CN107049523A - Operational control component and surgical operation robot system - Google Patents
Operational control component and surgical operation robot system Download PDFInfo
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- CN107049523A CN107049523A CN201710318704.7A CN201710318704A CN107049523A CN 107049523 A CN107049523 A CN 107049523A CN 201710318704 A CN201710318704 A CN 201710318704A CN 107049523 A CN107049523 A CN 107049523A
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- nacelle
- pedestal
- control component
- console
- doctor
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Abstract
The invention provides a kind of operational control component and surgical operation robot system, surgical operation robot system includes operation enforcement division, and wherein operational control component includes：Pedestal；Nacelle, is slidably disposed on pedestal；Console, is arranged on inside nacelle, for control operation enforcement division；Seat, is slidably disposed on inside nacelle, is oppositely arranged with console.The operational control component that the present invention is provided, console can be adjusted to diverse location to meet the operating habit of different doctors by adjusting the relative position of nacelle and pedestal, by adjusting the relative position of seat and console the space between seat and console can be made to facilitate doctor, be seated comfortably in operating console on seat, it is easy to operate, it is practical, fatigue strength of the doctor in surgical procedure is significantly reduced, the operating efficiency and operation accuracy rate of doctor is improved.
Description
Technical field
The present invention relates to surgical operation robot field, in particular to a kind of operational control component and surgical operation
Robot system.
Background technology
At present, with the development of artificial intelligence technology, assisted surgery for robots (RAS, Robot Aided
Surgery) start to be increasingly being applied in clinical medicine, wherein the machine of U.S. Intuitive Surgical companies manufacture
Device people's surgical system is that Leonardo da Vinci's robotic surgical system is relatively conventional, and the robotic surgical system is controlled including doctor
Mechanical arm system and the part of image system three by platform, bed.Surgeon console is normally located remotely from the operation aseptic area of patient location
Outside, doctor observes the 3-D view of operative site by console, and with two steps and two hand controls remote controls
In the operating theater instruments of the other mechanical arm of operative site bed, the hand motion of doctor is converted into more precise instrument micromotion, used
Invasive manner completes complicated surgical operation.
Compared to conventional open surgery pattern, assisted surgery for robots Chinese and foreign department doctor need not be carried out for a long time
Standing operation, largely reduces labor intensity of the doctor in surgical procedure.But the operating robot in correlation technique
In assisted surgical procedures, surgeon needs to keep relatively-stationary body posture to enter for a long time before operating console
Row operation technique is controlled, and sense of fatigue is easily produced, so as to influence operation technique efficiency and accuracy.
The content of the invention
At least one in order to solve the above-mentioned technical problem, the embodiment of the first aspect of the present invention proposes a kind of operation control
Component processed.
A kind of the second aspect of the present invention embodiment, it is also proposed that surgical operation robot system.
In view of this, embodiment according to the first aspect of the invention, the present invention proposes a kind of operational control component, uses
In surgical operation robot system, surgical operation robot system includes operation enforcement division, and operational control component includes：Pedestal；
Nacelle, is slidably disposed on pedestal；Console, is arranged on inside nacelle, for control operation enforcement division；Seat, can be slided
It is arranged on inside nacelle, is oppositely arranged with console dynamicly.
The operational control component that the present invention is provided, including pedestal, nacelle, console and seat, by nacelle slideably
Be arranged on pedestal, nacelle can relative to pedestal in the horizontal direction and/or vertical direction movement so that be arranged on inside nacelle
Console and then can be conducive to doctor to be adjusted to console relative to pedestal in the horizontal direction and/or vertical direction movement
Diverse location to meet the operating habit of different doctors, meanwhile, be slidably disposed on by seat inside nacelle, with console
It is oppositely arranged so that by the relative position for adjusting seat and nacelle the space between seat and console can be made to meet doctor
Facilitate, be seated comfortably in the demand being operated on seat by console, it is easy to operate, it is practical, it is to avoid due to
The relative position of console and seat can not adjust and cause doctor to need to keep anchor to grasp for a long time in surgical procedure
Make console and carry out the drawbacks of operation is also easy to produce fatigue and reduces operating efficiency, be effectively guaranteed doctor and grasped in surgical procedure
Make the comfortableness and convenience of console, and then reduce fatigue strength of the doctor in surgical procedure, improve the operating efficiency of doctor
With operation accuracy rate, the usage experience of doctor is significantly lifted.
Further, by nacelle being slidably arranged on pedestal and can be relative to pedestal along level and/or vertical side
To movement, realize that nacelle is moved left and right along base level direction, vertical direction moves up and down and turned an angle, effectively
Ground expands moving range of the nacelle relative to pedestal, so ensure that console position and angle adjustable to facilitate doctor
Raw operation, and different doctor's operating habits are disclosure satisfy that, while compatible a variety of different operating console structures, the scope of application
It is more extensive；By the way that seat slide is arranged in nacelle, facilitates doctor that seat is adjusted into correct position and sit on the seat
Cosily operating console, comfortable operating space is provided for operative doctor, improves operation technique efficiency, is improved doctor and is used
Satisfaction.Further, nacelle can be by doctor in adjustment nacelle and the relative position of pedestal relative to the angle that pedestal is rotated
Preset angle angle value before putting, can also be in course of adjustment and rotate suitable angle value, applied widely, energy according to demands of individuals
Enough meet the demand of different doctor's operations.
