CN105213030A - Surgical robot system and its active pilot unit had - Google Patents
Surgical robot system and its active pilot unit had Download PDFInfo
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- CN105213030A CN105213030A CN201410699618.1A CN201410699618A CN105213030A CN 105213030 A CN105213030 A CN 105213030A CN 201410699618 A CN201410699618 A CN 201410699618A CN 105213030 A CN105213030 A CN 105213030A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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Abstract
Embodiments of the invention disclose an a kind of path by being formed on patient body, and the single-ended shape of the mouth as one speaks surgical robot system of multiple surgery instrument can be inserted in body, wherein this surgical robot system comprises: control tower, and it extends along a direction and is formed; Support arm, it is incorporated on described control tower rotationally; And Single Mechanical arm unit, it is incorporated on described support arm rotationally, and has the more than one operating theater instruments that can run independently of each other.And described Single Mechanical arm unit comprises: Single Mechanical arm unit main body, it is formed as annular, and is formed as carrying out opening and closing; More than one motor module, it is formed at the side of described Single Mechanical arm unit main body, and is combined with surgery instrument described in each; And active pilot unit, it is formed at the opposite side of described Single Mechanical arm unit main body, and the described surgery instrument of inner collecting, and it is supported.
Description
Technical field
The active pilot unit that embodiments of the invention relate to a kind of surgical robot system and have, more particularly, relate to a kind of single port operation surgical robot system and for this reason and configuration active pilot unit.
Background technology
Operating robot refers to a kind of robot with the function that can replace the operation behavior undertaken by surgeon.Not only this operating robot has compared to people and can carry out accurately, but also to operate accurately, and can carry out the advantage of remote operation.
At present, the operating robot be developed in worldwide comprises: osseous surgery robot, laparoscopic surgery robot, be decided to be operating robot etc.Wherein, laparoscopic surgery robot is a kind of robot utilizing peritoneoscope and small-sized operation tool to carry out Minimally Invasive Surgery.
Laparoscopic surgery is after the opening of about 1cm is cut at navel position, the most advanced and sophisticated operation method of the one of carrying out after putting into the peritoneoscope as the endoscope for observing abdominal part inside performing the operation, and this is a field expected after being worth.Up-to-date peritoneoscope is equipped with computer chip, therefore can obtain compared to image more clear and exaggerated during perusal, and this operation method almost develops into, and picture is watched by display in limit, limit uses custom-designed peritoneoscope operating theater instruments, namely can carry out the degree of any operation.Especially, the range of operation of laparoscopic surgery is roughly the same with the range of operation of abdominal, but has few intercurrent disease compared to abdominal, can time more early starts treatment after surgery, and can maintain the muscle power of patient with operation or the advantage of immunologic function.
On the one hand, surgical operation robot system is generally made up of a main robot (masterrobot) and secondary robot (slaverobot).Time stick (such as handle) that operator operating host device people has, the operation tool that the robot arm that is incorporated into secondary robot or robot arm hold can be operated, thus perform the operation.
Described background technology invention artificial derivation the present invention possessed, or the technical information obtained in derivation of the present invention, therefore can not think it is prior art disclosed in the present patent application forward direction the general public certainly.
Summary of the invention
the technical problem to be solved in the present invention
The object of embodiments of the invention is to provide a kind of surgical robot system and its active pilot unit had.
technical scheme
Embodiments of the invention disclose an a kind of path by being formed on patient body, and the single-ended shape of the mouth as one speaks (singleport) surgical robot system of multiple surgery instrument can be inserted in body, control tower, it extends along a direction and is formed; Support arm, it is incorporated on described control tower rotationally; And Single Mechanical arm unit, it is incorporated on described support arm rotationally, and has the more than one operating theater instruments that can run independently of each other.And described Single Mechanical arm unit comprises: Single Mechanical arm unit main body, it is formed as annular, and is formed as carrying out opening and closing; More than one motor module, it is formed at the side of described Single Mechanical arm unit main body, and is combined with surgery instrument described in each; And active pilot unit, it is formed at the opposite side of described Single Mechanical arm unit main body, and the described surgery instrument of inner collecting, and it is supported.
In the present embodiment, described Single Mechanical arm unit main body can comprise: the first main part, and it has the annular shape of opening for side; Second main part, it is formed as to rotate relative to described first main part; And fastening part, it makes combination and/or person untie for making described first main part and described second main part.
