CN105286989A - Double-electrode energy tool for minimally invasive surgery robot - Google Patents
Double-electrode energy tool for minimally invasive surgery robot Download PDFInfo
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- CN105286989A CN105286989A CN201510665781.0A CN201510665781A CN105286989A CN 105286989 A CN105286989 A CN 105286989A CN 201510665781 A CN201510665781 A CN 201510665781A CN 105286989 A CN105286989 A CN 105286989A
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Abstract
The invention discloses a double-electrode energy tool for a minimally invasive surgery robot. The double-electrode energy tool comprises a tool long rod, wherein one end of the tool long rod is fixedly connected with a substrate rod of an execution terminal, and the other end of the tool long rod is rotatably mounted in a connection box through a bearing, a clamp opening and closing transmission device, a rotation transmission device, a deflection transmission device and an autoroatation transmission device are mounted in the connection box, and an energy connecting port is arranged at the tail side of the connection box, and comprises a positive electrode jack and an negative electrode jack. With the adoption of the double-electrode energy tool, the operation procedures including cutting, stripping and blood coagulating actions are simplified, and the surgery precision of the robot is improved. In the operations of electrocoagulation, electroexcision and the like of the fine texture, the clamping for the fine texture can be effectively realized. The generation of current leakage is prevented, and the short circuit between two electrodes is avoided, so that the operation safety of the surgery tool is improved.
Description
Technical field
The present invention relates to a kind of Minimally Invasive Surgery instrument, particularly a kind of bipolar electric energy operation tool of micro-wound operation robot.
Background technology
Along with the development of science and technology, Minimally Invasive Surgical Technology challenges conventional surgical techniques, becomes the theme in 21 century surgical field gradually.Micro-wound surgical operation refer to doctor the modern medical equipment such as breast, peritoneoscope auxiliary under, by microtrauma or Mini approach, medical apparatus and instruments, physical energy, chemical agent are sent into inside of human body thus completed a class type of surgery of the operation such as excision, reparation, reconstruction to pathological tissues.Compared with open surgery, Minimally Invasive Surgery have wound little, go out insufficiency of blood, recover the plurality of advantages such as fast, obtained in clinical operation and applied more and more widely.In recent years, along with the raising of medical need, arise at the historic moment for the auxiliary micro-wound operation robot realizing Minimally Invasive Surgery, it is the modernization armarium integrating the three digest journals such as picture system, control system, train of mechanism.
In robot assisted minimal invasive surgical procedures, operating theater instruments is indispensable important component part, Ye Shi robot uniquely needs to probe into the actuator that inside of human body implements operation technique, therefore, provides a kind of Minimally Invasive Surgery apparatus of performance efficiency to become the key of hoisting machine people overall performance.In Minimally Invasive Surgery, bipolar electric power tools is mainly used to carry out coagulation and TURP operation, its the high-frequency electrical energy that leads to be precisely defined in effect target area, compared with existing traditional instruments, simplify the operating process of cutting, stripping, blood coagulation action, improve robotic surgery precision, reduce operation risk, especially in the intraoperative hemorrhage of process microscopic structure, there is high using value.Therefore, the present invention for the blank filling up this field, and is reducing the labor intensity of Wicresoft doctor, ensures that Minimally Invasive Surgery quality aspect has important practical significance.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, a kind of accurately reliable, rational in infrastructure, the micro-wound operation robot coagulation of highly effective, TURP bipolar energy instrument are provided.