In addition, the operational control component in above-described embodiment that the present invention is provided can also have following supplementary technology special
Levy：
In the above-mentioned technical solutions, it is preferable that also include：First sliding part, is arranged on one in pedestal and nacelle,
Nacelle is horizontally disposed columnar structured, and the first sliding part connects nacelle and pedestal, and nacelle along columnar structured circumference
It can be rotated around columnar structured central shaft relative to pedestal.
In the technical scheme, nacelle is horizontally disposed columnar structured, and the first sliding part is along columnar structured week
To connection nacelle and pedestal, and nacelle can efficiently utilize nacelle around columnar structured central shaft relative to pedestal rotation
The structure of itself easily realizes nacelle and rotated along pedestal, simple in construction, easy to operate, practical.Further, nacelle
Can be in default angular range relative to pedestal rotation, doctor can adjust angle of rotation of the nacelle relative to pedestal as needed
Degree；Meanwhile, nacelle can be preset relative to one or more angle values that pedestal is rotated, doctor as needed can adjust nacelle
Whole to corresponding predetermined angle.
Further, the first sliding part is arranged on one in pedestal and nacelle, disclosure satisfy that the first sliding part, base
Seat, the demand of nacelle different structure, meanwhile, the position that the first sliding part is set is different with the mode set, disclosure satisfy that nacelle
The need moved left and right in the horizontal direction relative to pedestal, vertically moved up and down, rotate to an angle different movings range
Ask, it is applied widely, different doctor's operating habits are further met, the operating console of compatible different structure is effectively carried
High operational comfort of the doctor in surgical procedure, significantly lifts the satisfaction that doctor uses.
In any of the above-described technical scheme, it is preferable that also include：Drive device, on pedestal, drive device and cabin
Body phase connects to drive nacelle to rotate relative to pedestal around columnar structured central shaft.
In the technical scheme, by the way that drive device is arranged on pedestal, drive device is connected and driven with nacelle
Nacelle is slided relative to pedestal so that drive device can drive nacelle when working relative to pedestal, left and right is moved in the horizontal direction
Dynamic, vertical direction is moved up and down, and driving nacelle is default relative to pedestal rotation around the columnar structured central shaft of nacelle
Angle, and then be conducive to doctor easily to operate drive device to adjust nacelle and the relative position of pedestal, to ensure inside nacelle
Console be conducive to that doctor is comfortable, rapidly operating console relative to the position of pedestal, it is simple to operate, it is practical, have
Improve doctor to effect and console is adjusted to the usage experience that doctor is lifted to the speed and convenience for meeting operating habit.Together
When, drive device is arranged on pedestal, it is to avoid drive device, which is arranged on, makes the weight of nacelle increase and be unfavorable in nacelle
Nacelle is relative to the slip of pedestal, and further ensuring nacelle can slide flexibly, exactly relative to pedestal, significantly be lifted
The satisfaction that doctor uses.
In any of the above-described technical scheme, it is preferable that nacelle includes fixed mount and housing, fixed mount is cylindrical, housing
It is arranged on the outside of fixed mount and is connected with fixed mount, fixed mount is slidably connected with pedestal by the first sliding part.
In the technical scheme, nacelle includes fixed mount and housing, and fixed mount is cylindrical, and fixation is arranged on by housing
The outside of frame is simultaneously connected with fixed mount, and it is columnar structured to be effectively guaranteed nacelle, while ensure that fixed mount and housing
The reliability of connection, improves the global reliability of nacelle；Fixed mount is slidably connected with pedestal by the first sliding part, Neng Gouyou
Effect ground ensures that nacelle is slidably connected with pedestal, and then nacelle is facilitated, accurately, flexibly relative to pedestal slip, has
The relative position of console and pedestal is quickly and conveniently adjusted beneficial to doctor to meet operating habit, what raising doctor used expires
Meaning degree.
In any of the above-described technical scheme, it is preferable that also include：Second sliding part, is arranged in fixed mount and seat
On one, the second sliding part is slidably connected fixed mount and seat.
In the technical scheme, it is slidably connected fixed mount and seat by the second sliding part, and seat can be relative to fixation
Frame in the horizontal direction and/or vertical direction movement, disclosure satisfy that seat is moved left and right, along perpendicular in the horizontal direction relative to fixed mount
Demand from Nogata to the different movings range such as move up and down and rotate to an angle, it is applied widely, and then disclosure satisfy that
Different doctor's operating habits, the operating console of compatible different structure so that doctor can sit on the seat in surgical procedure
With comfortable Gesture operation console, while operating attitude can be converted when operating console has different structure so as to more
Cosily it is operated, it is to avoid it is tired that doctor keeps fixed pose operating console easily to produce for a long time in surgical procedure
The problem of labor, it is effectively improved comfort level and operating efficiency that doctor operates in surgical procedure, it is ensured that operate well accurate
True rate, improves the satisfaction that doctor uses.
In any of the above-described technical scheme, it is preferable that fixed mount includes at least two supports and support bar, and support is annulus
Structure, circumferencial direction of the support bar along support connects at least two supports.