For the present embodiment, under the state that described first main part and described second main part are combined by described fastening part, described Single Mechanical arm unit main body locking and can ring-type be formed.
For the present embodiment, at described first main part and described second main part by under the state untied, tilt cover described support arm and described Single Mechanical arm unit at least partially after, while described first main part and described second theme portion are combined by fastening part, described tilt can be incorporated into described surgical robot system.
For the present embodiment, described more than one motor module is formed as to carry out straight reciprocating motion relative to Single Mechanical arm unit main body described in each.
For the present embodiment, described surgery instrument is with the while of nipped to the direction of described active pilot unit side from described motor module, and described surgery instrument can be incorporated into described motor module.
For the present embodiment, described Single Mechanical arm unit main body and can hollow bulb be formed with the central part of the more than one motor module of its combination.
For the present embodiment, also can comprise: go-cart, it combines with described control tower, and is formed movably; And operating-table installation portion, it is connected with described go-cart, and is formed as installing operating-table.
For the present embodiment, described active pilot unit comprises: guide post unit, and it is formed with the inner more than one passage inserting described surgery instrument; And electric motor units, it is for providing the driving force of regulation to described guide post unit.
For the present embodiment, described active pilot unit comprises: cover plate; Joint portion, it is formed as relative with described cover plate, and combines with described Single Mechanical arm unit main body; Connecting portion, it is more than one, for connecting described cover plate and described joint portion.Wherein, the through described cover plate of described guide post unit and combining.
For the present embodiment, described guide post unit comprises: guide post, and its inside is formed with more than one described passage; And guide link, it is formed at a side end of described passage, is formed as to rotate relative to described guide post.
For the present embodiment, described electric motor units can provide the driving force of regulation to described guide link, to make described guide link rotate relative to described guide post.
For the present embodiment, draw to a certain degree from the trocar at described guide post, thus when making the rotating shaft of described guide link be placed in the trocar outside, described guide link can rotate relative to guide post.
Another embodiment of the present invention, disclose the active pilot unit of mobile route that a kind of single-ended shape of the mouth as one speaks surgical robot system has, that guide multiple surgery instrument, wherein, this active pilot unit comprises: cover plate and joint portion, and it is formed relative to each otherly; Connecting portion, it is more than one, for connecting described cover plate and described joint portion; And guide post unit, it is incorporated into described cover plate, and is formed with the inner more than one passage inserting described surgery instrument.
For the present embodiment, described guide post unit can comprise: guide post, its inside be formed described one with upper channel; Guide link, it is formed at a side end of described passage, and is formed as to rotate relative to described guide post.
For the present embodiment, described active pilot unit also comprises: electric motor units, and it provides the driving force of regulation to described guide post unit.
For the present embodiment, described electric motor units can provide the driving force of regulation to guide link, so that described guide link can rotate relative to described guide post.
For the present embodiment, draw to a certain degree from the trocar at described guide post, thus when making the rotating shaft of described guide link be placed in the trocar outside, described guide link can rotate relative to guide post.
Other side except foregoing teachings, feature, advantage, can by following accompanying drawing, claims and detailed description of the invention and clearly learn.
beneficial effect
For the single port surgical robot system being inserted more than one surgery instrument by single entrance, namely the surgical robot system of the embodiment of the present invention and its active pilot unit had can obtain the power minimization of loss making surgery instrument, and are played the effect of simply installing tilt (drape) by the opening and closing of Single Mechanical arm unit.
Accompanying drawing explanation
Fig. 1 is the integrally-built axonometric chart representing surgical robot system according to an embodiment of the invention.
Fig. 2 and Fig. 3 be the Single Mechanical arm unit 300 of the surgical robot system 1 representing Fig. 1 in conjunction with axonometric chart.
Fig. 4 is the exploded perspective view of the structure representing the active pilot unit 310 be separated from the Single Mechanical arm unit 300 of Fig. 2.
Fig. 5 is the axonometric chart of the active pilot unit 310 of the Single Mechanical arm unit 300 representing Fig. 2 in more detail.
Fig. 6 is the axonometric chart of the guide post unit 350 of the active pilot unit 310 representing Fig. 5 in more detail.
Fig. 7 a represents guide post 351 to be incorporated in the trocar 370, thus the accompanying drawing of the state that guide link (guidelink) 353 cannot be rotated relative to guide post 351.