In order to achieve the above object, the technical solution used in the present invention is:
A kind of micro-wound operation robot bipolar energy instrument, it comprises instrument stock, one end of described instrument stock and the pedestal bar performing end are fixedly linked and the other end is arranged in connecting box by bearing rotary, clamp open-close transmission device, slewing gear, nutation drive device and rotation transmission device are installed in described connecting box, described connecting box tail side is provided with energy interface, and described energy interface comprises anode plug and cathode plug;
Described execution end comprises revolution strut, the rear end of described revolution strut is rotatedly connected by bearing and deflection seat, the directive wheel I that axis is arranged with deflection seat axes normal, directive wheel II, directive wheel III is respectively by round end bearing pin I, round end bearing pin II, round end bearing pin III is rotatably connected on deflection seat, one end of steel wire II is fixed in the silk groove of revolution strut, the other end oppositely curls up and by directive wheel I, curl up on the slewing gear of described connecting box by the inner chamber of instrument stock after II guiding, steel wire III forward curl up and by directive wheel III lead after be fixed on slewing gear by the inner chamber of instrument stock,
The rear portion of grip module is arranged in described revolution strut, described grip module comprises the left clamp block be rotatably connected on successively in long pin shaft, left caliper rear portion, left shrouding, the isolation collar, right shrouding, in right caliper body rear portion and right clamp block, left, right caliper body is inlaid in a left side respectively, in right clamp block, a described left side, right shrouding is fitted in a left side respectively, on the sidewall of right caliper body, the two ends of described long pin shaft are rotatably connected on revolution strut respectively, just, one end of cathode conductor is each passed through left clamp block or right clamp block is directly connected with the caliper of corresponding side, just described, the other end of cathode conductor through after instrument stock with described energy interface just, the tail end of cathode plug is connected, just described, the front end of cathode plug is in order to connect the outfan of power generator, left and right clamp block and the described left and right shrouding of described energy pincers pole all adopt insulating ceramic materials, the described isolation collar adopts insulant, stretch is fixed in the axis hole of T-shaped pulling seat, the two ends of described stretch are inserted in the guiding elongated slot of left and right clamp block, the two ends of described stretch respectively and be set with rubber draw ring between long pin shaft, one end tieing of steel wire I is fixed on T-shaped pulling seat, and the other end of described steel wire I curls up on the clamp open-close transmission device of described connecting box through the inner chamber of instrument stock,
The intermediate filament of steel wire IV ties in the V-type groove of fixedly embedded deflection wire wheel, deflection wire wheel is fixed on inside described deflection seat by alignment pin, described deflection wire wheel is rotatably connected on round end bearing pin III on round end bearing pin III and described and is inserted in the axis hole of pedestal bar front end through deflection seat, what rotate with pedestal bar to make deflection seat is connected, steel wire IV two ends are through the inner chamber of instrument stock, and respectively along just after guidance set guiding, curl up and be stretched on nutation drive device in the other direction, the rear end of described pedestal bar is connected to realize spinning motion by steel wire under the drive of steel wire with rotation transmission device.
Compared with prior art, a kind of bipolar energy instrument provided by the invention has following beneficial effect:
1. a kind of bipolar energy tool-face of the present invention uses to robot micro-wound operation, can fill up the blank without this series products in micro-wound operation robot field.
2. a kind of bipolar energy instrument of the present invention the high-frequency electrical energy that leads to be precisely defined in effect target area, simplify the operating process of cutting, stripping, blood coagulation action, improve robotic surgery precision.
3. the caliper surface of the two poles of the earth clamp of a kind of bipolar energy instrument of the present invention adopts the tooth-like structural design of engagement, effectively can realize the clamping to tissue in the operation such as coagulation, TURP carrying out micro organization.
4. the conductive tips of a kind of bipolar energy instrument of the present invention adopts double hyer insulation isolation design, contributes to preventing the generation of leakage current and can avoiding short circuit between the two poles of the earth, improves the processing safety of operation tool.