In the technical scheme, fixed mount includes at least two supports and support bar, by the way that support is set into annulus knot
Structure, support bar connects at least two supports and is distributed along the circumferencial direction of support, so that realize that fixed mount is cylindrical, its structure
Simply, it is easy to assembly, while connecting at least two supports by support bar and being distributed along the circumferencial direction of support, effectively ensure
The reliability that support bar is connected with support, improves the quality of product, while ensure that the uniform quality of cylindrical shape fixed mount, has
Flexibly, exactly rotated relative to pedestal beneficial to nacelle.
Further, the varying number of support disclosure satisfy that the demand of fixed mount and housing different structure, applied widely
It is general.Specifically, the quantity of support can be two, and the support of two circular ring structures is oppositely arranged, and multiple support bars connect two
Support is simultaneously distributed along the circumferencial direction of two supports, and it is cylindrical and with reliability well to be effectively guaranteed fixed mount,
It is simple in construction, be conducive to assembling, further, by multiple support bars it is equidistant, equably along circumferentially distributed, the energy of two supports
Enough make the uniform quality stabilized structure of fixed mount, be conducive to nacelle accurately, flexibly to be slided relative to pedestal.
In any of the above-described technical scheme, it is preferable that the arc mounting bracket being adapted with support is provided with pedestal；First
Sliding part is assembly pulley, is arranged on the upper of arc mounting bracket, assembly pulley is connected with bracket slide.
In the technical scheme, by setting the arc mounting bracket being adapted with support on pedestal, assembly pulley is arranged on
Arc mounting bracket both sides, are connected by assembly pulley with bracket slide so that nacelle freely, can be rotated neatly relative to pedestal
Predetermined angle, and then being conducive to doctor easily to adjust nacelle and the relative position of pedestal makes the position of console be conducive to doctor
Cosily operating console, while disclosure satisfy that the demand of different doctor's operating habits and operating console different structure, is applicable
It is in extensive range, the comfort level that doctor operates in surgical procedure is further improved, the usage experience of doctor is lifted.
Further, other sliding parts that the first sliding part can require for satisfaction.Specifically, the first sliding part is pulley
Group, is slidably connected support and pedestal by multiple assembly pulleys, and connected mode is simple, and cost is relatively low, steady quality, effectively ensures
The reliability of product.Further, by setting arc mounting bracket on pedestal, assembly pulley is arranged on arc mounting bracket simultaneously
It is connected with support, is effectively guaranteed the reliability of the bracket slide connection of pedestal and circular ring structure, realizing nacelle can
Predetermined angle is rotated to meet the operating habit of different doctors relative to pedestal, it is simple in construction, it is easy to operate, it is to avoid needs pass through
Multiple horizontal adjustment and vertical adjustment nacelle and the relative position of pedestal are so that the position of console reaches doctor's operational comfort
Demand, effectively simplify set-up procedure, improve doctor and adjust console to the convenience and reality for meeting operating habit
The satisfaction used with property, lifting doctor.
In any of the above-described technical scheme, it is preferable that the second sliding part is guide rail, seat is arranged on support by guide rail
On, seat can be moved along guide rail.
In the technical scheme, the second sliding part is guide rail, and seat is arranged at least one support by guide rail so that
Adjusting position of the seat in guide rail can be such that seat flexibly, is freely slided relative to support, and then be conducive to doctor convenient
Ground adjusts seat and the relative position of console can be seated comfortably in operating console on seat to meet doctor, while can
The demand of different doctor's operating habits and operating console different structure is met, doctor is effectively improved and is grasped in surgical procedure
Make ground comfort level, and then improve operating efficiency, improve the satisfaction that doctor uses.
Further, other sliding parts that the second sliding part can require for satisfaction.
In any of the above-described technical scheme, it is preferable that console includes display screen, operating desk and pedal, display screen, operation
Platform and pedal are separately mounted on support bar.
In the technical scheme, by the way that display screen, operating desk and pedal are separately mounted on support bar, support bar edge branch
The circumferencial direction distribution of frame, be conducive to display screen, operating desk and pedal rationally, be dispersively installed on different support bars with
Enable a physician to rationally, cosily operating display, operating desk and pedal, effectively expand doctor's operating display, operation
The operating space of platform and pedal, is conducive to doctor cosily to be operated in surgical procedure and be easy to convert preferably posture and is grasped
Make, meet ergonomic designs, be effectively improved doctor operatively comfort level and accuracy rate in surgical procedure, lifting doctor
Raw usage experience.
In any of the above-described technical scheme, it is preferable that drive device is motor, motor is connected by push rod with support bar
Connect.
In the technical scheme, drive device is motor, motor is arranged on pedestal, motor passes through push rod and support bar
It is connected so that promote support bar nacelle is horizontally and/or vertically moved relative to pedestal edge by push rod when motor works
It is dynamic, or rotated along nacelle central shaft relative to pedestal, so that relative angle and the position of nacelle and pedestal are adjusted, operation letter
Single, easy to use, cost is relatively low, is conducive to doctor to operate, and is effectively improved the satisfaction that doctor uses.
A kind of embodiment according to the second aspect of the invention, it is also proposed that surgical operation robot system, including：Above-mentioned
Operational control component described in one technical scheme.