Fig. 7 b represents guide post 351 to draw to a certain degree from the trocar 370, thus makes guide link 353 relative to guide post 351 with the accompanying drawing of the state to a certain degree rotated.
Fig. 8 is the accompanying drawing support arm 200 of the surgical robot system 1 representing Fig. 1 and Single Mechanical arm unit 300 being provided with the state of tilt 700.
Detailed description of the invention
The present invention can carry out numerous variations, can have various embodiments, will schematically represent specific embodiment in the accompanying drawings below, and be described in detail specific embodiment in a specific embodiment.Together clearly can understand effect of the present invention, feature and the method reaching it with reference to accompanying drawing and embodiment described later.But the present invention can realize in a variety of manners, and is not limited to the embodiment of following discloses.Below in an example, first, second term such as grade is used for a structural element and other structural element to distinguish, and does not have the implication of restriction.About the statement of singulative, if implication is not within a context represent other implication significantly, then the statement of this singulative also comprises the implication of plural form.Further, the term such as " comprising " or " having " for illustration of the existence of the feature described in book or structural element, but is not for getting rid of more than one further feature or the additional probability of structural element in advance.Further, for convenience of explanation, the size of the element in accompanying drawing may be extended or reduce.Such as, for convenience of explanation, at random can show each size formed occurred in accompanying drawing and thickness, namely the present invention is not limited to content shown in the drawings.
Below, embodiments of the invention are described in detail with reference to appended accompanying drawing.When being described with reference to accompanying drawing, identical or corresponding element will be endowed identical Reference numeral, and will omit the repeat specification carried out it.
At this, the present invention is the technological thought that can be widely used in the operation using operation endoscope (such as peritoneoscope, thoracoscope, arthroscope, gastrointestinal tract etc.).But, for convenience of explanation, will be described to use laparoscopically situation when being described embodiments of the invention.
Fig. 1 is the integrally-built axonometric chart representing surgical robot system according to an embodiment of the invention.
With reference to figure 1, surgical robot system 1 comprises: secondary robot 20, and it carries out hands art to the patient lain on operating-table; Main robot 10, it can make secondary robot 20 described in operator remote control.Main robot 10 and secondary robot 20 can be configured to be combined into a bodily form, and might not be separated into physically respective independently device.
Main robot 10 comprises: stick 11 and display unit 12, and secondary robot 20 comprises: control tower (tower) 100, support arm 200, Single Mechanical arm unit 300, go-cart 400 and operating-table installation portion 500.
In detail, main robot 10 have operator can be made with the hands to hold separately after carry out the stick 11 handled.As shown in Figure 1, stick 11 can be realized by the handle of two or more quantity.Further, the control signal produced according to operator control crank is transmitted to secondary robot 20 by wired or wireless communication networks, for controlling surgery instrument 600 (with reference to figure 2).Namely by the manipulation of operator to handle, can the position of more than one surgery instrument 600 (with reference to figure 2) that possesses of fill order's mechanical arm unit 300 move, rotate, the surgical action of rupturing operation etc.
Such as, operator can utilize the surgery instrument 600 of the secondary robot 20 of the joystick manipulation of handle form or peritoneoscope etc.Such stick can have various machinery according to the difference of maneuverability pattern and form.And stick can be configured to the main handle with the action handling surgery instrument 600 or peritoneoscope etc., and in order to the surgery instrument 600 that starts secondary robot 20 and/or other surgical apparatuses, so that handle whole system and be additional to secondary robot 10 as rocking bar, keyboard, trace ball, the various input tools of touch screen.At this, stick 11 is not limited to the shape of handle, if then can be suitable for by without any restriction by the form controlling the action of surgery instrument 600 as network that is wired or wireless communication networks.
The display unit 12 of main robot 10 will be image frame by the image display captured by secondary robot 20 peritoneoscope.Further, display unit 12 also can have the function of touch screen.And display unit 12 can be provided as 3 d display device, thus make observer can experience lively sense and the sense of reality of three-dimensional (3D).
At this, display unit 12 is made up of more than one display, necessary information when each display can show respectively operation.Exemplified with the situation of display unit 12 comprising three display in Fig. 1, but the quantity of the display difference of the type or kind etc. of information that can show as required and be defined as multiple different situation.
