CN106821502A - A kind of urological surgery Special operation mechanism - Google Patents
A kind of urological surgery Special operation mechanism Download PDFInfo
- Publication number
- CN106821502A CN106821502A CN201710184118.8A CN201710184118A CN106821502A CN 106821502 A CN106821502 A CN 106821502A CN 201710184118 A CN201710184118 A CN 201710184118A CN 106821502 A CN106821502 A CN 106821502A
- Authority
- CN
- China
- Prior art keywords
- tubule
- extra heavy
- heavy pipe
- directive wheel
- feeding
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of urological surgery Special operation mechanism, including base, left-right swinging mechanism, luffing mechanism, rotating mechanism, extra heavy pipe feed mechanism and tubule feed mechanism；Left-right swinging mechanism is arranged on base；Luffing mechanism is arranged on left-right swinging mechanism；Luffing mechanism has vertical connecting plates；Rotating mechanism includes electric rotating machine, universal joint and sleeve pipe；Extra heavy pipe feed mechanism includes extra heavy pipe feeding motor, extra heavy pipe, extra heavy pipe feeding directive wheel group, slide bar and extra heavy pipe feeding steel wire；Tubule feed mechanism includes tubule feeding motor, tubule, tubule feeding directive wheel group, tubule resetting-mechanism and tubule feeding steel wire；Extra heavy pipe feeds motor and tubule feed mechanism is fixed in vertical connecting plates.The urological surgery Special operation mechanism that the present invention is provided, the various motions that operative doctor arm exports operation needs can be substituted by the suitable control of implementation, reduce doctor's labour intensity, and be advantageously implemented the precision of operation, standardization.
Description
Technical field
The present invention relates to a kind of operating robot operation device, and in particular to a kind of urological surgery Special operation mechanism.
Background technology
Urological diseases are one of most common diseases of modern society's influence human health.In urological diseases treatment
The operation that per urethra is carried out account for significant proportion, such as male's common disease benign prostatic hyperplasis (Benign Prostatic
Hyperplasia, BPH) treatment.BPH operation be the most common operation of Urology Surgery, according to statistics at present the whole nation Urology Surgery about
The operation of 30-60% is performed the operation for hyperplasia of prostate.Operation on prostate based on minimally invasive, transurethral resection of prostate or laser gasification
It is the most effectual way for treating BPH at present.Such operation relies primarily on doctor and is operated by hand at present.
Because operation tool needs to produce compound movement in such surgical procedure, it usually needs realize more than five frees degree
Motion, cause in surgical procedure operative doctor arm must frequent changes posture, therefore the operation to the experience of surgeon and
Technical requirements are higher.Further, since operation quantity is more, easily fatigue causes that operation precision is difficult to for operative doctor long-time operation
Ensure, and manual operations is unfavorable for operation standardization and remote operation.On the other hand, although starting to occur in that use in the market
In clinical operating robot, but existing operating robot has comprehensive function, complex structure, working service high cost, causes
Surgery cost is expensive, and operating process is complicated, must can just be operated through special training.It can be seen that, existing operating robot is to uropoiesis
Specific aim is poor for surgical operation, it is necessary to develop the special purpose robot's operating mechanism specifically designed for urological surgery.
The content of the invention
It is an object of the invention to provide a kind of urological surgery Special operation mechanism, can by implementing suitable control
This mechanism is substituted the various motions of operative doctor arm output operation needs, reduce doctor's labour intensity, be conducive to reality
Precision, the standardization now performed the operation.
The present invention is to be achieved through the following technical solutions：
A kind of urological surgery Special operation mechanism, including base, left-right swinging mechanism, luffing mechanism, rotation
Mechanism, extra heavy pipe feed mechanism and tubule feed mechanism；Wherein, left-right swinging mechanism is arranged on base；Luffing mechanism sets
Put on left-right swinging mechanism；Luffing mechanism has L-type connecting plate；
Extra heavy pipe feed mechanism includes extra heavy pipe and extra heavy pipe feeding motor, and extra heavy pipe is connected with rotating mechanism, and extra heavy pipe feeding motor is consolidated
It is scheduled on L-type connecting plate；Extra heavy pipe feeding motor is used to control the feeding of extra heavy pipe；
Tubule feed mechanism includes tubule and tubule feeding motor, and tubule is connected with extra heavy pipe, and tubule feeding motor is fixed on L
On type connecting plate；Tubule feeding motor is used to control the feeding of tubule；
Rotating mechanism includes the electric rotating machine being fixed on L-type connecting plate；Electric rotating machine is used to control extra heavy pipe and tubule
Rotation.
Preferably, the rotating mechanism also includes universal joint and sleeve pipe；Electric rotating machine is fixed on the back side of L-type connecting plate,
Its gyroaxis is connected through L-type connecting plate with universal joint one end；The universal joint other end is coaxially connected with sleeve pipe；Edge is set on sleeve pipe
The gathering sill of axial direction.
Preferably, the extra heavy pipe feed mechanism also include slide bar, wherein, slide bar is located in sleeve pipe, slide bar front end with it is thick
Pipe is connected, and slide bar rear end is provided with guide pad, and guide pad coordinates with gathering sill；It is provided between sleeve pipe front end and guide pad and is arranged
Extra heavy pipe back-moving spring on slide bar；Extra heavy pipe feeding motor is arranged on L-type connecting plate, and extra heavy pipe feeding is provided with its output shaft
Driving wheel；Steel wire is fed between extra heavy pipe Feed servo system wheel and slide bar rear end by extra heavy pipe to connect, extra heavy pipe feeding steel wire bypasses setting
Extra heavy pipe in sleeve pipe front end feeds the first directive wheel；Extra heavy pipe rear end is provided with line outlet.
Preferably, the first supporting plate is set on L-type connecting plate, extra heavy pipe feeding motor is set on the first supporting plate.Further,
The axle center of the output shaft of the extra heavy pipe feeding motor is in vertical direction.
Preferably, the front end of described sleeve pipe is provided with and stretches out plate, and extra heavy pipe feeds the first directive wheel and is arranged on and stretches out plate rear side.
Further, it is to be protruded upward from sleeve pipe front end to stretch out plate.Wherein, the plate rear side that stretches out refers to stretching out plate near rotation
Motor side.
Preferably, the slide bar rear end sets boss, and guide pad is arranged on boss；Slide bar and boss can be in sleeve pipes
Slide anteroposterior.Further, the upside of the boss sets peg, and extra heavy pipe feeding steel wire is fixedly connected with peg；Now, institute
In stating the gathering sill that peg is arranged in sleeve pipe.Further, the rear end of extra heavy pipe back-moving spring is resisted against on boss.
Preferably, sleeve pipe front end sets locknut, and slide bar is passed through from locknut；Extra heavy pipe back-moving spring front end against
On locknut.