The surgical operation robot system that the embodiment of second aspect of the present invention is provided, including any of the above-described technical scheme institute
The operational control component stated.Because the surgical operation robot system that second aspect of the present invention embodiment is provided includes first aspect reality
The operational control component of example offer is provided, thus possesses whole advantageous effects of aforesaid operations control assembly, is no longer gone to live in the household of one's in-laws on getting married herein
State.
The additional aspect and advantage of the present invention will become obvious in following description section, or pass through the practice of the present invention
Recognize.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the structural representation in a direction of operational control component in embodiments of the invention；
Fig. 2 is the structural representation in another direction of operational control component in embodiments of the invention shown in Fig. 1；
Fig. 3 is the assembling schematic diagram of pedestal and the first sliding part in embodiments of the invention；
Fig. 4 is the structural representation of the first sliding part in embodiments of the invention；
Fig. 5 is the assembling schematic diagram of pedestal and nacelle in embodiments of the invention；
Fig. 6 is the assembling schematic diagram of seat and the second sliding part in embodiments of the invention；
Fig. 7 is the structural representation of fixed mount in embodiments of the invention；
Fig. 8 is the assembling schematic diagram in a direction of fixed mount and console in embodiments of the invention；
Fig. 9 is the assembling schematic diagram in another direction of fixed mount and console in embodiments of the invention shown in Fig. 8；
Figure 10 is the assembling signal in another direction of fixed mount and console in embodiments of the invention shown in Fig. 8
Figure.
Wherein, corresponding relations of the Fig. 1 into Figure 10 between reference and component names is：
10 pedestals, 102 mounting brackets, 20 nacelles, 202 fixed mounts, 2022 supports, 2024 support bars, 204 housings, 30 controls
Platform, 302 display screens, 304 operating desks, 306 pedals, 40 seats, 50 first sliding parts, 60 second sliding parts, 702 push rods, 100 behaviour
Make control assembly.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Operational control component 100 and surgery described according to some embodiments of the invention is described referring to Fig. 1 to Figure 10
Surgical robot system.
As depicted in figs. 1 and 2, the present invention proposes a kind of operational control component 100, for surgical operation robot system
System, surgical operation robot system includes operation enforcement division, and operational control component 100 includes：Pedestal 10；Nacelle 20, slidably
Ground be arranged on pedestal 10 and can relative to pedestal 10 in the horizontal direction and/or vertical direction movement；Console 30, is arranged on cabin
Inside body 20, for control operation enforcement division；Seat 40, is slidably disposed on inside nacelle 20, relative with console 30 to set
Put.
The operational control component 100 that the present invention is provided, including pedestal 10, nacelle 20, console 30 and seat 40, pass through cabin
Body 20 is slidably disposed on pedestal 10, nacelle 20 can relative to pedestal 10 in the horizontal direction and/or vertical direction movement, make
Must be arranged on console 30 inside nacelle 20 can relative to pedestal 10 in the horizontal direction and/or vertical direction movement, and then
Be conducive to doctor that console 30 is adjusted into diverse location to meet the operating habit of different doctors, meanwhile, can by seat 40
It is slidably arranged in inside nacelle 20, is oppositely arranged with console 30 so that by the relative position for adjusting seat 40 and nacelle 20
Putting can make the space between seat 40 and console 30 meet doctor's facility, be seated comfortably on seat 40 by console 30
The demand being operated, it is easy to operate, it is practical, it is to avoid because the relative position of console 30 and seat 40 can not be adjusted
Save and cause doctor to need to keep the progress operation of anchor operating console 30 to be also easy to produce fatigue for a long time in surgical procedure
And the drawbacks of reduce operating efficiency, it is effectively guaranteed doctor's comfortableness of operating console 30 and convenient in surgical procedure
Property, and then fatigue strength of the doctor in surgical procedure is reduced, the operating efficiency and operation accuracy rate of doctor are improved, is significantly lifted
The usage experience of doctor.
Further, by by nacelle 20 be slidably arranged on pedestal 10 and can relative to pedestal 10 along level and/or
Vertical direction is moved, and realizes nacelle 20 along the horizontal direction of pedestal 10 is moved left and right, vertical direction moves up and down and rotated one
Determine angle, effectively expand moving range of the nacelle 20 relative to pedestal 10, so ensure that console 30 position and
Angle can be adjusted to facilitate doctor to operate and disclosure satisfy that different doctor's operating habits, while compatible a variety of different structures
The demand of operating console 30, the scope of application is more extensive；By the way that seat 40 is slidably arranged in nacelle 20, facilitate doctor
Seat 40 is adjusted to correct position and is sitting on seat 40 cosily operating console 30, comfortable behaviour is provided for operative doctor
Make space, improve operation technique efficiency, improve the satisfaction that doctor uses.Further, nacelle 20 is rotated relative to pedestal 10
Angle can before relative position of the doctor in adjustment nacelle 20 and pedestal 10 preset angle angle value, can also be in course of adjustment
Suitable angle value is rotated according to demands of individuals, it is applied widely, it disclosure satisfy that the demand of different doctor's operations.