5. a kind of bipolar energy tool-face of the present invention is to the Minimally Invasive Surgery in peritoneoscope field, can accept multiple kinds of energy form, meet the requirement of different type of surgery and medical condition, have the potentiality expanded to other medical field.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 2 is the execution end structure schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 3 is the grip module drive mechanism schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 4 is the energy pincers electrode structure schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 5-1 is the gyro black assembly drive mechanism schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 5-2 is the gyro black assembly revolution transmission schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 6 is the yoke assembly drive mechanism schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Fig. 7 is the operation technique schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument;
Wherein:
1-1-performs end 1-2-connecting box 1-3-instrument stock 1-4-energy interface
1-5-anode plug 1-6-cathode plug
2-1-grip module 2-2-long pin shaft 2-3-turns round strut 2-4-miniature bearing 2-5-and deflects seat
2-6-round end bearing pin II2-7-round end bearing pin III2-8-pedestal bar 2-9-positive wire
2-10-cathode conductor 2-11 – deflection wire is taken turns
3-1-T type pulling seat 3-2-stretch 3-3-rubber draw ring 3-4-steel wire I
A 3-5-left side (positive pole) the clamp 3-6-right side (negative pole) clamp
The right clamp block of the left clamp block 4-3-of 4-1-left caliper 4-2-left shrouding 4-4-right caliper body 4-5-
The right shrouding 4-7-of 4-6-isolates the collar
5-1-round end bearing pin I5-2-directive wheel I5-3-directive wheel II5-4-directive wheel III
5-5-steel wire II5-6-steel wire III
6-1 – alignment pin 6-2-steel wire IV
The region 7-4-line of cut that 7-1-pathological tissues 7-2-health tissues 7-3-solidifies
7-5-cut direction 7-6-high-frequency energy generator 7-7-foot switch
R1-rotation degree of freedom R2-deflects degree of freedom R3-and turns round degree of freedom K4-folding degree of freedom
T1-steel wire I draw direction T2-steel wire III draw direction
Detailed description of the invention
Describe the present invention below in conjunction with specific embodiment.
A kind of micro-wound operation robot bipolar energy instrument of the present invention, it comprises instrument stock 1-3, one end of described instrument stock and the pedestal bar 2-8 performing end are fixedly linked and the other end is arranged in connecting box 1-2 by bearing rotary, clamp open-close transmission device, slewing gear, nutation drive device and rotation transmission device are installed in described connecting box 1-2, described connecting box tail side is provided with energy interface 1-4, and described energy interface 1-4 comprises anode plug 1-5 and cathode plug 1-6;
Described execution end comprises revolution strut 2-3, the rear end of described revolution strut 2-3 is rotatedly connected by bearing 2-3 and deflection seat 2-5, the directive wheel I5-2 that axis is arranged with deflection seat axes normal, directive wheel II5-3, directive wheel III5-4 is respectively by round end bearing pin I5-1, round end bearing pin II2-6, round end bearing pin III2-7 is rotatably connected on deflection seat 2-5, one end of steel wire II5-5 is fixed in the silk groove of revolution strut 2-3, the other end oppositely curls up and by directive wheel I5-2, curl up on the slewing gear of described connecting box 1-2 by the inner chamber of instrument stock 1-3 after II5-3 guiding, steel wire III5-6 forward curl up and by directive wheel III5-4 lead after be fixed on slewing gear by the inner chamber of instrument stock 1-3,
The rear portion of grip module 2-1 is arranged in described revolution strut 2-3, described grip module 2-1 comprises the left clamp block 4-2 be rotatably connected on successively on long pin shaft 2-2, left caliper 4-1 rear portion, left shrouding 4-3, isolation collar 4-7, right shrouding 4-6, on right caliper body 4-4 rear portion and right clamp block 4-5, left, right caliper body is inlaid in a left side respectively, in right clamp block, a described left side, right shrouding is fitted in a left side respectively, on the sidewall of right caliper body, the two ends of described long pin shaft 2-2 are rotatably connected on revolution strut 2-3 respectively, just, cathode conductor 2-9, one end of 2-10 is each passed through left clamp block 4-2 or right clamp block 4-5 is directly connected with the caliper of corresponding side.The other end of described positive and negative electrode wire is connected with the tail end of positive and negative electrode plug 1-5,1-6 of described energy interface 1-4 through after instrument stock 1-3, and the front end of described positive and negative electrode plug 1-5,1-6 is in order to connect the outfan of power generator;