Preferably, extra heavy pipe feed mechanism also includes that extra heavy pipe feeds the second directive wheel, extra heavy pipe feeding the 3rd directive wheel and extra heavy pipe
Feed the 4th directive wheel；Universal joint driven shaft stretches out a d-axis near one end that extra heavy pipe feeds the first directive wheel, is set on the d-axis
Put extra heavy pipe and feed the second directive wheel；Universal joint driving shaft stretches out a cambered axle near one end of extra heavy pipe feeding motor, is set on the cambered axle
Put extra heavy pipe and feed the 3rd directive wheel；Extra heavy pipe feeds the 4th directive wheel and is connected on L-type connecting plate and in extra heavy pipe Feed servo system wheel
Between L-type connecting plate；
Extra heavy pipe feeds steel wire one ends wound on extra heavy pipe Feed servo system wheel, and bypasses the 4th directive wheel of extra heavy pipe feeding, extra heavy pipe
Feed the 3rd directive wheel, extra heavy pipe and feed the second directive wheel, extra heavy pipe the first directive wheel of feeding, the other end is fixed on peg.
It is further preferred that the extra heavy pipe feed mechanism also includes that extra heavy pipe feeding is oriented to push rod and extra heavy pipe feed compensation bullet
Spring；Extra heavy pipe feeding is oriented to push rod and passes through L-type connecting plate, and its front end feeds the 4th directive wheel rotating shaft and is connected with extra heavy pipe；Extra heavy pipe feeds
Counterbalance spring is arranged on extra heavy pipe feeding and is oriented between push rod end flanges and L-type connection back.
Preferably, tubule feed mechanism also includes tubule resetting-mechanism, wherein, tubule feeding motor is arranged on L-type connection
On plate, tubule Feed servo system wheel is set on its output shaft；Supporting plate is fixedly installed on extra heavy pipe；Supporting plate rear side sets tubule feeding
First directive wheel；Tubule resetting-mechanism is located at behind supporting plate, including sliding block, connecting rod, rocking bar, wherein, sliding block is set in extra heavy pipe
On；Connecting rod one end is hinged with sliding block, and the other end is hinged with rocking bar one end；The rocking bar other end is hinged with extra heavy pipe；Connecting rod and rocking bar it
Between jointed shaft on be cased with tubule back-moving spring；Through hole is provided with supporting plate；Tubule passes through through hole, and rear end is fixed on sliding block；
Tubule axis and extra heavy pipe diameter parallel；Steel wire is fed between tubule Feed servo system wheel and sliding block lower end by tubule to connect, tubule
Feeding steel wire bypasses tubule and feeds the first directive wheel.
It is further preferred that setting the second supporting plate in vertical connecting plates, tubule feeding motor is arranged on the second supporting plate.More
It is further preferred that the axle center of the output shaft of tubule feeding motor is in vertical direction.
It is further preferred that the tubule feed mechanism also includes that tubule feeds the second directive wheel, tubule feeding the 3rd and leads
The 4th directive wheel is fed to wheel and tubule；Universal joint driven shaft stretches out a d-axis near one end that tubule feeds the first directive wheel,
Tubule is set on the d-axis and feeds the second directive wheel；Universal joint driving shaft stretches out a cambered axle near one end of tubule feeding motor,
Tubule is set on the cambered axle and feeds the 3rd directive wheel；Tubule feeds the 4th directive wheel and is connected on L-type connecting plate and in tubule
Between Feed servo system wheel and L-type connecting plate；
Tubule feeds steel wire one ends wound on tubule Feed servo system wheel, and bypasses the 4th directive wheel of tubule feeding, tubule
Feed the 3rd directive wheel, tubule and feed the second directive wheel, tubule the first directive wheel of feeding, the other end is fixed on sliding block lower end.
It is further preferred that the tubule feed mechanism also includes that tubule feeding is oriented to push rod and tubule feed compensation bullet
Spring；Tubule feeding is oriented to push rod and passes through L-type connecting plate, and its front end feeds the 4th directive wheel rotating shaft and is connected with tubule；Tubule feeds
Counterbalance spring is arranged on tubule feeding and is oriented between push rod end flanges and L-type connection back.
It is further preferred that being equipped with water inlet pipe and water outlet pipe, video line in the extra heavy pipe；TURP electrode or laser light are placed in tubule
It is fine.
Preferably, the cylinder boss of slide bar circumferentially two guide pads of 180 degree distributing installation, peg is installed on cylinder boss
It is on the upper half face of cylinder and equidistant with two guide pads；Sleeve pipe is provided with vertically, left and right three grooves, and guide pad is stuck in left and right two
In individual groove, peg is stuck in groove.
Preferably, the left-right swinging mechanism include horizontal screw lead, horizontal motor, horizontal nut seat, trunnion axis bearing and
Horizontal motor seat, wherein, horizontal motor seat and trunnion axis bearing are fixed on base；Horizontal screw lead one end passes through trunnion axis bearing
It is fixed on base, the other end is connected by horizontal motor seat with horizontal motor；Horizontal screw lead matches charge-coupled with horizontal nut seat
Into screw pair.
Preferably, the luffing mechanism also include vertical connecting plates, vertical leading screw, vertical motor, vertical nut seat,
Vertical motor cabinet and vertical bearing block, wherein, vertical connecting plates are arranged on left-right swinging mechanism, vertical motor cabinet and vertical axes
Bearing is fixed in vertical connecting plates；Vertical leading screw one end is fixed in vertical connecting plates by vertical bearing block, and the other end leads to
Vertical motor cabinet is crossed to be connected with vertical motor；Vertical leading screw matches with vertical nut seat and is combined into screw pair；L-type connecting plate
It is fixed on vertical nut seat.
Compared with prior art, the present invention has following beneficial technique effect：
The urological surgery Special operation mechanism that the present invention is provided, including base, left-right swinging mechanism, swing up and down machine
Structure, rotating mechanism, extra heavy pipe feed mechanism and tubule feed mechanism；Left-right swinging mechanism allows that operating mechanism carries out right and left
To motion, luffing mechanism allows operating mechanism to carry out the motion of above-below direction, and rotating mechanism causes extra heavy pipe and thin
The entirety of pipe can carry out circumferential rotary motion, and extra heavy pipe feed mechanism can realize the feed motion of extra heavy pipe, tubule feeding machine
Structure can realize the feed motion of tubule, and it has five freedoms of motion, truly simulate current doctor manual complete
Portion acts.
Further, the setting of universal joint so that when the operating mechanism carries out side-to-side movement or moves up and down, slide bar-thick
Pipe can be rotated by fulcrum of human body, and then adjustment direction.The action of the urological surgery Special operation mechanism with it is existing
There is operation technique to act identical, can be constant with manual mode of operation slitless connection, the operating habit of operator, it is easier to ripe
Drill work.Its simple structure, low cost of manufacture；Suitably control this mechanism to substitute operative doctor arm by implementation to export
The various motions that operation needs, reduce doctor's labour intensity, are capable of achieving remote operation, are advantageously implemented precision, the mark of operation
Standardization.
Further, extra heavy pipe feeding directive wheel group includes four extra heavy pipe feeding directive wheels so that extra heavy pipe feeds the row of steel wire
Entering route can more tolerate the rotation of rotating mechanism so that extra heavy pipe feeding steel wire still enters with four extra heavy pipes when universal joint is rotated
It is effectively combined to directive wheel, extra heavy pipe feed mechanism still can efficiently work.