On the one hand, secondary robot 20 can comprise the Single Mechanical arm unit 300 being configured with more than one surgery instrument 600.At this, according to the secondary robot 20 of the surgical robot system 1 of one embodiment of the invention, it is characterized in that, it is that multiple surgery instrument 600 is inserted in the surgical robot system of the single-ended shape of the mouth as one speaks (singleport) in body by the path that the health of patient is formed.
In detail, existing surgical robot system forms multiport (Multi-port) at the abdominal part trocar (Trocar) of 3 ~ 4 of patient, and carry out abdominal cavity or thoracoscopic operation by the path of abdominal cavity or endoscope and operating theater instruments.But, along with nearest by improve by making surgical wound minimize modus operandi for the purpose of cosmetic result like by masses, have developed and compare existing abdominal cavity or the better operation method of thoracoscopic operation, such as by the navel of self-assembling formation, anus and oral cavity through natural tract scope (NOTES) modus operandi and single incision surgery etc.Thus, necessary for novel operation method as above, and the exploitation of operating theater instruments easy to use continues always, wherein representative one is exactly single-ended shape of the mouth as one speaks surgical robot system.
Single port surgical method is a kind of operation method carried out insert endoscope and multiple operating theater instruments in a port after, a minimum otch (about 1 ~ 2cm) can be opened at the navel of patient, and insert endoscope by this otch and multiple operating theater instruments is performed the operation.
The surgery instrument 600 of secondary robot 20 as above and Single Mechanical arm unit 300 can be embodied as to have multivariant mode and be driven.Such as, secondary robot 20 is configured to comprise: yaw drive division, and it can, according to the difference of surgery location, make surgery instrument 600 or Single Mechanical arm unit 300 rotate along yaw (yaw) direction; Pitching drive division, it makes surgery instrument 600 or Single Mechanical arm unit 300 rotate along pitching (pitch) direction of the rotary actuation phase orthogonal with yaw drive division; Transfer drive division, it makes surgery instrument 600 upper mobile along its length; Rotary driving part, it makes surgery instrument 600 rotate; Operating theater instruments drive division, it is arranged at the tip of surgery instrument 600, for cutting or amputation pathological changes.But the formation of secondary robot 20 is not limited thereto, this illustration should be understood and do not limit interest field of the present invention.At this, the illustrating of working control process of by stick 11, surgery instrument 600 or Single Mechanical arm unit 300 are rotated for operator with corresponding direction therewith, to move etc. will be omitted.
Below, illustrate in greater detail to so secondary robot 20.Secondary robot 20 comprises: control tower 100, support arm 200, Single Mechanical arm unit 300, go-cart 400, operating-table installation portion 500.
For the secondary robot 20 forming the present embodiment, it is characterized in that, control tower 100 is installed in moveable go-cart 400, this control tower 100 uses can in order in conjunction with the structure of support arm 200 and unit mechanical arm 300, thus can realize from configurational stabilisation by Shi Fu robot 20, and make it possible to the relative position accurately grasped between secondary robot 20 and patient.Further, another feature is, also has the operating-table installation portion 500 combined with go-cart 400, and can install operating-table on operating-table installation portion 500.
In detail, the condition that operation robot demand fulfillment is conflicting.Namely needing on the one hand to carry out action near patient position being positioned at, assist physician (clinicalstaff) etc. should be able to being made but then when not interfering by robot close to patient; Action is carried out in the top that should be positioned at patient body on the one hand, should ensure sterilizing (sterilization) but then, infect to avoid patient.
Further, the action carried out should have sufficient intensity (strength), accuracy (accuracy) and agility (dexterity) on the one hand, and size is little, very thin and lightweight on the other hand; On the one hand robot should be arranged securely, needs freedom of movement but then and to occupy the area of operating room less.And patient and robot should be able to freely complete as carrying out the beamhouse operation of performing the operation.
In order to meet conflicting as above condition to greatest extent, be designed with that furred ceiling arranges type (ceilingmount), operating-table attaching type (tablemount), floor arrange type (floormount), patient arranges the multiple set-up mode that type (patientmount), control tower type (towerstyle) etc. have pluses and minuses separately.
The pedestal of control tower humanoid robot is installed in moveable go-cart 400 by the present embodiment, and this go-cart 400 is combined with the operating-table installation portion 500 being provided with operating-table, thus get the advantage of " operating-table attaching type " and " control tower type ", achieve the setting of " operating-table mount type ".