Isolate for the left and right caliper of conduction and remaining non-conducting portion of instrument are carried out to insulate, the left and right clamp block of described energy pincers pole all adopts insulating ceramic materials, for two calipers of both positive and negative polarity are separated, described left and right shrouding also adopts insulating ceramic materials, in addition, between two clamps, install the isolation collar of described insulation additional, thus realize isolating the bilayer of both positive and negative polarity clamp.Stretch 3-2 is fixed in the axis hole of T-shaped pulling seat 3-1, the two ends of stretch are inserted in the guiding elongated slot of left and right clamp block, the two ends of described stretch respectively and be set with rubber draw ring 3-3 between long pin shaft 2-2, one end tieing of steel wire I3-4 is fixed on T-shaped pulling seat 3-1, and the other end of described steel wire I3-4 curls up on the clamp open-close transmission device of described connecting box 1-2 through the inner chamber of instrument stock 1-3;
The intermediate filament of steel wire IV6-2 ties in the V-type groove of fixedly embedded deflection wire wheel 2-11, thus makes both be fixed with one.Deflection wire wheel 2-11 is fixed on inside described deflection seat 2-5 by alignment pin 6-1, thus makes deflection wire take turns 2-11 and deflect seat 2-5 to realize integrally moving.Described deflection wire wheel 2-11 is rotatably connected on round end bearing pin III2-7 on round end bearing pin III2-7 and described and is inserted in the axis hole of pedestal bar 2-8 front end through deflection seat 2-5, and what rotate with pedestal bar 2-8 to make deflection seat 2-5 is connected.Steel wire IV6-2 two ends through instrument stock 1-3, and are curled up along positive and negative direction respectively and are stretched on nutation drive device after guidance set guiding;
The rear end of described pedestal bar 2-8 is connected to realize spinning motion by steel wire under the drive of steel wire with rotation transmission device, and the syndeton of described steel wire and rotation transmission device and pedestal bar 2-8 can adopt the structure shown in ZL201110026010.9.
In conjunction with each accompanying drawing, the present invention is described in detail more below:
Fig. 1 is the overall structure schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument.It comprises the energy interface 1-4 performing end 1-1, connecting box 1-2, instrument stock 1-3 and be arranged in connecting box tail side, and described energy interface 1-4 comprises anode plug 1-5 and cathode plug 1-6.One end of described execution end 1-1 and instrument stock 1-3 is connected, the other end of described instrument stock 1-3 is arranged in connecting box 1-2 by bearing rotary, be connected with the actuating device in described connecting box 1-2 after the transmission steel wire of described execution end 1-1 extraction passes the inner chamber of described instrument stock 1-3, just drawing from execution end 1-1, cathode conductor through after instrument stock 1-3 inner chamber with described energy interface 1-4 just, cathode plug 1-5, the tail end of 1-6 is connected, just described, cathode plug 1-5, the front end of 1-6 is in order to connect the outfan of power generator, described connecting box 1-2 can adopt the drive mechanism shown in patent (ZL201110026010.9).
Fig. 2 is the execution end structure schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument.Described execution end 1-1 comprises grip module 2-1, what described grip module 2-1 was rotated by long pin shaft 2-2 is connected on the revolution strut 2-3 of gyro black assembly, described revolution strut 2-3 realizes the gyration relative to deflection seat 2-5 by bearing 2-4, described deflection seat 2-5 is by being arranged on the round end bearing pin II2-6 of both sides, the support and connection of III2-7 realize the yaw motion relative to pedestal bar 2-8, one end of described pedestal bar 2-8 and instrument stock 1-3 is connected, the positive wire 2-9 drawn in grip module 2-1, cathode conductor 2-10 introduces in described instrument stock 1-3 through after described pedestal bar 2-8.Described grip module 2-1 by steel wire drive implementation tool folding degree of freedom K4, revolution strut 2-3 realizes the gyration relative to deflection seat 2-5 by steel wire drive, thus the revolution degree of freedom R3 of implementation tool, deflection seat 2-5 realizes the yaw motion relative to pedestal bar 2-8 by steel wire drive, thus the deflection degree of freedom R2 of implementation tool, and the rotation degree of freedom R1 of connecting box 1-2 relative to instrument stock 1-3 together constitutes the four-degree-of-freedom structure of instrument.