As shown in figure 3, in one embodiment of the invention, it is preferable that also include：First sliding part 50, is arranged on base
On one in seat 10 and nacelle 20, nacelle 20 is horizontally disposed columnar structured, and the first sliding part 50 is along columnar structured
Circumferential connection nacelle 20 and pedestal 10, and nacelle 20 can rotate around columnar structured central shaft relative to pedestal 10.
In this embodiment, nacelle 20 is horizontally disposed columnar structured, and the first sliding part 50 is along columnar structured
Nacelle 20 and pedestal 10 are circumferentially connected, and nacelle 20 can rotate around columnar structured central shaft relative to pedestal 10, effectively
It make use of the structure of itself of nacelle 20 easily to realize nacelle 20 to rotate along pedestal 10, simple in construction, easy to operate, practicality
By force.Further, nacelle 20 can be rotated relative to pedestal 10 in default angular range, and doctor can adjust cabin as needed
Rotational angle of the body 20 relative to pedestal 10；Meanwhile, nacelle 20 can be preset relative to one or more angles that pedestal 10 is rotated
Angle value, doctor as needed can adjust nacelle 20 to corresponding predetermined angle.
Further, the first sliding part 50 is arranged on one in pedestal 10 and nacelle 20, disclosure satisfy that the first slip
Part 50, pedestal 10, the demand of the different structure of nacelle 20, meanwhile, the position that the first sliding part 50 is set is different with the mode set,
It disclosure satisfy that nacelle 20 moves left and right, vertically moves up and down, rotates to an angle in the horizontal direction relative to pedestal 10
The demand of different movings range, it is applied widely, further meet different doctor's operating habits, the operation of compatible different structure
Console 30, is effectively improved operational comfort of the doctor in surgical procedure, significantly lifts the satisfaction that doctor uses.
In one embodiment of the invention, it is preferable that also include：Drive device, on pedestal 10, drive device
It is connected to drive nacelle 20 to rotate relative to pedestal 10 around columnar structured central shaft with nacelle 20.
In this embodiment, by the way that drive device is arranged on pedestal 10, drive device is connected and driven with nacelle 20
Dynamic nacelle 20 is slided relative to pedestal 10 so that drive device can drive nacelle 20 relative to pedestal 10 along level side when working
Move left and right, vertical direction is moved up and down, and drive nacelle 20 around the columnar structured central shaft of nacelle 20 relative to base
The default angle of the rotation of seat 10, and then be conducive to doctor easily to operate drive device to adjust nacelle 20 and the relative position of pedestal 10
Put, to ensure that the console 30 inside nacelle 20 is conducive to that doctor is comfortable, rapidly operational control relative to the position of pedestal 10
Platform 30, it is simple to operate, it is practical, it is effectively improved doctor and adjusts console 30 to the speed for meeting operating habit and just
Profit, lifts the usage experience of doctor.Meanwhile, drive device is arranged on pedestal 10, it is to avoid drive device is arranged on cabin
Making the weight of nacelle 20 on body 20 increases and is unfavorable for slip of the nacelle 20 relative to pedestal 10, further ensures the phase of nacelle 20
It can flexibly, exactly be slided for pedestal 10, significantly lift the satisfaction that doctor uses.
As shown in Figure 3 and Figure 5, in one embodiment of the invention, it is preferable that nacelle 20 includes fixed mount 202 and shell
Body 204, fixed mount 202 is cylindrical, and housing 204 is arranged on the outside of fixed mount 202 and is connected with fixed mount 202, fixed
Frame 202 is slidably connected with pedestal 10 by the first sliding part 50.
In this embodiment, nacelle 20 includes fixed mount 202 and housing 204, and fixed mount 202 is cylindrical, passes through housing
204 are arranged on the outside of fixed mount 202 and are connected with fixed mount 202, are effectively guaranteed nacelle 20 to be columnar structured, together
When ensure that the reliability that fixed mount 202 is connected with housing 204, improve the global reliability of nacelle 20；Pass through the first sliding part
50 are slidably connected fixed mount 202 with pedestal 10, can effectively ensure that nacelle 20 is slidably connected with pedestal 10, and then cause cabin
Body 20 can facilitate, accurately, flexibly slide relative to pedestal 10, be conducive to doctor quickly and conveniently adjust console 30 with
The relative position of pedestal 10 improves the satisfaction that doctor uses to meet operating habit.
As shown in Figure 1, Figure 2 with shown in Fig. 6, in one embodiment of the invention, it is preferable that also include：Second sliding part 60,
It is arranged on one in fixed mount 202 and seat 40, the second sliding part 60 is slidably connected fixed mount 202 and seat 40.
In this embodiment, it is slidably connected fixed mount 202 and seat 40 by the second sliding part 60, and seat 40 can be relative
In fixed mount 202 in the horizontal direction and/or vertical direction movement, it disclosure satisfy that seat 40 relative to fixed mount 202 along level side
The demands of different movings range such as move left and right, vertically move up and down and rotate to an angle, applied widely
It is general, and then disclosure satisfy that different doctor's operating habits, the operating console 30 of compatible different structure so that doctor is in surgical procedure
In can be sitting on seat 40 with comfortable Gesture operation console 30, while can operating console 30 have different structure
Shi Bianhuan operating attitudes are so as to more cosily be operated, it is to avoid doctor keeps fixing appearance for a long time in surgical procedure
The problem of state operating console 30 easily produces fatigue, is effectively improved comfort level and behaviour that doctor operates in surgical procedure
Make efficiency, it is ensured that operate accuracy rate well, improve the satisfaction that doctor uses.
As shown in fig. 7, in one embodiment of the invention, it is preferable that fixed mount 202 includes at least two supports 2022
With support bar 2024, support 2022 is circular ring structure, and circumferencial direction of the support bar 2024 along support 2022 connects at least two
Frame 2022.
In this embodiment, fixed mount 202 includes at least two supports 2022 and support bar 2024, by by support 2022
Circular ring structure is set to, support bar 2024 connects at least two supports 2022 and is distributed along the circumferencial direction of support 2022, realized
Fixed mount 202 is cylindrical, and its is simple in construction, easy to assembly, while connecting at least two supports 2022 by support bar 2024
And be distributed along the circumferencial direction of support 2022, the reliability that support bar 2024 is connected with support 2022 is effectively guaranteed, is improved
The quality of product, while ensure that the uniform quality of cylindrical shape fixed mount 202, be conducive to nacelle 20 relative to pedestal 10 flexibly,
Rotate exactly.
Further, the varying number of support 2022 disclosure satisfy that the demand of fixed mount 202 and the different structure of housing 204,
It is applied widely.Specifically, the quantity of support 2022 can be two, and the support 2022 of two circular ring structures is oppositely arranged,
Multiple support bars 2024 connect two supports 2022 and are distributed along the circumferencial direction of two supports 2022, are effectively guaranteed fixation
Frame 202 is cylindrical and with reliability well, simple in construction, is conducive to assembling, further, by multiple support bars 2024
It is equidistant, equably along the circumferentially distributed of two supports 2022, the uniform quality of fixed mount 202 can be made, be conducive to nacelle 20
Accurately, flexibly slided relative to pedestal 10.
As shown in Figure 3 and Figure 4, in one embodiment of the invention, it is preferable that be provided with pedestal 10 and support 2022
The arc mounting bracket 102 being adapted；First sliding part 50 is assembly pulley, is arranged on the both sides of arc mounting bracket 102, assembly pulley with
At least one support 2022 is slidably connected.
In this embodiment, by setting the arc mounting bracket 102 being adapted with support 2022, assembly pulley on pedestal 10
The both sides of arc mounting bracket 102 are arranged on, are slidably connected by assembly pulley with support 2022 so that nacelle 20 is relative to pedestal 10
Can freely, neatly rotate predetermined angle, and then be conducive to doctor easily to adjust the relative position of nacelle 20 and pedestal 10
The position of console 30 is set to be conducive to doctor cosily operating console 30, while disclosure satisfy that different doctor's operating habits and behaviour
Make the demand of the different structure of console 30, it is applied widely, the comfort level that doctor operates in surgical procedure is further improved,
Lift the usage experience of doctor.
Further, other sliding parts that the first sliding part 50 can require for satisfaction.Specifically, the first sliding part 50 is
The specific fit system of assembly pulley, roller group 50 and support 2022 can be worn for support 2022 between two pulleys of assembly pulley
Cross, be slidably connected support 2022 and pedestal 10 by multiple assembly pulleys, connected mode is simple, and cost is relatively low, steady quality, effectively
Ground ensure that the reliability of product.Further, by setting arc mounting bracket 102 on pedestal 10, assembly pulley is arranged on arc
It is connected on shape mounting bracket 102 and with support 2022, the support 2022 for being effectively guaranteed pedestal 10 and circular ring structure slides company
The reliability connect, predetermined angle can be rotated to meet the operating habit of different doctors relative to pedestal 10 by realizing nacelle 20,
It is simple in construction, it is easy to operate, it is to avoid to need by multiple horizontal adjustment and vertical adjustment nacelle 20 and the relative position of pedestal 10
So that the position of console 30 reaches the demand of doctor's operational comfort, set-up procedure is effectively simplified, improving doctor will
Console 30 adjusts the satisfaction used to the convenience and practicality for meeting operating habit, lifting doctor.
As shown in fig. 6, in one embodiment of the invention, it is preferable that the second sliding part 60 is guide rail, seat 40 passes through
Guide rail is arranged at least one support 2022, and seat 40 can be moved along guide rail.
In this embodiment, the second sliding part 60 is guide rail, and seat 40 is arranged at least one support 2022 by guide rail
On so that position of the adjustment seat 40 in guide rail can be such that seat 40 flexibly, is freely slided relative to support 2022, and then
The relative position for being conducive to doctor easily to adjust seat 40 and console 30 can be seated comfortably in seat 40 to meet doctor
Upper operating console 30, while disclosure satisfy that the demand of different doctor's operating habit and operating console 30 different structures, effectively
Ground improves doctor's operatively comfort level, and then improve operating efficiency in surgical procedure, improves the satisfaction that doctor uses.
Further, other sliding parts that the second sliding part 60 can require for satisfaction.
As shown in Fig. 8, Fig. 9 and Figure 10, in one embodiment of the invention, it is preferable that console 30 includes display screen
302nd, operating desk 304 and pedal 306, display screen 302, operating desk 304 and pedal 306 are separately mounted on support bar 2024.
In this embodiment, by the way that display screen 302, operating desk 304 and pedal 306 are arranged on support bar 2024, branch
Circumferencial direction distribution of the strut 2024 along support 2022, be conducive to display screen 302, operating desk 304 and pedal 306 rationally, point
Be arranged on scatteredly on different support bars 2024 enable the surgeon to enough rationally, cosily operating display 302, the and of operating desk 304
Pedal 306, effectively expands the operating space of doctor's operating display 302, operating desk 304 and pedal 306, is conducive to doctor
Cosily operated in surgical procedure and be easy to convert preferably posture and operated, meet ergonomic designs, effectively
Doctor operatively comfort level and accuracy rate in surgical procedure are improved, the usage experience of doctor is lifted.
As shown in Fig. 8, Fig. 9 and Figure 10, in one embodiment of the invention, it is preferable that drive device is motor, motor
It is connected by push rod 702 with support bar 2024.
In this embodiment, drive device is motor, and motor is arranged on pedestal 10, and motor passes through push rod 702 and branch
Strut 2024 is connected so that promote support bar 2024 to make nacelle 20 relative to pedestal by driving push rod 702 when motor works
10 along horizontally and/or vertically moving, or is rotated along the central shaft of nacelle 20 relative to pedestal 10, thus adjust nacelle 20 with
The relative angle of pedestal 10 and position, simple to operate, easy to use, cost is relatively low, is conducive to doctor to operate, and is effectively improved
The satisfaction that doctor uses.
A kind of embodiment according to the second aspect of the invention, it is also proposed that surgical operation robot system, including：Above-mentioned
Operational control component 100 described in one technical scheme.
The surgical operation robot system that the embodiment of second aspect of the present invention is provided, including any of the above-described technical scheme institute
The operational control component 100 stated.Because the surgical operation robot system that second aspect of the present invention embodiment is provided includes first party
The operational control component 100 that face embodiment is provided, thus possess whole advantageous effects of aforesaid operations control assembly 100,
It will not be repeated here.
In summary, the operational control component 100 and surgical operation robot system of offer of the invention, pass through nacelle 20
It is slidably disposed on pedestal 10 and can be relative to pedestal 10 in the horizontal direction and/or vertical direction movement, or along nacelle
20 central shafts are rotated relative to pedestal 10, so as to be conducive to doctor that console 30 is adjusted into diverse location to meet different doctors
Operating habit, meanwhile, be slidably disposed on inside nacelle 20, be oppositely arranged with console 30 by seat 40 so that be logical
The relative position of toning bed rearrangement chair 40 and nacelle 20 can make the space between seat 40 and console 30 meet doctor's facility, relax
The demand that platform 30 be operated of being manipulated by is sitting on seat 40 suitablely, it is easy to operate, it is practical, it is to avoid control
The relative position of platform 30 and seat 40 can not adjust and cause doctor to need to keep anchor to grasp for a long time in surgical procedure
Make console 30 and carry out the drawbacks of operation is also easy to produce fatigue and reduces operating efficiency, be effectively guaranteed doctor in surgical procedure
The comfortableness and convenience of operating console 30, and then fatigue strength of the doctor in surgical procedure is reduced, improve the operation of doctor
Efficiency and operation accuracy rate, significantly lift the usage experience of doctor.
In the present invention, term " multiple " then refers to two or more, unless otherwise clear and definite restriction.Term " peace
The term such as dress ", " connected ", " connection ", " fixation " all should be interpreted broadly, for example, " connection " can be fixedly connected, can also
It is to be detachably connected, or is integrally connected；" connected " can be joined directly together, and can also be indirectly connected to by intermediary.It is right
For one of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that combining the embodiment or specific features, structure, material or the feature of example description is contained at least one reality of the invention
Apply in example or example.In this manual, identical embodiment or reality are not necessarily referring to the schematic representation of above-mentioned term
Example.Moreover, description specific features, structure, material or feature can in any one or more embodiments or example with
Suitable mode is combined.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (11)
1. a kind of operational control component, for surgical operation robot system, the surgical operation robot system includes operation
Enforcement division, it is characterised in that the operational control component includes：
Pedestal；
Nacelle, is slidably disposed on the pedestal；
Console, is arranged on inside the nacelle, for controlling the operation enforcement division；
Seat, is slidably disposed on inside the nacelle, is oppositely arranged with the console.
2. operational control component according to claim 1, it is characterised in that also include：
First sliding part, is arranged on one in the pedestal and the nacelle, and the nacelle is horizontally disposed cylindrical shape
Structure, first sliding part connects the nacelle and the pedestal along the columnar structured circumference, and the nacelle can
Rotated around the columnar structured central shaft relative to the pedestal.
3. operational control component according to claim 2, it is characterised in that also include：
Drive device, on the pedestal, the drive device is connected to drive the nacelle around institute with the nacelle
Columnar structured central shaft is stated to rotate relative to the pedestal.
4. operational control component according to claim 3, it is characterised in that
The nacelle includes fixed mount and housing, and the fixed mount is cylindrical, and the housing is arranged on the outer of the fixed mount
Portion is simultaneously connected with the fixed mount, and the fixed mount is slidably connected with the pedestal by first sliding part.
5. operational control component according to claim 4, it is characterised in that also include：
Second sliding part, is arranged on one in the fixed mount and the seat, and second sliding part is slidably connected institute
State fixed mount and the seat.
6. operational control component according to claim 5, it is characterised in that
The fixed mount includes at least two supports and support bar, and the support is circular ring structure, and the support bar is along the branch
The circumferencial direction of frame connects at least two support.
7. operational control component according to claim 6, it is characterised in that
The arc mounting bracket being adapted with the support is provided with the pedestal；
First sliding part is assembly pulley, is arranged on the arc mounting bracket both sides, the assembly pulley and the bracket slide
Connection.
8. operational control component according to claim 6, it is characterised in that
Second sliding part is guide rail, and the seat is installed on the bracket by the guide rail, and the seat can be along institute
State guide rail movement.
9. operational control component according to claim 6, it is characterised in that
The console includes display screen, operating desk and pedal, and the display screen, the operating desk and the pedal are respectively mounted
On the support bar.
10. the operational control component according to any one of claim 6 to 9, it is characterised in that
The drive device is motor, and the motor is connected by push rod with the support bar.
11. a kind of surgical operation robot system, it is characterised in that including：
Operational control component as any one of claim 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710318704.7A CN107049523A (en) | 2017-05-08 | 2017-05-08 | Operational control component and surgical operation robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710318704.7A CN107049523A (en) | 2017-05-08 | 2017-05-08 | Operational control component and surgical operation robot system |
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| CN107049523A true CN107049523A (en) | 2017-08-18 |
Family
ID=59595971
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710318704.7A Pending CN107049523A (en) | 2017-05-08 | 2017-05-08 | Operational control component and surgical operation robot system |
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| CN107882876A (en) * | 2017-12-13 | 2018-04-06 | 四川知创空间孵化器管理有限公司 | A kind of implement attachment for micro-wound operation robot |
| CN107928793A (en) * | 2017-12-13 | 2018-04-20 | 四川知创空间孵化器管理有限公司 | A kind of micro-wound operation robot far-end operation cabin |
| CN107970070A (en) * | 2017-12-13 | 2018-05-01 | 四川知创空间孵化器管理有限公司 | A kind of operating robot console |
| CN107970071A (en) * | 2017-12-13 | 2018-05-01 | 四川知创空间孵化器管理有限公司 | A kind of operating robot long-distance operating device |
| CN108056818A (en) * | 2017-12-13 | 2018-05-22 | 四川知创空间孵化器管理有限公司 | A kind of micro-wound operation robot operates control cabinet |
| CN108143495A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of operating robot simulated operation platform |
| CN108143493A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of operating robot operational window |
| CN108143494A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of pedestal of medical robot operational window |
| CN108158658A (en) * | 2017-12-13 | 2018-06-15 | 四川知创空间孵化器管理有限公司 | A kind of operating robot operational window with sound insulation |
| CN108158657A (en) * | 2017-12-13 | 2018-06-15 | 四川知创空间孵化器管理有限公司 | A kind of operating robot operational window sound arrester |
| CN108175505A (en) * | 2017-12-13 | 2018-06-19 | 四川知创空间孵化器管理有限公司 | A kind of medical robot sound insulation operational window |
| IT201800005471A1 (en) * | 2018-05-17 | 2019-11-17 | Robotic system for surgery, particularly microsurgery |
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| CN107882876A (en) * | 2017-12-13 | 2018-04-06 | 四川知创空间孵化器管理有限公司 | A kind of implement attachment for micro-wound operation robot |
| CN107928793A (en) * | 2017-12-13 | 2018-04-20 | 四川知创空间孵化器管理有限公司 | A kind of micro-wound operation robot far-end operation cabin |
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| CN107970071A (en) * | 2017-12-13 | 2018-05-01 | 四川知创空间孵化器管理有限公司 | A kind of operating robot long-distance operating device |
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| CN108143495A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of operating robot simulated operation platform |
| CN108143493A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of operating robot operational window |
| CN108143494A (en) * | 2017-12-13 | 2018-06-12 | 四川知创空间孵化器管理有限公司 | A kind of pedestal of medical robot operational window |
| CN108158658A (en) * | 2017-12-13 | 2018-06-15 | 四川知创空间孵化器管理有限公司 | A kind of operating robot operational window with sound insulation |
| CN108158657A (en) * | 2017-12-13 | 2018-06-15 | 四川知创空间孵化器管理有限公司 | A kind of operating robot operational window sound arrester |
| CN108175505A (en) * | 2017-12-13 | 2018-06-19 | 四川知创空间孵化器管理有限公司 | A kind of medical robot sound insulation operational window |
| IT201800005471A1 (en) * | 2018-05-17 | 2019-11-17 | Robotic system for surgery, particularly microsurgery | |
| WO2019220409A1 (en) * | 2018-05-17 | 2019-11-21 | Medical Microinstruments S.p.A. | Sterile console for robotic surgery |
| CN112423696A (en) * | 2018-05-17 | 2021-02-26 | 医疗显微器具股份公司 | Sterile console for robotic surgery |
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Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |