 2003-02-12 冯立人 Bite-cutting forceps for interanasal sight glass operation
US8114119B2 (en) * 2008-09-09 2012-02-14 Ethicon Endo-Surgery, Inc. Surgical grasping device
ES2388867B1 (en) * 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Tweezers for minimally invasive laparoscopic surgery.
CN102178560B (en) * 2011-04-11 2012-07-04 西安交通大学 Magnetic auxiliary tensioning device for single-pore laparoscope
CN102232855A (en) * 2011-04-11 2011-11-09 西安交通大学 Magnetic anastomat device for single-port laparoscopic colorectal resection
KR101427330B1 (en) * 2011-11-23 2014-08-06 주식회사 리브스메드 Differential component
EP2783643B1 (en) * 2011-11-23 2019-01-23 Livsmed Inc. Surgical instrument
DE102012201081A1 (en) * 2012-01-25 2013-07-25 Herbert Maslanka A surgical instrument
US8891924B2 (en) * 2012-04-26 2014-11-18 Bio-Medical Engineering (HK) Limited Magnetic-anchored robotic system
CN203677188U (en) * 2014-01-13 2014-07-02 上海市肺科医院 Pull rope type lung traction tongs for single-port thoracoscope pulmonary lobectomy
CN204106058U (en) * 2014-03-24 2015-01-21 常州市晨涛医疗器械有限公司 The endoscope vivo sampling clamp
CN203953712U (en) * 2014-07-30 2014-11-26 曾庆松 Living body tissue sampling forceps used for endoscope

Also Published As

Publication number Publication date
CN104706417A (en) 2015-06-17

Similar Documents

Publication Publication Date Title
KR101780238B1 (en) Surgical system sterile drape
JP5559785B2 (en) Guided endoscope
CN101978928B (en) Articulating surgical robot and swappable endoscope
JP4347043B2 (en) Platform joint wrist
CN102176867B (en) Surgical slave robot
US7942868B2 (en) Surgical instrument with parallel motion mechanism
US20100069953A1 (en) Method of Transferring Force Using Flexible Fluid-Filled Tubing in an Articulating Surgical Instrument
US20050096502A1 (en) Robotic surgical device
US9629520B2 (en) Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide
US8858538B2 (en) Apparatus and methods for hybrid endoscopic and laparoscopic surgery
US8551076B2 (en) Retrograde instrument
US8641608B2 (en) Manifold for laparoscopic seal assembly
US8727968B2 (en) Medical treatment endoscope with a positioning mechanism
Xu et al. System design of an insertable robotic effector platform for single port access (SPA) surgery
EP1980194B1 (en) Trans-natural opening based or transcutaneous medical system
US20110152615A1 (en) Surgical manipulator
US9901408B2 (en) Preventing instrument/tissue collisions
US20090259097A1 (en) Cannula visualization arrangement
JP4791967B2 (en) Device for minimally invasive surgery in other parts of the throat and the mammalian body, the system and method
Weinstein et al. Transoral robotic surgery: supraglottic partial laryngectomy
CN104883991B (en) The flexible master-slave robot endoscopy system
US7988618B2 (en) Medical procedure via natural opening
US20110238084A1 (en) Surgical instrument
KR101819531B1 (en) Medical robotic system with coupled control modes
US20070161855A1 (en) Medical procedure through natural body orifice

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
GR01
CF01