Fig. 3, Fig. 4 are grip module, the energy pincers electrode structure schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument.Described grip module 2-1 comprises energy pincers pole, T-shaped pulling seat 3-1, long pin shaft 2-2, stretch 3-2, rubber draw ring 3-3, steel wire I3-4 and positive and negative electrode wire 2-9,2-10, wherein, energy pincers pole is unique energized part of instrument, comprise a left side (positive pole) clamp 3-5, the right side (negative pole) clamp 3-6 and isolation collar 4-7, left (positive pole) clamp 3-5 comprises left caliper 4-1, left clamp block 4-2, left shrouding 4-3, and right (negative pole) clamp 3-6 comprises right caliper body 4-4, right clamp block 4-5, right shrouding 4-6.A described left side, right caliper body 4-1, 4-4 is inlaid in a left side respectively, right clamp block 4-2, on 4-5, a described left side, right shrouding 4-3, 4-6 is fitted in a left side respectively, on the medial wall of right caliper body, for the left side by conduction, right caliper body 4-1, 4-4 and remaining non-conducting portion of instrument are carried out to insulate and are isolated, a left side for described energy pincers pole, right clamp block 4-2, 4-5 all adopts insulating ceramic materials, for two calipers of logical both positive and negative polarity energy are separated, a described left side, right shrouding 4-3, 4-6 also adopts insulating ceramic materials, in addition, at two clamp 3-5, the isolation collar 4-7 of described insulation is installed additional between 3-6, thus realize aligning, the bilayer isolation of negative pole two clamp, just described, cathode conductor 2-9, directly be connected with two calipers after 2-10 is each passed through the circular hole offered in corresponding clamp block.Two described clamp 3-5,3-6 are worn by long pin shaft 2-2 and are combined, stretch 3-2 inserts in the axis hole of T-shaped pulling seat 3-1, the two ends of stretch 3-2 are inserted in the guiding elongated slot of left and right clamp block 4-2,4-5, the tieing of steel wire I3-4 is fixed in the open slot of T-shaped pulling seat 3-1 cylindrical section, described rubber draw ring 3-3 one end is enclosed within long pin shaft 2-2, and the other end is enclosed within stretch 3-2.When actuating device in described connecting box 1-2 is along T1 direction taut wire I3-4, T-shaped pulling seat 3-1 moves along the direction away from long pin shaft 2-2, now, stretch 3-2 is with the motion of T-shaped pulling seat 3-1 one, and along guide chute to two clamp 3-5,3-6 apply active forces make it to present closed action, rubber draw ring 3-3 under the effect of long pin shaft 2-2 and stretch 3-2 by elastic elongation; When actuating device adverse movement, stretch 3-2 and T-shaped pulling seat 3-1 is close to long pin shaft 2-2 under the elastic force effect of rubber draw ring 3-3, and two clamps present expansion action.
Fig. 5-1,5-2, Fig. 6 are gyro black assembly, the yoke assembly structural representation of a kind of micro-wound operation robot bipolar energy of the present invention instrument.Gyro black assembly comprises revolution strut 2-3, bearing 2-4, directive wheel I5-2, directive wheel II5-3, directive wheel III5-4 and steel wire II5-5, III5-6, and described yoke assembly comprises deflection seat 2-5, deflection wire wheel 2-11 and steel wire IV6-2.The long pin shaft 2-2 of described grip module 2-1 assigns in the pin-and-hole of revolution strut 2-3 front end, described revolution strut 2-3 realizes the rotary motion of deflection seat 2-5 relatively by bearing 2-4, round end bearing pin I5-1 inserts in pin-and-hole corresponding to deflection seat 2-5, described round end bearing pin II2-6, III2-7 is each passed through pin-and-hole corresponding on deflection seat 2-5, and insert in the pin-and-hole of pedestal bar 2-8, deflection seat 2-5 realizes the yaw motion of opposite base bar 2-8 by the pinned connection of both sides, round end bearing pin I5-1, round end bearing pin II2-6 is respectively to directive wheel I5-2, directive wheel II5-3, round end bearing pin III2-7 plays a supportive role to directive wheel III5-4 and deflection wire wheel 2-11 respectively.One end of described steel wire II5-5 is fixed in the silk groove of revolution strut 2-3, the other end oppositely curl up and by directive wheel I5-2, II5-3 guiding after curl up on the slewing gear of described connecting box 1-2, similar, steel wire III5-6 forward is curled up and is fixed on slewing gear after being led by directive wheel III5-4.When described steel wire III5-6 is tightened up along T2 direction, revolution strut 2-3 rotates forward, and steel wire II5-5 reclaims along T2 rightabout, contrary, when steel wire II5-5 is tightened up along T2 direction, revolution strut 2-3 reversely rotates, and steel wire III5-6 reclaims along T2 rightabout.Steel wire IV6-2 is contained in the rectangular aperture groove of described deflection wire wheel 2-11 by rectangle tieing seat, thus both is linked together.Described alignment pin 6-1 aligns in the respective pin hole of insertion deflection wire wheel 2-11, deflection seat 2-5, thus plays the role of positioning to described deflection wire wheel 2-11.Steel wire IV6-2 two ends are through instrument stock 1-3, and curl up along positive and negative direction respectively after guidance set guiding and be stretched on nutation drive device, when the two ends of steel wire IV6-2 realize moving back and forth under motor drives, deflection wire wheel 2-11 drives deflection seat 2-5 to realize yaw motion under the effect of steel wire IV6-2;
Fig. 7 is the operation technique schematic diagram of a kind of micro-wound operation robot bipolar energy of the present invention instrument.After bipolar energy tool coating enters micro-wound operation robot, be connected by the energy interface 1-4 of instrument with the bipolar outfan of high-frequency energy generator 7-6, foot switch 7-7 is for controlling energy conducting and the cut-out of described high-frequency energy generator 7-6.In Minimally Invasive Surgery, make the execution end 1-1 of operation tool near lesion region by adjustment robot, the each degree of freedom motion of control tool makes two clamps clamp the boundary of pathological tissues 7-1 and health tissues 7-2, now step on foot switch, high-frequency energy generator 7-6 bipolar-conduction, operation tool releases energy, simultaneously, by the line of cut 7-4 planned and cut direction 7-5, the operations such as cutting, stripping are implemented to pathological tissues 7-1, unclamp foot switch after surgical action completes, bipolar energy is cut off.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and just one of the embodiments of the present invention shown in accompanying drawing, actual structure is also not limited thereto.If those skilled in the art enlightens by it; when not departing from the invention aim; adopt the transmission of other form, driving device and connected mode without the creationary design frame mode similar to this technical scheme and embodiment, all should protection scope of the present invention be belonged to.
Claims (1)
1. a micro-wound operation robot bipolar energy instrument, it is characterized in that: it comprises instrument stock, one end of described instrument stock and the pedestal bar performing end are fixedly linked and the other end is arranged in connecting box by bearing rotary, clamp open-close transmission device, slewing gear, nutation drive device and rotation transmission device are installed in described connecting box, described connecting box tail side is provided with energy interface, and described energy interface comprises anode plug and cathode plug;
Described execution end comprises revolution strut, the rear end of described revolution strut is rotatedly connected by bearing and deflection seat, the directive wheel I that axis is arranged with deflection seat axes normal, directive wheel II, directive wheel III is respectively by round end bearing pin I, round end bearing pin II, round end bearing pin III is rotatably connected on deflection seat, one end of steel wire II is fixed in the silk groove of revolution strut, the other end oppositely curls up and by directive wheel I, curl up on the slewing gear of described connecting box by the inner chamber of instrument stock after II guiding, steel wire III forward curl up and by directive wheel III lead after be fixed on slewing gear by the inner chamber of instrument stock,
The rear portion of grip module is arranged in described revolution strut, described grip module comprises the left clamp block be rotatably connected on successively in long pin shaft, left caliper rear portion, left shrouding, the isolation collar, right shrouding, in right caliper body rear portion and right clamp block, left, right caliper body is inlaid in a left side respectively, in right clamp block, a described left side, right shrouding is fitted in a left side respectively, on the sidewall of right caliper body, the two ends of described long pin shaft are rotatably connected on revolution strut respectively, just, one end of cathode conductor is each passed through left clamp block or right clamp block is directly connected with the caliper of corresponding side, just described, the other end of cathode conductor through after instrument stock with described energy interface just, the tail end of cathode plug is connected, just described, the front end of cathode plug is in order to connect the outfan of power generator, left and right clamp block and the described left and right shrouding of described energy pincers pole all adopt insulating ceramic materials, the described isolation collar adopts insulant, stretch is fixed in the axis hole of T-shaped pulling seat, the two ends of described stretch are inserted in the guiding elongated slot of left and right clamp block, the two ends of described stretch respectively and be set with rubber draw ring between long pin shaft, one end tieing of steel wire I is fixed on T-shaped pulling seat, and the other end of described steel wire I curls up on the clamp open-close transmission device of described connecting box through the inner chamber of instrument stock,
The intermediate filament of steel wire IV ties in the V-type groove of fixedly embedded deflection wire wheel, deflection wire wheel is fixed on inside described deflection seat by alignment pin, described deflection wire wheel is rotatably connected on round end bearing pin III on round end bearing pin III and described and is inserted in the axis hole of pedestal bar front end through deflection seat, what rotate with pedestal bar to make deflection seat is connected, steel wire IV two ends are through the inner chamber of instrument stock, and respectively along just after guidance set guiding, curl up and be stretched on nutation drive device in the other direction, the rear end of described pedestal bar is connected to realize spinning motion by steel wire under the drive of steel wire with rotation transmission device.
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| CN107320192A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN107320191A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
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| CN112914683A (en) * | 2021-03-10 | 2021-06-08 | 山东威高手术机器人有限公司 | Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector |
| CN113543941A (en) * | 2019-03-01 | 2021-10-22 | 瑞德医疗机器股份有限公司 | Surgical tool for surgical auxiliary robot |
| CN116250895A (en) * | 2023-01-31 | 2023-06-13 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
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| CN106214190A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments |
| CN106214258A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
| WO2018010503A1 (en) * | 2016-07-12 | 2018-01-18 | 天津大学 | Stiffness-controllable joint snake-like mechanism, single-port surgical instrument, and single-port robot |
| CN106214258B (en) * | 2016-07-12 | 2018-06-22 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN106691593B (en) * | 2016-12-30 | 2023-12-19 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Micro-instrument clamping mechanism for minimally invasive surgery |
| CN107320192A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN107320191A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| WO2019028647A1 (en) * | 2017-08-08 | 2019-02-14 | Covidien Lp | Electrosurgical apparatus with safety insulation features |
| CN107789062A (en) * | 2017-12-11 | 2018-03-13 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of bipolar wrench structure for Minimally Invasive Surgery |
| CN113543941A (en) * | 2019-03-01 | 2021-10-22 | 瑞德医疗机器股份有限公司 | Surgical tool for surgical auxiliary robot |
| CN113543941B (en) * | 2019-03-01 | 2022-09-27 | 瑞德医疗机器股份有限公司 | Surgical tool for surgical auxiliary robot |
| WO2020216317A1 (en) * | 2019-04-25 | 2020-10-29 | 深圳市精锋医疗科技有限公司 | Endoscope and operation arm |
| CN112315576A (en) * | 2020-11-02 | 2021-02-05 | 山东威高手术机器人有限公司 | Bipolar electric energy forceps head for minimally invasive surgical instrument |
| CN112914683A (en) * | 2021-03-10 | 2021-06-08 | 山东威高手术机器人有限公司 | Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector |
| CN112914683B (en) * | 2021-03-10 | 2022-09-27 | 山东威高手术机器人有限公司 | Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector |
| CN116250895A (en) * | 2023-01-31 | 2023-06-13 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
| CN116250895B (en) * | 2023-01-31 | 2024-04-12 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
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