To illustrate in further detail, described in specific as follows this.
Control tower 100 is installed on moveable go-cart 400 and forms the pedestal of secondary robot 20, and forms along direction perpendicular to the ground prolongation.On the other hand, the side of go-cart 400 is formed with the operating-table installation portion 500 installing operating-table.As mentioned above, can be obtained by operating-table attaching mode during operation and the waste in operating room space is minimized, and bed is stably docked (docking), and the effect of multiple operation posture can be realized.In addition, operating-table installation portion 500 is formed in adjustable ground mode, thus make surgical robot system realize being widely used in operating room various operating-tables used.
On the other hand, support arm 200 is incorporated into the side of control tower 100, Single Mechanical arm unit 300 can carry out straight line or in rotary moving relative to control tower 100 by the driving of support arm 200, thus the state of the necessary operation that is set to can to perform the operation to the affected part of the patient of recumbency on operating-table.At this moment, support arm 200 can be configured to passive mechanical arm (passivearm) structure, and this passive mechanical arm structure under desired operation posture, can make Single Mechanical arm unit 300 directly perceived and move rapidly.
Single Mechanical arm unit 300 is incorporated into the side of support arm 200, is formed as can carrying out straight line or in rotary moving relative to support arm 200.Further, Single Mechanical arm unit 300 is formed as installing multiple surgery instrument 600, and multiple surgery instrument 600 is being inserted under the state in the body of patient by single path, can perform an action independently of one another, thus performs the operation.Below, will illustrate in greater detail unit mechanical arm 300 as above.
Fig. 2 and Fig. 3 be the Single Mechanical arm unit 300 of the surgical robot system 1 representing Fig. 1 in conjunction with axonometric chart, Fig. 4 is the exploded perspective view of the structure representing the active pilot unit 310 be separated from the Single Mechanical arm unit 300 of Fig. 2.
Referring to figs. 2 to Fig. 4, the Single Mechanical arm unit 300 according to the surgical robot system 1 of one embodiment of the invention comprises: Single Mechanical arm unit main body 330; Initiatively pilot unit 310, it is incorporated into the side of Single Mechanical arm unit main body 330; And motor module 320, it is multiple, is incorporated into the opposite side of Single Mechanical arm unit main body 330.At this moment, when observing Single Mechanical arm unit 300 from overall aspect, Single Mechanical arm unit main body 330 and be configured to heart portion wherein with multiple motor modules 320 of its combination and be formed with the form of hollow bulb.
Further, each surgery instrument 600 is incorporated into multiple motor module 320, will be inserted in the body of patient after the through active pilot unit 310 of this surgery instrument 600.At this moment, the direction that surgery instrument 600 is incorporated into motor module 320 is to the close direction of patient, namely surgery instrument 600 is with the while of nipped to the direction of active pilot unit 310 side from motor module 320, and described surgery instrument 600 can be incorporated into motor module 320.
In detail, Single Mechanical arm unit main body 330 forms the pedestal of Single Mechanical arm unit 300, and side combines initiatively pilot unit 310, and opposite side forms multiple motor module 320.This Single Mechanical arm unit main body 330 comprises: the first main part 331, and it has the annular shape of opening for side; Second main part 332, it is formed as can the first main part 331 described in opening and closing; Fastening part 333, it is for making the first main part 331 and the second main part 332 combines and/or person unties.Namely the second main part 332 is closed by keying and is combined with the first main part 331, thus be formed as to rotate relative to the first main part 331, and passing through, under the fastened state in fastening part, to be formed as the ring-type of overall locking at the first main part 331 and the second main part 332.In other words, illustrated in Fig. 2 is that the first main part 331 and the second main part 332 occur fastening by fastening part 333, thus form the form of the ring-type of overall locking, in Fig. 3 illustrated is the first main part 331 and the second main part 332 combination remove after, the second main part 332 relative to the first main part 331 by the form opened.
On the other hand, under the state that tilt 700 covers Single Mechanical arm unit 300, the first main part 331 and the second main part 332 fastening by fastening part 333 while, it is overall that tilt 700 can cover Single Mechanical arm unit 300.To be described in detail afterwards to this.
The opposite side of Single Mechanical arm unit main body 330 forms multiple motor module 320.Each motor module 320 as above has more than one motor, and each motor module 320 is combined with surgery instrument 600.So, under the state that surgery instrument 600 is incorporated into motor module 320, motor module 320 will provide the driving force of regulation, so that surgery instrument 600 can carry out the necessary various action of operation, such as spinning movement, pitching motion, yaw action, actuating (Actuation) action etc.Further, motor module 320 also can be formed as, relative to Single Mechanical arm unit main body 330, axially can carrying out rectilinear motion, also axially can carry out rectilinear motion by the rectilinear motion of such motor module 320 and the surgery instrument 600 of its combination.As mentioned above, motor module 320 provides the mechanism of the driving force of regulation to be known technology to surgery instrument 600, therefore this description will omit detailed description thereof.
Fig. 5 is the axonometric chart of the active pilot unit 310 of the Single Mechanical arm unit 300 representing Fig. 2 in more detail, and Fig. 6 is the axonometric chart of the guide post unit 350 of the active pilot unit 310 representing Fig. 5 in more detail.
Referring to figs. 2 to Fig. 6, initiatively pilot unit 310 is the steering tools in order to carry out single port operation, can play the effect of leading to plural surgery instrument 600 and peritoneoscope.This active pilot unit 310 comprises: cover plate 311; Joint portion 312, it is formed as relative with cover plate 311, and combines with Single Mechanical arm unit main body 330; Connecting portion 313, it is more than one, for connecting cover plate 311 and joint portion 312; Motor module connecting rod 314, it is connected with motor module 320.Further, initiatively pilot unit 310 also comprises: guide post unit 350, and it is combined with the rightabout of cover plate 311 in Single Mechanical arm unit main body 330, and can carry out rectilinear motion relative to the trocar 370; And electric motor units 315, it provides the driving force of regulation to guiding bar unit 350.
At this, the trocar 370 accompanying initiatively pilot unit 310 has the effect that can make operation utensil safety, be configured at the specific part of human body easily, such as, be inserted in the abdominal part of human body.The pin inserting human abdomen is formed in the bottom of this trocar 370
Further, initiatively the guide post unit 350 of pilot unit 310 is inserted through in the trocar 370, can without leading to surgery instrument 600 and peritoneoscope with rocking by this guide post unit 350.Guide post unit 350 identical is therewith formed with the guide channel of multiple open channel type, and surgery instrument 600 and/or peritoneoscope are supported by such passage.
Now, initiatively pilot unit 310 also can have sleeve pipe needle holder 360, and sleeve pipe needle holder 360 is formed as under the state of the abdominal part trocar 370 being inserted in patient, mobile mechanical arm and make its easily docking (docking) in the trocar 370.And under the state of docking, during in order to carry out the rotation centered by axis changing operation direction, prevent the phenomenon causing the abdominal injury of patient or the trocar 370 to depart from from abdominal part by the trocar 370, the trocar 370 installation portion is formed as the structure can carrying out rotating centered by axis.
Guide post unit 350 comprises: guide post 351; Passage 352, it is more than one, is formed at guide post 351 inner; Guide link 353, it is formed at a side end of passage 352, and is formed as to rotate to an angle relative to guide post 351.
At this moment, the open area of each passage 352 is formed as the size can inserting video camera or surgery instrument 600.Such as, first passage 352a is formed along its length on the top of guide post 351, is configured for the peritoneoscope of endoscope's form of carrying out performing the operation.And, configurable multiple surgery instrument 600 in the second channel 352b of left/right side being configured at guide post 351 and third channel 352c.On the other hand, be configured at the accessory channel 352d of the bottom of guide post 351, the function injected in peritoneoscope and expand gas or release the too much gas of intraperitoneal can be had.Further, accessory channel 352d can have the form of the little aid guide channel similar with the form of other passages, and in this case, surgical assist tool can be configured at this aid guide channel, thus for performing the operation.In the above description, be illustrated with structure guide post 351 being formed 4 passages, but diversified change can be carried out to the quantity of passage, function and form etc. as required.
Guide link 353 is formed as relative to guide post 351, the rotation of certain angle to occur centered by rotating shaft 353a.At this moment, though be not shown in the accompanying drawings, guide link 353 can be formed as being connected with electric motor units 315, can receive the driving force of the regulation required for rotating from electric motor units 315.Guide post 351 is incorporated in the trocar 370 of definite part by Fig. 7 a, thus makes the state that guide link 353 cannot rotate relative to guide post 351.In contrast, guide post 351 is drawn to a certain degree from the trocar 370 by Fig. 7 b, the rotating shaft 353a of guide link 353 is positioned at the state of the outside of the trocar 370, in this case, guide link 353 receives the driving force of regulation from electric motor units 315, thus rotates to an angle along the direction of arrow of Fig. 7 b centered by rotating shaft 353a.
For this reason, electric motor units 315 is made up of the combination of wheel (pulley) and leading screw (leadscrew), therefore the rotary motion of electric motor units 315 can be converted to rectilinear motion, the guide post 351 carrying out rectilinear motion is thus connected with the carrier bar of guide link 353, at guide post 351 when carrying out rectilinear motion, there is the rotating shaft 353a of rotary steering connecting rod 353 and make the effect that guide link about 353 is opened.
So, guide link 353 is rotatably formed, the tip portion being inserted into the surgery instrument 600 in patient body by guide post 351 is launched to both sides easily, thus there is the effect that the configuration of the surgery instrument 600 in narrow patient body is relatively easily carried out.Further, at this moment guide link 353 and provide being formed in mode close as far as possible of the electric motor units 315 of driving force for it, thus the effect that the transmission that can obtain driving force more reliably realizes.
And, possesses active pilot unit 310 as the steering tool of performing the operation for such single port, thus be convenient to carry out the photographing unit of Wicresoft's single port operation and the insertion of instrument and be separated, and use is if the driving device of motor is from the degree of freedom of outside increase apparatus, thus obtain the actuating range the effect strengthening power and moment of torsion that expand operative site.
Fig. 8 is the accompanying drawing support arm 200 of the surgical robot system 1 representing Fig. 1 and Single Mechanical arm unit 300 being provided with the state of tilt 700.
In detail; superinfection is there is in operation robot system in order to protect the patient undergone surgery; with the cover parcel robot arm 20 of the plastics of sterilizing etc.; thus use so-called covering (draping) operation, but existing operation robot system existence tilt is not easy the problem covering secondary robot.In contrast, according to the operation robot system of the present embodiment under the state covering 700 support arms 200 and unit mechanical arm 300 with tilt, by means of only the first main part 331 and the second main part 332 of the Single Mechanical arm unit main body 330 of fastening Single Mechanical arm unit 300, just can realize covering to needing in secondary robot 20 the whole part covered simultaneously, thus can easily and promptly carry out pre-operative preparation.
Namely as shown in Figure 3, in the combination of releasing first main part 331 and the second main part 332, under the state making the second main part 332 open relative to the first main part 331, after tilt 700 is covered in Single Mechanical arm unit 300, as shown in Figure 2, after first main part 331 and the second main part 332 being fastened by fastening part 333, tilt 700 just can cover the entirety of Single Mechanical arm unit 300 and support arm 200.
So, the present invention is illustrated with reference to an embodiment illustrated in accompanying drawing, but this is only exemplary, and those of ordinary skill in the art can understand the distortion can carrying out various deformation and embodiment thus.Therefore, real technical protection scope of the present invention should be determined by the technological thought of appending claims.
symbol description
1: surgical robot system
10: main robot
20: secondary robot
100: control tower
200: support arm
300: Single Mechanical arm unit
400: go-cart
500: operating-table installation portion
Claims (18)
1. a surgical robot system, it is a path by being formed on patient body, and can insert the single-ended shape of the mouth as one speaks surgical robot system of multiple surgery instrument in body, and wherein, this surgical robot system comprises:
Control tower, extends with a direction and formed;
Support arm, it is incorporated on described control tower rotationally; And
Single Mechanical arm unit, it is incorporated on described support arm rotationally, and has the more than one operating theater instruments that can run independently of each other,
Wherein, described Single Mechanical arm unit comprises:
Single Mechanical arm unit main body, it is formed as annular, and is formed as carrying out opening and closing;
More than one motor module, it is formed at the side of described Single Mechanical arm unit main body, and is combined with surgery instrument described in each; And
Initiatively pilot unit, it is formed at the opposite side of described Single Mechanical arm unit main body, and the described surgery instrument of inner collecting, and it is supported.
2. surgical robot system according to claim 1, wherein,
Described Single Mechanical arm unit main body comprises:
First main part, it has the annular shape of opening for side;
Second main part, it is formed as to rotate relative to described first main part; And
Fastening part, it makes combination and/or person untie for making described first main part and described second main part.
3. surgical robot system according to claim 2, is characterized in that,
Under the state that described first main part and described second main part are combined by described fastening part, described Single Mechanical arm unit main body is blocked and forms ring-type.
4. surgical robot system according to claim 2, is characterized in that,
At described first main part and described second main part by under the state untied, tilt cover described support arm and described Single Mechanical arm unit at least partially after,
While described first main part and described second theme portion are combined by fastening part, described tilt is incorporated into described surgical robot system.
5. surgical robot system according to claim 1, is characterized in that,
Described more than one motor module is formed as to carry out straight reciprocating motion relative to Single Mechanical arm unit main body described in each.
6. surgical robot system according to claim 1, is characterized in that,
Described surgery instrument is with the while of nipped to the direction of described active pilot unit side from described motor module, and described surgery instrument is incorporated into described motor module.
7. surgical robot system according to claim 1, is characterized in that,
Described Single Mechanical arm unit main body and be formed with hollow bulb with the central part of the more than one motor module of its combination.
8. surgical robot system according to claim 1, wherein, also comprises:
Go-cart, it combines with described control tower, and is formed movably; And
Operating-table installation portion, it is connected with described go-cart, and is formed as installing operating-table.
9. surgical robot system according to claim 1, wherein,
Described active pilot unit comprises:
Guide post unit, it is formed with the inner more than one passage inserting described surgery instrument; And
Electric motor units, it is for providing the driving force of regulation to described guide post unit.
10. surgical robot system according to claim 9, is characterized in that,
Described active pilot unit comprises:
Cover plate;
Joint portion, it is formed as relative with described cover plate, and combines with described Single Mechanical arm unit main body; And
More than one connecting portion, it is for connecting described cover plate and described joint portion,
Wherein, the through described cover plate of described guide post unit and combining.
11. surgical robot systems according to claim 9, is characterized in that,
Described guide post unit comprises:
Guide post, its inside is formed with more than one described passage; And
Guide link, it is formed at a side end of described passage, is formed as to rotate relative to described guide post.
12. surgical robot systems according to claim 11, is characterized in that,
Described electric motor units can provide the driving force of regulation to described guide link, to make described guide link rotate relative to described guide post.
13. surgical robot systems according to claim 11, is characterized in that,
Draw to a certain degree from the trocar at described guide post, thus when making the rotating shaft of described guide link be placed in the trocar outside, described guide link can rotate relative to guide post.
14. 1 kinds of active pilot units, it is configured at single-ended shape of the mouth as one speaks surgical robot system and guides the mobile route of multiple surgery instrument, and wherein, this active pilot unit comprises:
Cover plate and joint portion, it is formed relative to each otherly;
More than one connecting portion, it is for connecting described cover plate and described joint portion; And
Guide post unit, it is incorporated into described cover plate, and is formed with the inner more than one passage inserting described surgery instrument.
15. active pilot units according to claim 14, wherein,
Described guide post unit comprises:
Guide post, its inside be formed described one with upper channel; And
Guide link, it is formed at a side end of described passage, and is formed as to rotate relative to described guide post.
16. active pilot units according to claim 15, is characterized in that,
Described active pilot unit also comprises:
Electric motor units, it provides the driving force of regulation to described guide post unit.
17. active pilot units according to claim 16, is characterized in that,
Described electric motor units provides the driving force of regulation to guide link, so that described guide link rotates relative to described guide post.
18. active pilot units according to claim 16, is characterized in that,
Draw to a certain degree from the trocar at described guide post, thus when making the rotating shaft of described guide link be placed in the trocar outside, described guide link can rotate relative to guide post.
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| KR10-2014-0082534 | 2014-07-02 | ||
| KR1020140082534A KR101630794B1 (en) | 2014-07-02 | 2014-07-02 | Surgical robot system and active guide unit therewith |
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| Publication Number | Publication Date |
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| CN105213030A true CN105213030A (en) | 2016-01-06 |
| CN105213030B CN105213030B (en) | 2018-01-02 |
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Also Published As
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| KR20160007823A (en) | 2016-01-21 |
| CN105213030B (en) | 2018-01-02 |
| KR101630794B1 (en) | 2016-06-15 |
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