A progressive ground, the urological surgery Special operation mechanism that the present invention is provided be provided with extra heavy pipe feeding be oriented to push rod and
Extra heavy pipe feed compensation spring.Deviate initial position certain angle when universal joint is rotated, extra heavy pipe feeds the 4th directive wheel and extra heavy pipe enters
Give the increase of the distance between the 3rd directive wheel.When the elastic deformation amount of extra heavy pipe feeding steel wire is insufficient to compensate for this distance change,
Extra heavy pipe feeding is oriented to push rod and will be axially moveable, and compresses extra heavy pipe feed compensation spring, so that compensating extra heavy pipe feeds the 4th directive wheel
The change of the distance between the 3rd directive wheel is fed with extra heavy pipe.On the other hand, extra heavy pipe feeding is oriented to push rod and extra heavy pipe feed compensation bullet
Spring may insure that extra heavy pipe feeding steel wire is in tensioning state all the time.
Further, tubule is arranged on extra heavy pipe by sliding block, both ensure that tubule axis and extra heavy pipe diameter parallel, both
There is synchronous rotary motion, enable that tubule carries out independent feed motion independently of extra heavy pipe again, with actual manual behaviour
Make consistent, it is easy to the study of doctor and use.
Further, tubule feeding directive wheel group includes four tubule feeding directive wheels so that tubule feeds the row of steel wire
Entering route can more tolerate the rotation of rotating mechanism so that tubule feeding steel wire still enters with four tubules when universal joint is rotated
Effectively combined to directive wheel, tubule feed mechanism can still efficient operation.
A progressive ground, the urological surgery Special operation mechanism that the present invention is provided be provided with tubule feeding be oriented to push rod and
Tubule feed compensation spring.Deviate initial position certain angle when universal joint is rotated, tubule feeds the 4th directive wheel and tubule enters
Give the increase of the distance between the 3rd directive wheel.When the elastic deformation amount of tubule feeding steel wire is insufficient to compensate for this distance change,
Tubule feeding is oriented to push rod and will be axially moveable, and compresses tubule feed compensation spring, so that compensating tubule feeds the 4th directive wheel
The change of the distance between the 3rd directive wheel is fed with tubule.On the other hand, tubule feeding is oriented to push rod and tubule feed compensation bullet
Spring may insure that tubule feeding steel wire is in tensioning state all the time.
Further, two guide pads and two cooperations of groove so that slide bar is more tight with the cooperation of sleeve pipe.
Brief description of the drawings
The overall assembling figure of the urological surgery Special operation mechanism that Fig. 1 present invention is provided.
Fig. 2 is steel wire drive Local map of the invention, illustrates the steel wire distribution around universal joint.
Fig. 3 is tubule feed mechanism of the invention and extra heavy pipe feed mechanism part-structure figure, illustrates extra heavy pipe and slide bar.
Fig. 4 is extra heavy pipe feed mechanism part-structure figure of the invention, illustrates the combination of sleeve pipe and slide bar.
Fig. 5 is mechanism principle figure of the operating mechanism of the invention in perpendicular.
It is as follows to the mark explanation in Figure of description below：
1 is base；2 is trunnion axis bearing；3 is horizontal screw lead；4 is horizontal nut seat；5 is vertical connecting plates；6 is vertical
Motor cabinet；7 is vertical motor；8 is horizontal motor seat；9 is horizontal motor；10 is electric rotating machine；11 is vertical leading screw；12 is perpendicular
Straight nut seat；13 is vertical bearing block；14 is L-type connecting plate；15 is that extra heavy pipe feeds motor；16 is that tubule feeds motor；17 are
Sleeve pipe；18 is extra heavy pipe；19 is tubule；20 is supporting plate；21.1,21.2,21.3,21.4 be respectively tubule feeding first and second,
3rd, four directive wheel；21.5 is tubule Feed servo system wheel；21.6 is that tubule feeding is oriented to push rod；21.7 is tubule feed compensation bullet
Spring；22 is that tubule feeds steel wire；23 is sliding block；24 is connecting rod；25 is tubule back-moving spring；26 is rocking bar；27 is line outlet；28
It is slide bar；29 is extra heavy pipe back-moving spring；30 is locknut；31.1 is peg；31.2,31.3 is guide pad；32 enter for extra heavy pipe
To steel wire；33.1,33.2,33.3,33.4 it is respectively extra heavy pipe and feeds first, second, third and fourth directive wheel；33.5 is that extra heavy pipe feeds drive
Driving wheel；33.6 is that extra heavy pipe feeding is oriented to push rod；33.7 is extra heavy pipe feed compensation spring；34.1,34.2 it is d-axis；34.3,34.4
It is cambered axle；34 is universal joint.
Specific embodiment
With reference to specific embodiment and Fig. 1~5, the present invention is described in further detail, and described is to this hair
Bright explanation is rather than restriction.
As shown in Figure 1, a kind of urological surgery Special operation mechanism of the invention, including base 1 and it is fixed on bottom
It is used to control each group drive device of surgical instrument movement rule on seat 1.The one end of horizontal screw lead 3 is fixed by trunnion axis bearing 2
On base 1, the other end 8 be connected with horizontal motor 9 by horizontal motor seat, horizontal screw lead 3 matches charge-coupled with horizontal nut seat 4
Into screw pair, horizontal motor seat 8 is fixed on base 1.Vertical connecting plates 5 are fixed on horizontal nut seat 4, vertical leading screw
11 one end are fixed in vertical connecting plates 5 by vertical bearing block 13, the other end is by vertical motor cabinet 6 and the phase of vertical motor 7
Even, vertical leading screw 11 is combined into screw pair with the matching of vertical nut seat 12, and vertical motor cabinet 6 is fixed on vertical connecting plates 5
On.The lower end of L-type connecting plate 14 is fixed on vertical nut seat 12.
As shown in Figure 2, electric rotating machine 10 is fixed on the back side of L-type connecting plate 14, and the gyroaxis of electric rotating machine 10 connects through L-type
Fishplate bar 14 is connected with the one end of universal joint 34, and the front of L-type connecting plate 14 is provided with two blocks of supporting plates, is respectively used to fix extra heavy pipe feeding motor
15 and tubule feeding motor 16.The other end of universal joint 34 is coaxially connected with sleeve pipe 17, and the both ends of main drive shaft of universal joint 34 stretches out respectively
D-axis 34.1 and 34.2 is stretched out at cambered axle 34.3 and 34.4, the driven shaft two ends of universal joint 34 respectively, and extra heavy pipe is fixed with d-axis 34.1
The second directive wheel 33.2 is fed, tubule is fixed with d-axis 34.2 and is fed the second directive wheel 21.2, be fixed with cambered axle 34.3 thin
Pipe feeds the 3rd directive wheel 21.3, extra heavy pipe is fixed with cambered axle 34.4 and feeds the 3rd directive wheel 33.3.Extra heavy pipe feeding motor 15 is defeated
Go out shaft end and be fixed with extra heavy pipe Feed servo system wheel 33.5, the tubule feeding output shaft end of motor 16 is fixed with tubule Feed servo system wheel
21.5.Extra heavy pipe feeds the rotating shaft of the 4th directive wheel 33.4 and is connected with extra heavy pipe feeding guiding push rod 33.6, and tubule feeds the 4th directive wheel
21.4 rotating shafts are oriented to push rod 21.6 and are connected with tubule feeding, and extra heavy pipe feeding is oriented to push rod 33.6 and tubule feeding is oriented to push rod 21.6
Upper to be cased with extra heavy pipe feed compensation spring 33.7 and tubule feed compensation spring 21.7 respectively, extra heavy pipe feeding is oriented to push rod 33.6 and thin
Pipe feeding is oriented to push rod 21.6 and will compensate bullet through L-type connecting plate 14 and by the back side of L-type connecting plate 14 and push rod end flanges
Spring pressing.
As shown in accompanying drawing 2 and accompanying drawing 3, extra heavy pipe feeds the one ends wound of steel wire 32 on extra heavy pipe Feed servo system wheel 33.5, and around
Extra heavy pipe feeding the 4th directive wheel 33.4, extra heavy pipe feeding the 3rd directive wheel 33.3, extra heavy pipe the second directive wheel 33.2, extra heavy pipe of feeding is crossed to enter
To the first directive wheel 33.1, the other end is fixed on peg 31.1.
As shown in accompanying drawing 2 and accompanying drawing 4, tubule feeds the one ends wound of steel wire 22 on tubule Feed servo system wheel 21.5, and around
Tubule feeding the 4th directive wheel 21.4, tubule feeding the 3rd directive wheel 21.3, tubule the second directive wheel 21.2, tubule of feeding is crossed to enter
To the first directive wheel 21.1, the other end is fixed on the lower end of sliding block 23.
As shown in accompanying drawing 3 and accompanying drawing 4, slide bar 28 is cased with sleeve pipe 17, the one end of slide bar 28 is connected with extra heavy pipe 18, other end circle
Post boss circumferentially two guide pads of 180 degree distributing installation 31.2 and 31.3, peg 31.1 is installed on cylinder boss upper half cylinder
On face and equidistant with two guide pads 31.2 and 31.3, sleeve pipe 17 is provided with vertically, left and right three grooves, the He of guide pad 31.2
31.3 are stuck in two gathering sills in left and right, and peg 31.1 is stuck in groove.Extra heavy pipe back-moving spring 29 is enclosed within slide bar 28, tightly
Determine nut 30 through slide bar 28, be connected with the one end of sleeve pipe 17.Supporting plate 20 is fixed with extra heavy pipe 18, near slide bar 28 on extra heavy pipe 18
One end is provided with line outlet 27, and sliding block 23 is enclosed within extra heavy pipe 18, and the one end of connecting rod 24 and sliding block 23 are hinged, the other end and the one end of rocking bar 26
It is hinged, the other end of rocking bar 26 is hinged with extra heavy pipe 18, tubule back-moving spring 25 is cased with connecting rod 24 and the jointed shaft of rocking bar 26.Supporting plate
It is provided with through hole on 20, tubule 19 passes through through hole, one end is fixed on sliding block 23, the axis of tubule 19 and the diameter parallel of extra heavy pipe 18.Slightly
The pipe feeding rotating shaft of the first directive wheel 33.1 is fixed on the stretching out on plate of the one end of sleeve pipe 17.Tubule feeds the rotating shaft of the first directive wheel 21.1
It is fixed in supporting plate 20.
Kinematic sketch of mechanism of the mechanism in perpendicular is as shown in Figure 5.
Operation principle of the invention is as follows：
In surgical procedure, equipped with various pipelines such as water inlet pipe and water outlet pipe, video lines in extra heavy pipe 18, these pipelines pass through line outlet
27 are connected to external equipment.TURP electrode or laser fiber are placed in tubule 19.Extra heavy pipe 18 and tubule 19 are inserted in surgical procedure
Enter human urethra, and axially feed motion can be done along itself according to operation needs.Additionally, extra heavy pipe 18 and the end of tubule 19 also need
Realize deflecting, upper and lower pitching, rotated along own axes.
The overall feed motion of extra heavy pipe 18 and tubule 19 feeds motor 15 to drive by extra heavy pipe.When extra heavy pipe feeds motor 15
When rotating clockwise, the extra heavy pipe feeding steel wire 32 being wrapped on extra heavy pipe Feed servo system wheel 33.5 is tightened up, and the 4th is fed in extra heavy pipe
Directive wheel 33.4, extra heavy pipe feeds the 3rd directive wheel 33.3, extra heavy pipe and feeds the second directive wheel 33.2 and extra heavy pipe the first directive wheel of feeding
Under 33.1 guide effect, pulling force is ultimately applied on peg 31.1.Because peg 31.1 is fastened on slide bar 28, extra heavy pipe feeding
The pulling force of steel wire 32 will force slide bar 28 to travel forward.Because extra heavy pipe back-moving spring 29 is enclosed within slide bar 28 and positioned at locknut
Between 30 and the cylinder boss of the one end of slide bar 28, extra heavy pipe back-moving spring 29 will be compressed when slide bar 28 travels forward.Due to extra heavy pipe
18 and tubule 19 on the slide bar 28, therefore slide bar 28 will promote extra heavy pipe 18 and tubule 19 to advance when travelling forward.Work as extra heavy pipe
When feeding motor 15 is rotated counterclockwise, the extra heavy pipe feeding steel wire 32 being wrapped on extra heavy pipe Feed servo system wheel 33.5 is relaxed, extra heavy pipe
Tension force on feeding steel wire 32 reduces, and ultimately results in the power reduction that peg 31.1 is acted on the axial direction of slide bar 28.Due to being compressed
Extra heavy pipe back-moving spring 29 there is certain restoring force, resetted less than extra heavy pipe when peg 31.1 acts on power on the axial direction of slide bar 28
During the restoring force of spring 29, slide bar 28 is retracted in the presence of the restoring force of extra heavy pipe back-moving spring 29, due to extra heavy pipe 18 and tubule 19
Extra heavy pipe 18 is pulled on slide bar 28, therefore during 28 retraction movement of slide bar and tubule 19 is retreated.Extra heavy pipe 18 and tubule 19
Forward-reverse speed can be controlled by adjusting the output speed of extra heavy pipe feeding motor 15 in overall feed motion.
The independent feed motion of tubule 19 feeds motor 16 to drive by tubule.When tubule feeding motor 16 turns counterclockwise
When dynamic, the tubule feeding steel wire 22 being wrapped on tubule Feed servo system wheel 21.5 is tightened up, and the 4th directive wheel is fed in tubule
21.4th, tubule feeds the 3rd directive wheel 21.3, tubule the second directive wheel 21.2 of feeding and tubule feeds the first directive wheel 21.1
Under guide effect, pulling force is ultimately applied to the bottom of sliding block 23.Be enclosed within extra heavy pipe 18 and can be slid axially along it due to sliding block 23,
The two ends of connecting rod 24 are hinged with sliding block 23 and rocking bar 26 respectively, the one end of rocking bar 26 is articulated with extra heavy pipe 18, then sliding block 23, connecting rod 24
Slider-rocker mechanism is collectively constituted with rocking bar 26, as shown in Figure 5.When tubule feeding steel wire 22 pulling force force sliding block 23 to
During preceding motion, rocking bar 26 is rotated around it with the pin joint of extra heavy pipe 18 so that be enclosed within thin on the jointed shaft of connecting rod 24 and rocking bar 26
Pipe back-moving spring 25 is tightened.Because the one end of tubule 19 is fixed on the bottom of sliding block 23, therefore sliding block 23 will be promoted when travelling forward
Tubule 19 travels forward relative to extra heavy pipe 18.When tubule feeding motor 16 is rotated clockwise, tubule Feed servo system wheel is wrapped in
Tubule feeding steel wire 22 on 21.5 is relaxed, and the tension force on tubule feeding steel wire 22 reduces, and ultimately results in and acts on sliding block 23
On pulling force reduce.Because the tubule back-moving spring 25 for being tightened has certain restoring force, when tubule feeding steel wire 22 is acted on
When power on sliding block 23 is not enough to overcome the restoring force of tubule back-moving spring 25, sliding block 23 is in the restoring force of tubule back-moving spring 25
In the presence of return, because tubule 19 is on the sliding block 23, therefore pulls on tubule 19 during 23 recoil movement of sliding block and retreat.Tubule
Forward-reverse speed can be controlled by adjusting the output speed of tubule feeding motor 16 in 19 independent feed motion.
The elevating movement up and down of extra heavy pipe 18 and the end of tubule 19 is driven by vertical motor 7.When vertical motor 7 is clockwise
During rotation, the feed screw nut adjutant convert rotational motion being made up of vertical leading screw 11 and vertical nut seat 12 is linear motion,
Vertical nut seat 12 is moved downward, and drives L-type connecting plate 14 to move downward.Because the one end of universal joint 34 is relative with L-type connecting plate
Fix, therefore universal joint 34 is moved downward near one end of L-type connecting plate.One end that now, universal joint 34 is connected with sleeve pipe 17,
Sleeve pipe 17, slide bar 28, extra heavy pipe 18 and the in the vertical direction of tubule 19 may be regarded as an entirety without relative motion.And the He of extra heavy pipe 18
The part that the end of tubule 19 is stretched into human body subjects the support and constraint of tissue, can be equivalent to one and slide rotation pair,
As shown in Figure 5.When universal joint 34 is moved downward near one end of L-type connecting plate, in the cunning of extra heavy pipe 18 and the end of tubule 19
It is dynamic to rotate under secondary support and constraint, one end, sleeve pipe 17, slide bar 28, extra heavy pipe 18 and tubule that universal joint 34 is connected with sleeve pipe 17
19 entirety for constituting will be rotated in the clockwise direction, and action of facing upward is realized in extra heavy pipe 18 and the end of tubule 19.When the inverse time of vertical motor 7
When pin is rotated, the feed screw nut adjutant convert rotational motion being made up of vertical leading screw 11 and vertical nut seat 12 is straight line fortune
Dynamic, vertical nut seat 12 is moved upwards, drives the motion upwards of L-type connecting plate 14.Due to the one end of universal joint 34 and L-type connecting plate phase
Fixation, therefore universal joint 34 are moved upwards near one end of L-type connecting plate.Now, universal joint 34 be connected with sleeve pipe 17 one
End, sleeve pipe 17, slide bar 28, extra heavy pipe 18 and the in the vertical direction of tubule 19 may be regarded as an entirety without relative motion.And extra heavy pipe 18
The part stretched into human body with the end of tubule 19 subjects the support and constraint of tissue, can be equivalent to one and slide rotation
Pair, as shown in Figure 5.When universal joint 34 is moved upwards near one end of L-type connecting plate, in extra heavy pipe 18 and the end of tubule 19
Slide and rotate under secondary support and constraint, one end that universal joint 34 is connected with sleeve pipe 17, sleeve pipe 17, slide bar 28, extra heavy pipe 18 and carefully
The entirety that pipe 19 is constituted will be rotated in the counterclockwise direction, and extra heavy pipe 18 and the end of tubule 19 realize that nutation is acted.
During the elevating movement up and down of extra heavy pipe 18 and the end of tubule 19, extra heavy pipe feeding the second directive wheel 33.2 and extra heavy pipe
Feed the 3rd directive wheel 33.3, tubule feed the second directive wheel 21.2 and tubule feed the distance between the 3rd directive wheel 21.3 by
Changed in the change of the two ends axis angle of universal joint 34.When extra heavy pipe feeds the elasticity of steel wire 32 and tubule feeding steel wire 22
When deflection is insufficient to compensate for this distance change, extra heavy pipe feeding is oriented to push rod 33.6 and tubule feeding guiding push rod 21.6 will be along axle
To movement, extra heavy pipe feed compensation spring 33.7 and tubule feed compensation spring 21.7 are compressed, so that extra heavy pipe feeding the 4th is oriented to
Wheel 33.4 and tubule feeding the 4th directive wheel 21.4 position change to compensate extra heavy pipe the second directive wheel 33.2 of feeding and extra heavy pipe feeding
3rd directive wheel 33.3, tubule feeds the second directive wheel 21.2 and tubule feeds the change of the distance between the 3rd directive wheel 21.3.
Extra heavy pipe feed compensation spring 33.7 and tubule feed compensation spring 21.7 have certain decrement to protect in an initial condition
Card extra heavy pipe feeding is oriented to push rod 33.6 and tubule feeding is oriented to push rod 21.6 and is subject to a direction all the time away from extra heavy pipe feeding the 4th
Directive wheel 33.4 and tubule feed the power of the 4th directive wheel 21.4, it is ensured that extra heavy pipe feeds steel wire 32 and tubule feeding steel wire 22 all the time
In tensioning state.Additionally, the initial pressure by adjusting extra heavy pipe feed compensation spring 33.7 and tubule feed compensation spring 21.7
Contracting amount can realize that extra heavy pipe feeding steel wire 32 and tubule feed the regulation of the tensile force size of steel wire 22.
Similarly, the motion that deflects of extra heavy pipe 18 and the end of tubule 19 is driven by horizontal motor 9.When horizontal motor 9
When rotating clockwise, the feed screw nut adjutant convert rotational motion being made up of horizontal screw lead 3 and horizontal nut seat 4 is straight line fortune
It is dynamic, horizontal nut seat 4 to left movement, drive vertical connecting plates 5, vertical leading screw 11, vertical nut seat 12, L-type connecting plate 14 to
Left movement.Because the one end of universal joint 34 is relatively fixed with L-type connecting plate, thus universal joint 34 near one end of L-type connecting plate to
Left movement.Now, one end, sleeve pipe 17, slide bar 28, extra heavy pipe 18 and the tubule 19 that universal joint 34 is connected with sleeve pipe 17 are in the horizontal direction
On without relative motion, may be regarded as an entirety.And the part that extra heavy pipe 18 and the end of tubule 19 are stretched into human body subjects human body group
The support and constraint knitted, can be equivalent to one and slide rotation pair, and its principle is similar with accompanying drawing 5.When universal joint 34 is connected near L-type
When one end of plate is to left movement, the slip in extra heavy pipe 18 and the end of tubule 19 is rotated under secondary support and constraint, universal joint 34 with
The entirety that one end of the connection of sleeve pipe 17, sleeve pipe 17, slide bar 28, extra heavy pipe 18 and tubule 19 are constituted will clockwise turn along overlooking
Dynamic, extra heavy pipe 18 and the end of tubule 19 realize that right avertence is acted.When horizontal motor 9 is rotated counterclockwise, by horizontal screw lead 3 and level
The feed screw nut adjutant convert rotational motion of the composition of nut seat 4 is linear motion, and horizontal nut seat 4 is moved right, and it is vertical to drive
Connecting plate 5, vertical leading screw 11, vertical nut seat 12, L-type connecting plate 14 are moved right.Because the one end of universal joint 34 is connected with L-type
Plate is relatively fixed, therefore universal joint 34 is moved right near one end of L-type connecting plate.Now, universal joint 34 is connected with sleeve pipe 17
One end, sleeve pipe 17, slide bar 28, extra heavy pipe 18 and tubule 19 in the horizontal direction without relative motion, may be regarded as an entirety.And it is thick
The part that pipe 18 and the end of tubule 19 are stretched into human body subjects the support and constraint of tissue, can be equivalent to a slip and turn
Dynamic pair, its principle is similar with accompanying drawing 5.When universal joint 34 is moved right near one end of L-type connecting plate, in extra heavy pipe 18 and tubule
The slip of 19 ends is rotated under secondary support and constraint, one end that universal joint 34 is connected with sleeve pipe 17, sleeve pipe 17, slide bar 28, slightly
The entirety that pipe 18 and tubule 19 are constituted will be rotated in an anti-clockwise direction along vertical view, and extra heavy pipe 18 and the end of tubule 19 realize that left avertence is acted.
In the motion process that deflects of extra heavy pipe 18 and the end of tubule 19, extra heavy pipe feeds the second directive wheel 33.2, extra heavy pipe
Feed the 3rd directive wheel 33.3, extra heavy pipe and feed the 4th directive wheel 33.4 all the time in same level position and axial line distance is constant,
Similarly tubule feeds the second directive wheel 21.2, tubule and feeds the 4th directive wheel 21.4 of the 3rd directive wheel 21.3, tubule feeding all the time
In same level position and axial line distance is constant, therefore extra heavy pipe feeding steel wire 32 and tubule feeding steel wire 22 in the process
Length is not changed, extra heavy pipe feed compensation spring 33.7 and tubule feed compensation spring 21.7, and extra heavy pipe feeding guiding is pushed away
Bar 33.6 and tubule feeding are oriented to push rod 21.6 and do not move.
Extra heavy pipe 18 and the overall rotary motion around the axis of extra heavy pipe 18 of tubule 19 are driven by electric rotating machine 10.Work as electric rotating
When machine 10 is rotated clockwise, universal joint 34 is driven to rotate clockwise, and clockwise rotation is ultimately transferred into sleeve pipe 17.By
In in the groove of the insertion sleeve pipe 17 of the guide pad 31.2 and 31.3 pipe shaft left and right sides installed on one end cylinder boss of slide bar 28 so that
With slide bar 28 without relative rotation, then sleeve pipe 17, slide bar 28, extra heavy pipe 18 and tubule 19 may be regarded as an entirety to sleeve pipe 17.And because
The rotary motion of extra heavy pipe 18 and tubule 19 for human body to being inserted is incited somebody to action without constraint, therefore the clockwise rotation of sleeve pipe 17
Extra heavy pipe 18 and the end of tubule 19 is driven to be rotated around the axis both clockwise of extra heavy pipe 18.When electric rotating machine 10 is rotated counterclockwise, ten thousand are driven
Rotated counterclockwise to section 34, and counter-clockwise rotary motion is ultimately transferred to sleeve pipe 17.Due on one end cylinder boss of slide bar 28
In the groove of the insertion sleeve pipe 17 of the guide pad 31.2 and 31.3 pipe shaft left and right sides of installation so that sleeve pipe 17 turns with slide bar 28 without relative
Dynamic, then sleeve pipe 17, slide bar 28, extra heavy pipe 18 and tubule 19 may be regarded as an entirety.Again because human body is to the extra heavy pipe that is inserted
18 and tubule 19 rotary motion without constraint, therefore the counter-clockwise rotary motion of sleeve pipe 17 will drive extra heavy pipe 18 and the end of tubule 19
Around the axis rotate counterclockwise of extra heavy pipe 18.
In extra heavy pipe 18 and tubule 19 in the axis rotary course of extra heavy pipe 18, extra heavy pipe feeds the 4th directive wheel 33.4 and extra heavy pipe enters
To the 3rd directive wheel 33.3, tubule feed the 4th directive wheel 21.4 and tubule feed the distance between the 3rd directive wheel 21.3 due to
Universal joint 34 is rotated and changed.Under original state, extra heavy pipe feeds the 4th directive wheel 33.4 and extra heavy pipe feeds the 3rd directive wheel
33.3rd, tubule feeds the 4th directive wheel 21.4 and tubule feeds the 3rd directive wheel 21.3 and is respectively at same level, and distance is most
It is small.Deviate initial position certain angle when universal joint 34 is rotated, extra heavy pipe feeds the 4th directive wheel 33.4 and extra heavy pipe feeding the 3rd is led
The 4th directive wheel 21.4 is fed to wheel 33.3, tubule and tubule feeds the increase of the distance between the 3rd directive wheel 21.3.Work as extra heavy pipe
When the elastic deformation amount of feeding steel wire 32 and tubule feeding steel wire 22 is insufficient to compensate for this distance change, extra heavy pipe feeding is oriented to push rod
33.6 and tubule feeding be oriented to push rod 21.6 and will be axially moveable, compression extra heavy pipe feed compensation spring 33.7 and tubule feed compensation
Spring 21.7, so that extra heavy pipe feeds the 4th directive wheel 33.4 and tubule feeding the 4th directive wheel 21.4 position changes thick to compensate
Pipe feeds the 4th directive wheel 33.4 and extra heavy pipe feeds the 3rd directive wheel 33.3, tubule and feeds the 4th directive wheel 21.4 and tubule feeding
The distance between 3rd directive wheel 21.3 changes.Extra heavy pipe feed compensation spring 33.7 and tubule feed compensation spring 21.7 first
There is certain decrement under beginning state to ensure that extra heavy pipe feeding is oriented to push rod 33.6 and tubule feeding is oriented to push rod 21.6 all the time
The power of the 4th directive wheel 33.4 and tubule the 4th directive wheel 21.4 of feeding is fed away from extra heavy pipe by a direction, it is ensured that extra heavy pipe enters
Tensioning state is in all the time to steel wire 32 and tubule feeding steel wire 22.
Claims (10)
1. a kind of urological surgery Special operation mechanism, it is characterised in that including base (1), left-right swinging mechanism, the upper bottom
Motivation structure, rotating mechanism, extra heavy pipe feed mechanism and tubule feed mechanism；Left-right swinging mechanism is arranged on base (1)；The upper bottom
Motivation structure is arranged on left-right swinging mechanism；Luffing mechanism is provided with L-type connecting plate (14)；
Extra heavy pipe feed mechanism includes that extra heavy pipe (18) and extra heavy pipe feed motor (15), and extra heavy pipe (18) is connected with rotating mechanism, and extra heavy pipe enters
It is fixed on L-type connecting plate (14) to motor (15)；Extra heavy pipe feeds motor (15) for controlling the feed motion of extra heavy pipe (18)；
Tubule feed mechanism includes that tubule (19) and tubule feed motor (16), and tubule (19) is connected with extra heavy pipe (18), and tubule enters
It is fixed on L-type connecting plate (14) to motor (16)；Tubule feeds motor (16) for controlling the feed motion of tubule (19)；
Rotating mechanism includes being fixed on the electric rotating machine (10) of L-type connecting plate (14)；Electric rotating machine (10) is for controlling extra heavy pipe
(18) and tubule (19) rotary motion；
Rotating mechanism also includes universal joint (34) and sleeve pipe (17)；The gyroaxis of electric rotating machine (10) passes through L-type connecting plate (14)
It is connected with universal joint (34) one end；Universal joint (34) other end is coaxially connected with sleeve pipe (17).
2. urological surgery Special operation mechanism as claimed in claim 1, it is characterised in that the extra heavy pipe feed mechanism is also
Including slide bar (28), slide bar (28) is located in sleeve pipe (17), and gathering sill vertically is set on sleeve pipe (17)；Before slide bar (28)
End is connected with extra heavy pipe (18), and slide bar (28) rear end is provided with guide pad (31.2,31.3), guide pad (31.2,31.3) and guiding
Groove coordinates；Be arranged extra heavy pipe back-moving spring (29) on slide bar (28), extra heavy pipe back-moving spring (29) positioned at sleeve pipe (17) front end with lead
To between block (31.2,31.3).
3. urological surgery Special operation mechanism as claimed in claim 2, it is characterised in that extra heavy pipe feeding motor (15)
Extra heavy pipe Feed servo system wheel (33.5) is provided with output shaft；Pass through between extra heavy pipe Feed servo system wheel (33.5) and slide bar (28) rear end
Extra heavy pipe feeds steel wire (32) connection, and extra heavy pipe feeds steel wire (32) and bypasses the guiding of extra heavy pipe feeding first for being arranged on sleeve pipe (17) front end
Wheel (33.1)；Extra heavy pipe (18) rear end is provided with line outlet (27).
4. urological surgery Special operation mechanism as claimed in claim 3, it is characterised in that the extra heavy pipe feed mechanism is also
The second directive wheel (33.2), extra heavy pipe are fed including extra heavy pipe feed the 3rd directive wheel (33.3) and extra heavy pipe the 4th directive wheel of feeding
(33.4)；Universal joint (34) driven shaft stretches out a d-axis near one end that extra heavy pipe feeds the first directive wheel (33.1), on the d-axis
Extra heavy pipe is set and feeds the second directive wheel (33.2)；Universal joint (34) driving shaft stretches out one near one end of extra heavy pipe feeding motor (15)
Cambered axle (34.4), sets extra heavy pipe and feeds the 3rd directive wheel (33.3) on the cambered axle (34.4)；Extra heavy pipe feeds the 4th directive wheel
(33.4) it is connected on L-type connecting plate (14) and between extra heavy pipe Feed servo system wheel (33.5) and L-type connecting plate (14)；
Extra heavy pipe feeds steel wire (32) one ends wound on extra heavy pipe Feed servo system wheel (33.5), and bypasses extra heavy pipe the 4th directive wheel of feeding
(33.4), extra heavy pipe feeds the 3rd directive wheel (33.3), extra heavy pipe and feeds the second directive wheel (33.2), extra heavy pipe the first directive wheel of feeding
(33.1), the other end is fixed on the peg (31.1) of slide bar (28) rear end.
5. urological surgery Special operation mechanism as claimed in claim 4, it is characterised in that the extra heavy pipe feed mechanism is also
Push rod (33.6) and extra heavy pipe feed compensation spring (33.7) are oriented to including extra heavy pipe feeding；Extra heavy pipe feeding is oriented to push rod (33.6) and passes through
L-type connecting plate (14), its front end feeds the 4th directive wheel (33.4) rotating shaft and is connected with extra heavy pipe；Extra heavy pipe feed compensation spring (33.7)
Extra heavy pipe feeding is arranged on to be oriented between push rod (33.6) end flanges and L-type connecting plate (14) back side.
6. urological surgery Special operation mechanism as claimed in claim 1, it is characterised in that tubule feed mechanism also includes
Tubule resetting-mechanism, wherein, tubule Feed servo system wheel (21.5) is set on the output shaft of tubule feeding motor (16)；Extra heavy pipe (18)
On supporting plate (20) is fixedly installed；Supporting plate (20) rear side sets tubule and feeds the first directive wheel (21.1)；Tubule resetting-mechanism
Positioned at supporting plate (20) rear, including sliding block (23), connecting rod (24), rocking bar (26), wherein, sliding block (23) is set in extra heavy pipe (18)
On；Connecting rod (24) one end is hinged with sliding block (23), and the other end is hinged with rocking bar (26) one end；Rocking bar (26) other end and extra heavy pipe
(18) it is hinged；Tubule back-moving spring (25) is cased with jointed shaft between connecting rod (24) and rocking bar (26)；Supporting plate is opened on (20)
There is through hole；Through through hole, rear end is fixed on sliding block (23) tubule (19)；Tubule (19) axis and extra heavy pipe (18) diameter parallel；
Steel wire (22) is fed between tubule Feed servo system wheel (21.5) and sliding block (23) lower end by tubule to be connected, tubule feeding steel wire
(22) bypass tubule and feed the first directive wheel (21.1).
7. urological surgery Special operation mechanism as claimed in claim 6, it is characterised in that the tubule feed mechanism is also
The second directive wheel (21.2), tubule are fed including tubule feed the 3rd directive wheel (21.3) and tubule the 4th directive wheel of feeding
(21.4)；Universal joint (34) driven shaft stretches out a d-axis near one end that tubule feeds the first directive wheel (21.1), on the d-axis
Tubule is set and feeds the second directive wheel (21.2)；Universal joint (34) driving shaft stretches out one near one end of tubule feeding motor (16)
Cambered axle (34.3), sets tubule and feeds the 3rd directive wheel (21.3) on the cambered axle (34.3)；Tubule feeds the 4th directive wheel
(21.4) it is connected on L-type connecting plate (14) and between tubule Feed servo system wheel (21.5) and L-type connecting plate (14)；
Tubule feeds steel wire (22) one ends wound on tubule Feed servo system wheel (21.5), and bypasses tubule the 4th directive wheel of feeding
(21.4), tubule feeds the 3rd directive wheel (21.3), tubule and feeds the second directive wheel (21.2), tubule the first directive wheel of feeding
(21.1), the other end is fixed on sliding block (23) lower end.
8. urological surgery Special operation mechanism as claimed in claim 7, it is characterised in that the tubule feed mechanism is also
Push rod (21.6) and tubule feed compensation spring (21.7) are oriented to including tubule feeding；Tubule feeding is oriented to push rod (21.6) and passes through
L-type connecting plate (14), its front end feeds the 4th directive wheel (21.4) rotating shaft and is connected with tubule；Tubule feed compensation spring (21.7)
Tubule feeding is arranged on to be oriented between push rod (21.6) end flanges and L-type connecting plate (14) back side.
9. the urological surgery Special operation mechanism as described in any one of claim 1~8, it is characterised in that the left and right
Swing mechanism includes horizontal screw lead (3), horizontal motor (9), horizontal nut seat (4), trunnion axis bearing (2) and horizontal motor seat
(8), wherein, horizontal motor seat (8) and trunnion axis bearing (2) be fixed on base (1)；Horizontal screw lead (3) one end passes through level
Bearing block (2) is fixed on base (1), and the other end is connected by horizontal motor seat (8) with horizontal motor (9)；Horizontal screw lead (3)
Match with horizontal nut seat (4) and be combined into screw pair.
10. the urological surgery Special operation mechanism as described in any one of claim 1~8, it is characterised in that it is described up and down
Swing mechanism also includes vertical connecting plates (5), vertical leading screw (11), vertical motor (7), vertical nut seat (12), vertical motor
Seat (6) and vertical bearing block (13)；Wherein, vertical connecting plates (5) are arranged on left-right swinging mechanism, vertical motor cabinet (6) and
Vertical bearing block (13) is fixed in vertical connecting plates (5)；Vertical leading screw (11) one end is fixed on by vertical bearing block (13)
In vertical connecting plates (5), the other end is connected by vertical motor cabinet (6) with vertical motor (7)；Vertical leading screw (11) and vertical spiral shell
Female seat (12) matches and is combined into screw pair；L-type connecting plate (14) is fixed on vertical nut seat (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710184118.8A CN106821502B (en) | 2017-03-24 | 2017-03-24 | A kind of urological surgery Special operation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710184118.8A CN106821502B (en) | 2017-03-24 | 2017-03-24 | A kind of urological surgery Special operation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106821502A true CN106821502A (en) | 2017-06-13 |
| CN106821502B CN106821502B (en) | 2019-05-24 |
Family
ID=59129671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710184118.8A Active CN106821502B (en) | 2017-03-24 | 2017-03-24 | A kind of urological surgery Special operation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106821502B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175507A (en) * | 2017-08-31 | 2018-06-19 | 北京邮电大学 | Automatically control high-precision Soft tissue cutting robot |
| CN109549674A (en) * | 2019-01-18 | 2019-04-02 | 北京灵众博通科技有限公司 | Urological surgery robot |
| CN110868903A (en) * | 2017-06-30 | 2020-03-06 | 奥瑞斯健康公司 | System and method for medical device compression compensation |
| CN110897720A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot surgical instruments translation unit |
| CN114603582A (en) * | 2022-05-10 | 2022-06-10 | 湖南锐健科技有限公司 | Multi-shaft swing arm manipulator |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005118422A (en) * | 2003-10-20 | 2005-05-12 | National Institute Of Advanced Industrial & Technology | Motion mechanism with cam mechanism |
| US20130123802A1 (en) * | 2011-11-16 | 2013-05-16 | David B. Comber | Motive device for use in magnetically-sensitive environments |
| CN203468741U (en) * | 2013-08-07 | 2014-03-12 | 吴开俊 | Flexible cystoscope operation auxiliary manipulator |
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| US20140257336A1 (en) * | 2013-03-11 | 2014-09-11 | Samsung Electronics Co., Ltd. | Endoscopic surgical instruments |
| CN105030332A (en) * | 2015-04-29 | 2015-11-11 | 郑步峰 | ERCP auxiliary manipulator device |
| CN106102630A (en) * | 2014-03-07 | 2016-11-09 | 剑桥医疗机器人技术有限公司 | operation arm |
| CN106510848A (en) * | 2016-11-23 | 2017-03-22 | 中国人民解放军第二军医大学 | Transurethral surgical robot and control system |
-
2017
- 2017-03-24 CN CN201710184118.8A patent/CN106821502B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005118422A (en) * | 2003-10-20 | 2005-05-12 | National Institute Of Advanced Industrial & Technology | Motion mechanism with cam mechanism |
| US20130123802A1 (en) * | 2011-11-16 | 2013-05-16 | David B. Comber | Motive device for use in magnetically-sensitive environments |
| US20140257336A1 (en) * | 2013-03-11 | 2014-09-11 | Samsung Electronics Co., Ltd. | Endoscopic surgical instruments |
| CN203468741U (en) * | 2013-08-07 | 2014-03-12 | 吴开俊 | Flexible cystoscope operation auxiliary manipulator |
| CN106102630A (en) * | 2014-03-07 | 2016-11-09 | 剑桥医疗机器人技术有限公司 | operation arm |
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN105030332A (en) * | 2015-04-29 | 2015-11-11 | 郑步峰 | ERCP auxiliary manipulator device |
| CN106510848A (en) * | 2016-11-23 | 2017-03-22 | 中国人民解放军第二军医大学 | Transurethral surgical robot and control system |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110868903A (en) * | 2017-06-30 | 2020-03-06 | 奥瑞斯健康公司 | System and method for medical device compression compensation |
| CN110868903B (en) * | 2017-06-30 | 2022-12-09 | 奥瑞斯健康公司 | System and method for medical device compression compensation |
| CN108175507A (en) * | 2017-08-31 | 2018-06-19 | 北京邮电大学 | Automatically control high-precision Soft tissue cutting robot |
| CN108175507B (en) * | 2017-08-31 | 2020-09-04 | 北京邮电大学 | Automatic control high accuracy soft tissue cutting robot |
| CN109549674A (en) * | 2019-01-18 | 2019-04-02 | 北京灵众博通科技有限公司 | Urological surgery robot |
| CN110897720A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot surgical instruments translation unit |
| CN110897720B (en) * | 2019-12-16 | 2020-07-07 | 青岛大学附属医院 | Medical treatment operation robot surgical instruments translation unit |
| CN114603582A (en) * | 2022-05-10 | 2022-06-10 | 湖南锐健科技有限公司 | Multi-shaft swing arm manipulator |
| CN114603582B (en) * | 2022-05-10 | 2023-10-27 | 湖南锐健科技有限公司 | Multi-axis swing arm manipulator |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106821502B (en) | 2019-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106821502A (en) | A kind of urological surgery Special operation mechanism | |
| US20230320796A1 (en) | Robotic surgical assemblies | |
| CN104970840B (en) | A kind of six degree of freedom silk transmission operating theater instruments for Minimally Invasive Surgery | |
| CN105283144B (en) | Robotic manipulator system | |
| CN102247180B (en) | Medical needle-holding forceps | |
| CN110037795A (en) | A kind of tangent bend type flexibility operation tool system | |
| CN104490467B (en) | The non-Myometrial involvement tumor of bladder intracavity operation device system of per urethra approach | |
| CN101637402A (en) | Minimally invasive surgical wire driving and four-freedom surgical tool | |
| CN109044533A (en) | The minimally invasive intervention operation robot of Urology Surgery | |
| CN106214258A (en) | A kind of dexterous wrist mechanism for single hole minimally invasive robot | |
| CN105997250A (en) | Grinding device for spine vertebral plate | |
| CN110269684A (en) | A kind of flexible perform the operation terminal module and throat Minimally Invasive Surgery flexible robot | |
| CN108309455A (en) | A kind of surgical instrument with running fix joint for single hole operating robot | |
| CN106308938A (en) | Flexible operation tool system capable of passing through natural orifice | |
| CN108742733A (en) | Novel telescopic type Minimally Invasive Surgery motion arm | |
| CN113995941A (en) | Catheter and guide wire cooperative execution device of minimally invasive vascular interventional surgery robot | |
| CN107224387A (en) | A kind of elbow joint function rehabilitation device with dispenser function | |
| CN204683554U (en) | A kind of micro-wound operation robot choledochoscope | |
| CN106419818B (en) | A kind of endoscope of adjustable angle | |
| CN206342527U (en) | A kind of turning titanium clamp pincers | |
| CN107595393A (en) | A kind of distal center motion | |
| CN106236270A (en) | A kind of flexible operation tool system of structural bone redundant arrangement | |
| CN106983558B (en) | A kind of mechanical arm for urological surgery operation | |
| CN104757931B (en) | Choledochoscope for minimally invasive surgery robot | |
| CN106473810A (en) | A kind of transurethral flexible operation tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |