CN107260310A - The operating theater instruments and operating robot of operating robot - Google Patents
The operating theater instruments and operating robot of operating robot Download PDFInfo
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- CN107260310A CN107260310A CN201710645934.4A CN201710645934A CN107260310A CN 107260310 A CN107260310 A CN 107260310A CN 201710645934 A CN201710645934 A CN 201710645934A CN 107260310 A CN107260310 A CN 107260310A
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- magnetic part
- transmission
- enforcement division
- drive link
- operating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention provides a kind of operating theater instruments of operating robot and operating robot, wherein, the operating theater instruments of operating robot includes：First support；Transmission component, is arranged in first support, and transmission component includes transmission magnetic part；Operation enforcement division, operation enforcement division is connected with transmission component；Second support, first support is detachably connected with second support；Drive component, is set on the secondary support bracket, and drive component includes driving magnetic part, and driving magnetic part is adapted with transmission magnetic part；Wherein, magnetic part is driven when first support is connected with second support with driving magnetic part by magnetic force to be connected, drive component is by driving driven subassembly to move so that operation enforcement division is moved.The operating theater instruments for the operating robot that the present invention is provided, realizes the motion control for enforcement division of performing the operation so that operation enforcement division can adjust position or the angle of itself according to the actual requirements, and the flexibility of lifting device is more convenient for performing the operation or treated.
Description
Technical field
The present invention relates to Medical robot technical field, in particular to a kind of operating theater instruments of operating robot and
Operating robot.
Background technology
At present, robot assisted micro-wound surgical operation is increasingly becoming the development trend of micro-wound surgical operation, in correlation technique
In, due to micro-wound surgical operation own characteristic so that the activity space of robot is greatly limited, cause robot can not be certainly
By moving, and due to operating robot operating theater instruments it is complicated, volume is big, further have compressed the activity of robot
Space.Therefore, how to design a operating robot that can neatly assemble, dismantle and move in limited space turns into anxious
The problem of need to solving.
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 surgical engine
The operating theater instruments of device people.
A kind of the second aspect of the present invention embodiment, it is also proposed that operating robot.
In view of this, embodiment according to the first aspect of the invention, the present invention proposes a kind of hand of operating robot
Art apparatus, for minimally invasive surgical operation robot, including：First support；Transmission component, is arranged in first support, transmission group
Part includes transmission magnetic part；Operation enforcement division, operation enforcement division is connected with transmission component；Second support, first support and the
Two supports are detachably connected；Drive component, is set on the secondary support bracket, and drive component includes driving magnetic part, drives magnetic
Part is adapted with transmission magnetic part；Wherein, magnetic part and driving magnetic part are driven when first support is connected with second support
It is connected by magnetic force, drive component is by driving driven subassembly to move so that operation enforcement division is moved.
The operating theater instruments for the operating robot that the present invention is provided, passes through the magnetic force being driven between magnetic part and driving magnetic part
Both is connected, and then connect first support and second support, so that drive component can be by driving driven subassembly to transport
Move so that operation enforcement division motion, realizes the motion control for enforcement division of performing the operation so that enforcement division of performing the operation can be according to reality
Demand adjusts itself position or angle, and the flexibility of lifting device is more convenient for performing the operation or treated, at the same when drive component or from
The transmission magnetic part connected during dynamic component overload by magnetic is with driving magnetic part to occur relative slip, it is to avoid system
Interior current overload is excessive for the driving force of transmission component, thus also improves the security of device；Furthermore, first support with
Second support is dismountable connection, can thus set different operation enforcement divisions respectively in different first supports,
And only need to the different first supports of replacing when needing and changing operation enforcement division and can be achieved, improve the effect of device assembling
Rate, is conveniently replaceable operation enforcement division, improves convenience and feature of the operating theater instruments for medical treatment of operating robot.
In addition, the operating theater instruments of the operating robot in above-described embodiment that the present invention is provided can also have following add
Technical characteristic：
In the above-mentioned technical solutions, it is preferable that a setting in transmission magnetic part and driving magnetic part is fluted, another
Individual to be provided with projection, projection is adapted with groove.
In the technical scheme, a setting in transmission magnetic part and driving magnetic part is fluted, and another is provided with
Projection, when both connect, groove and projection can work in coordination, and then lift the efficiency of power transmission between the two, also simultaneously
It can avoid that relative displacement occurs between the two, improve the precision of drive component control transmission component and operation enforcement division, and then
The overall control accuracy of lifting device, further lifts the feature of the operating theater instruments of operating robot.
In any of the above-described technical scheme, it is preferable that be provided with guiding surface in projection.
In the technical scheme, by being provided with guiding surface in projection so that projection is easier to enter in groove, with
This lifting transmission magnetic part and the efficiency of driving magnetic part connection, and then filled in lifting device between first support and second support
The efficiency matched somebody with somebody.
In any of the above-described technical scheme, it is preferable that the depth of groove is more than or equal to raised height.
In the technical scheme, the depth of groove is more than or equal to raised height, so that energy between raised and groove
It is enough to form contact area as big as possible, to lift the stability of transmission, deviate from while being also prevented from projection from groove.
In any of the above-described technical scheme, it is preferable that driving magnetic part is provided with mating groove, mating groove and transmission magnetic part
It is adapted；Wherein, the transmission magnetic part insertion mating groove when being driven magnetic part and being connected with driving magnetic part.
In the technical scheme, when be driven magnetic part with driving magnetic part be connected when transmission magnetic part insert mating groove with
Cooperation between the two is realized, such structure can be such that transmission magnetic part is more fully contacted with driving magnetic part, while
The intensity and contact area connected between the two can be lifted, it is to avoid both depart from and cause failure of apparatus in the course of work.
In any of the above-described technical scheme, it is preferable that drive component includes：Motor, motor is provided with output shaft；Assembling
Bar, Assembly rail is hollow structure, and one end of Assembly rail is provided with opening and is set on output shaft, and driving magnetic part movably covers
It is located at the other end of Assembly rail；Bail, bail is folded in one end of Assembly rail Assembly rail is clamped on output shaft；Bullet
Property part, be set on Assembly rail and be located in driving magnetic part and bail between.
In the technical scheme, driving magnetic part is movably set on Assembly rail, while elastic component is for driving magnetic
Property part there is certain elastic force, so drive magnetic part with transmission magnetic part assembly connection when, driving magnetic part itself have
Certain displacement space, and then magnetic part is driven with being driven being flexible coupling for magnetic part equivalent to realizing so that driving magnetic part
There is shock resistance with the entirety of device, it is ensured that drive magnetic part also can stably to connect with transmission magnetic part when vibrating
Connect, it is ensured that the transmission of power, and then improve the stability and reliability of device.
In any of the above-described technical scheme, it is preferable that elastic component is spring.
In the technical scheme, elastic component is spring, and there is spring itself certain elastic force to promote in its natural state
Magnetic part is driven to restraining position, the work of buffering can be also played during being linked and packed of first support and second support
With realization is flexible coupling.
In any of the above-described technical scheme, it is preferable that transmission component includes：First drive link, operation enforcement division and first
Drive link is connected, and first gear is provided with the first drive link；Second gear, the second tooth are provided with connecting rod, connecting rod
Wheel is meshed with first gear, and transmission magnetic part includes the first transmission magnetic part, and the first transmission magnetic part is arranged on connecting rod
One end；Wherein, drive component driving first is driven magnetic part and rotated so that second gear is rotated, and second gear drives first gear
Rotate so that the first drive link and operation enforcement division are rotated.
In the technical scheme, by setting the first drive link, first gear, connecting rod and second gear, driving is realized
The function that Component driver operation enforcement division is rotated, thus achieves the one degree of freedom of operation enforcement division in a rotational direction, makes
The enforcement division that must perform the operation can rotate to specified location to carry out treatment according to the actual requirements, facilitate the use of user and right
In the treatment of patient, the feature and operability of single unit system are improved.
In any of the above-described technical scheme, it is preferable that transmission component also includes：Second drive link, the second drive link is set
In the first drive link, operation enforcement division is connected with the second drive link；First sliding block, the second drive link is connected with the first sliding block
Connect；First screw mandrel, the first sliding block is set on the first screw mandrel, and transmission magnetic part also includes the second transmission magnetic part, the second transmission
Magnetic part is arranged on one end of the first screw mandrel；Wherein, drive component driving second is driven magnetic part and rotated so that the first screw mandrel turns
It is dynamic, and then make axial movement of first sliding block along the first screw mandrel, the first sliding block drives the second drive link to move so that operation is performed
Portion is rotated around the rotary shaft of operation enforcement division.
In the technical scheme, by the first screw mandrel and the first sliding block of setting so that the rotation of drive component is changed into
The axial movement of two drive links, and then control operation enforcement division to rotate about axle rotation, thus achieve operation enforcement division and turning
One degree of freedom on dynamic direction, this rotation is similar to the carpal rotation of human body, thus further improve for
The operating theater instruments of operating robot and the operability of operation enforcement division so that operation enforcement division can be rotated according to the actual requirements
The use and the treatment for patient of user is facilitated to carry out treatment, further to specified location or specified angle,
Improve the feature and operability of single unit system；Simultaneously by the way that the second drive link to be arranged on to the inside of the first drive link,
So that the overall structure of device is compacter, the space of device occupancy is saved, in order to the Miniaturization Design of device.
In any of the above-described technical scheme, it is preferable that transmission component also includes：3rd drive link, the 3rd drive link is set
In the second drive link, operation enforcement division is connected with the 3rd drive link；Second sliding block, the 3rd drive link is connected with the second sliding block
Connect；Second screw mandrel, the second sliding block is set on the second screw mandrel, and transmission magnetic part also includes the 3rd transmission magnetic part, the 3rd transmission
Magnetic part is arranged on one end of the second screw mandrel；Wherein, operation enforcement division is folding apparatus, and drive component driving the 3rd is driven magnetic
Part is rotated so that the second screw mandrel is rotated, and then makes axial movement of second sliding block along the second screw mandrel, and the second sliding block drives the 3rd to pass
Lever is moved so that operation enforcement division is opened or closed.
In the technical scheme, by the second screw mandrel and the second sliding block of setting so that the rotation of drive component is changed into
The axial movement of three drive links, and then operation enforcement division opening and closing function is controlled, thus further improve for surgical engine
The operating theater instruments of device people and the operability of operation enforcement division so that operation enforcement division can open or close according to the actual requirements
Close, yet further facilitate the use and the treatment for patient of user, improve single unit system feature and can
Operability；While the inside by the way that the 3rd drive link to be arranged on to the second drive link so that the overall structure of device is compacter,
The space of device occupancy is saved, in order to the Miniaturization Design of device.
In any of the above-described technical scheme, it is preferable that operation enforcement division include scissors, bipolar nipper, noninvasive single hole nipper,
Noninvasive diplopore nipper, electric hook, ultrasound knife or needle holder；Wherein, scissors, bipolar nipper, noninvasive single hole nipper and noninvasive diplopore are grabbed
Clamp as folding apparatus.
In the technical scheme, the control function for enforcement division of performing the operation can be realized by above-mentioned structure, to ensure
Being smoothed out for operation, while also having expanded the feature of the operating theater instruments of the operating robot, improves operating robot
Convenience and feature of the operating theater instruments for medical treatment；In addition, bipolar nipper therein etc. is folding apparatus, can also be according to finger
Order and actual demand further control it to open or close to be performed the operation or treated.
The embodiment of second aspect of the present invention additionally provides a kind of operating robot, including：Above-mentioned operating robot
Operating theater instruments.
The operating robot that the present invention is provided, by using the operating theater instruments of above-mentioned operating robot, on the one hand causes
Operation enforcement division can adjust position or the angle of itself according to the actual requirements, the flexibility of lifting device, be more convenient for operation or
Treatment, is on the other hand held also by setting different operation enforcement divisions in different first supports with realizing that quick-replaceable is performed the operation
The function in row portion, improves convenience and feature that operating robot is used.
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 of an embodiment of the present invention；
Fig. 2 is the close-up schematic view of part A in structure shown in Fig. 1；
Fig. 3 is the close-up schematic view of part B in structure shown in Fig. 1；
Fig. 4 is the sectional view of structure shown in Fig. 1；
Fig. 5 is the close-up schematic view of C portion in structure shown in Fig. 4；
Fig. 6 is the close-up schematic view of D parts in structure shown in Fig. 4.
Wherein, corresponding relations of the Fig. 1 into Fig. 6 between reference and component names is：
The operating theater instruments of 1 operating robot, 12 first supports, 14 transmission components, 142 operation enforcement divisions, 1422 rotary shafts,
144 transmission magnetic parts, 1,442 first transmission magnetic parts, 1,444 second transmission magnetic parts, 1446 the 3rd transmission magnetic parts, 146 the
One drive link, 1462 first gears, 148 connecting rods, 1482 second gears, 150 second drive links, 152 first sliding blocks, 154
One screw mandrel, 156 the 3rd drive links, 158 second sliding blocks, 159 second screw mandrels, 16 second supports, 18 drive components, 182 driving magnetic
Property part, 184 motors, 186 Assembly rails, 188 bails, 190 elastic components.
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.
Referring to Fig. 1 to Fig. 6 describe described according to some embodiments of the invention operating robot operating theater instruments and
Operating robot.
As shown in Figures 1 to 6, the invention provides a kind of operating theater instruments 1 of operating robot, for micro-wound surgical operation
Robot, including：First support 12；Transmission component 14, is arranged in first support 12, and transmission component 14 includes transmission magnetic part
144；Operation enforcement division 142, operation enforcement division 142 is connected with transmission component 14；Second support 16, first support 12 and second
Support 16 is detachably connected；Drive component 18, is arranged in second support 16, and drive component 18 includes driving magnetic part 182,
Driving magnetic part 182 is adapted with transmission magnetic part 144；Wherein, it is driven when first support 12 is connected with second support 16
Magnetic part 144 is connected with driving magnetic part 182 by magnetic force, and drive component 18 is by driving driven subassembly to move so that operation
Enforcement division 142 is moved.
The operating theater instruments 1 for the operating robot that the present invention is provided, by be driven magnetic part 144 with driving magnetic part 182 it
Between magnetic force both is connected, and then first support 12 and second support 16 are connected, so that drive component 18 can pass through
Driving driven subassembly move so that operation enforcement division 142 move, realize for perform the operation enforcement division 142 motion control so that hand
Art enforcement division 142 can adjust itself position or angle according to the actual requirements, the flexibility of lifting device, be more convenient for operation or
Treatment, while the transmission magnetic part 144 and driving magnetic part that are connected when drive component 18 or driven subassembly overload by magnetic
182 can occur relative slip, it is to avoid current overload or excessive for the driving force of transmission component 14 in system, thus
Improve the security of device；Furthermore, first support 12 is removably to be connected with second support 16, thus can be in difference
First support 12 on different operation enforcement divisions 142 are set respectively, and only needed to more when needing and changing operation enforcement division 142
Change different first supports 12 to can be achieved, improve the efficiency of device assembling, be conveniently replaceable operation enforcement division 142, improve
Convenience and feature of the operating theater instruments 1 of operating robot for medical treatment.
In one embodiment of the invention, it is preferable that one in transmission magnetic part 144 and driving magnetic part 182 sets
Groove is equipped with, another is provided with projection, projection is adapted with groove.
In this embodiment, a setting in transmission magnetic part 144 and driving magnetic part 182 is fluted, and another sets
Projection is equipped with, groove and projection can work in coordination when both connect, and then lifts the efficiency of power transmission between the two, together
When can also avoid that relative displacement occurs between the two, improve drive component 18 control transmission component 14 and operation enforcement division 142
Precision, and then the overall control accuracy of lifting device further lifts the feature of the operating theater instruments 1 of operating robot.
In one embodiment of the invention, it is preferable that be provided with guiding surface in projection.
In this embodiment, by being provided with guiding surface in projection so that projection is easier to enter in groove, with this
The efficiency that lifting transmission magnetic part 144 and driving magnetic part 182 are connected, and then first support 12 and second support in lifting device
The efficiency assembled between 16.
In one embodiment of the invention, it is preferable that the depth of groove is more than or equal to raised height.
In this embodiment, the depth of groove is more than or equal to raised height, so that can between raised and groove
Contact area as big as possible is formed, to lift the stability of transmission, is deviate from while being also prevented from projection from groove.
In one embodiment of the invention, it is preferable that driving magnetic part 182 is provided with mating groove, mating groove and transmission
Magnetic part 144 is adapted；Wherein, when being driven magnetic part 144 and being connected with driving magnetic part 182, transmission magnetic part 144 is inserted
Mating groove.
In this embodiment, when being driven magnetic part 144 and being connected with driving magnetic part 182, transmission magnetic part 144 is inserted
Mating groove is to realize cooperation between the two, and such structure can make transmission magnetic part 144 and driving magnetic part 182 more abundant
Ground is contacted, while can also lift the intensity and contact area connected between the two, it is to avoid both depart from and led in the course of work
Cause failure of apparatus.
In one embodiment of the invention, it is preferable that as shown in Figure 1, Figure 2 with shown in Fig. 5, drive component 18 includes：Motor
184, motor 184 is provided with output shaft；Assembly rail 186, Assembly rail 186 is hollow structure, and one end of Assembly rail 186 is provided with opening
And be set on output shaft, driving magnetic part 182 is movably set in the other end of Assembly rail 186；Bail 188, is clamped
Hoop 188 is folded in one end of Assembly rail 186 Assembly rail 186 is clamped on output shaft；Elastic component 190, is set in Assembly rail
On 186 and be located in driving magnetic part 182 and bail 188 between.
In this embodiment, driving magnetic part 182 be movably set on Assembly rail 186, while elastic component 190 for
Drive magnetic part 182 that there is certain elastic force, so when driving magnetic part 182 with transmission 144 assembly connection of magnetic part, driving
Magnetic part 182 itself has certain displacement space, and then drives magnetic part 182 and transmission magnetic part 144 equivalent to realizing
Be flexible coupling so that driving magnetic part 182 and the entirety of device have shock resistance, it is ensured that drive magnetic part when vibrating
182 with transmission magnetic part 144 also can stably be connected, it is ensured that the transmission of power, so improve device stability and can
By property.
In one embodiment of the invention, it is preferable that elastic component 190 is spring.
In this embodiment, elastic component 190 is spring, and there is spring itself certain elastic force to promote in its natural state
Magnetic part 182 is driven to restraining position, can also be played during being linked and packed of first support 12 and second support 16
The effect of buffering, realization is flexible coupling.
In one embodiment of the invention, it is preferable that as shown in Figure 2 and Figure 5, transmission component 14 includes：First transmission
Bar 146, operation enforcement division 142 is connected with the first drive link 146, and first gear 1462 is provided with the first drive link 146；Even
Second gear 1482 is provided with extension bar 148, connecting rod 148, second gear 1482 is meshed with first gear 1462, is driven magnetic
Property part 144 include the first transmission magnetic part 1442, the first transmission magnetic part 1442 is arranged on one end of connecting rod 148；Wherein, drive
The dynamic driving of component 18 first is driven magnetic part 1442 and rotated so that second gear 1482 is rotated, and second gear 1482 drives the first tooth
Wheel 1462 is rotated so that the first drive link 146 and operation enforcement division 142 are rotated.
In this embodiment, by setting the first drive link 146, first gear 1462, connecting rod 148 and second gear
1482, the function that the driving operation enforcement division 142 of drive component 18 is rotated is realized, operation enforcement division 142 is thus achieved in rotation
One degree of freedom on direction so that operation enforcement division 142 can rotate to specified location to carry out treatment according to the actual requirements,
The use and the treatment for patient of user is facilitated, the feature and operability of single unit system is improved.
In one embodiment of the invention, it is preferable that as shown in Figure 2 and Figure 5, transmission component 14 also includes：Second passes
Lever 150, the second drive link 150 is arranged in the first drive link 146, and operation enforcement division 142 is connected with the second drive link 150
Connect；First sliding block 152, the second drive link 150 is connected with the first sliding block 152；First screw mandrel 154, the first sliding block 152 is set in
On first screw mandrel 154, transmission magnetic part 144 also includes the second transmission magnetic part 1444, and the second transmission magnetic part 1444 is arranged on
One end of first screw mandrel 154；Wherein, the driving of drive component 18 second is driven magnetic part 1444 and rotated so that 154 turns of the first screw mandrel
It is dynamic, and then make axial movement of first sliding block 152 along the first screw mandrel 154, the first sliding block 152 drives the second drive link 150 to move
So that operation enforcement division 142 is rotated around the rotary shaft 1422 of operation enforcement division 142.
In this embodiment, by the first screw mandrel 154 and the first sliding block 152 of setting with by the rotation of drive component 18 turn
It is changed into the axial movement of the second drive link 150, and then control operation enforcement division 142 rotates about axle 1422 and rotated, and is achieved in
One degree of freedom of the operation enforcement division 142 in rotation direction, this rotation is similar to the carpal rotation of human body, thus
Further improve the operability of the operating theater instruments 1 and operation enforcement division 142 for operating robot so that operation is performed
Portion 142 can turn to specified location or specified angle according to the actual requirements to carry out treatment, further facilitate user
Use and the treatment for patient, improve the feature and operability of single unit system；Simultaneously by the way that second is driven
Bar 150 is arranged on the inside of the first drive link 146 so that the overall structure of device is compacter, has saved the sky of device occupancy
Between, in order to the Miniaturization Design of device.
In one embodiment of the invention, it is preferable that as shown in figure 5, transmission component 14 also includes：3rd drive link
156, the 3rd drive link 156 is arranged in the second drive link 150, and operation enforcement division 142 is connected with the 3rd drive link 156；The
Two sliding blocks 158, the 3rd drive link 156 is connected with the second sliding block 158；Second screw mandrel 159, the second sliding block 158 is set in second
On screw mandrel 159, transmission magnetic part 144 also includes the 3rd transmission magnetic part 1446, and the 3rd transmission magnetic part 1446 is arranged on second
One end of screw mandrel 159；Wherein, operation enforcement division 142 is folding apparatus, and the driving of drive component 18 the 3rd is driven 1446 turns of magnetic part
Move so that the second screw mandrel 159 is rotated, and then makes axial movement of second sliding block 158 along the second screw mandrel 159, the band of the second sliding block 158
Dynamic 3rd drive link 156 is moved so that enforcement division 142 of performing the operation is opened or closed.
In this embodiment, by the second screw mandrel 159 and the second sliding block 158 of setting with by the rotation of drive component 18 turn
It is changed into the axial movement of the 3rd drive link 156, and then controls the operation opening and closing function of enforcement division 142, is thus further lifted
The operability of operating theater instruments 1 and operation enforcement division 142 for operating robot so that operation enforcement division 142 can root
Open or close according to actual demand, yet further facilitate the use and the treatment for patient of user, improve whole
The feature and operability of body device；Simultaneously by the way that the 3rd drive link 156 to be arranged on to the inside of the second drive link 150, make
The overall structure for obtaining device is compacter, the space of device occupancy has been saved, in order to the Miniaturization Design of device.
In one embodiment of the invention, it is preferable that operation enforcement division 142 includes scissors, bipolar nipper, noninvasive single hole
Nipper, noninvasive diplopore nipper, electric hook, ultrasound knife or needle holder；Wherein, scissors, bipolar nipper, noninvasive single hole nipper and noninvasive pair
Hole nipper is folding apparatus.
In this embodiment, the control function for enforcement division 142 of performing the operation can be realized by above-mentioned structure, to ensure
Being smoothed out for operation, while also having expanded the feature of the operating theater instruments 1 of the operating robot, improves operating robot
Convenience and feature of the operating theater instruments 1 for medical treatment；In addition, bipolar nipper therein etc. is folding apparatus, can also basis
Instruction and actual demand further control it to open or close to be performed the operation or treated.
Present invention also offers a kind of operating robot, including：The operating theater instruments 1 of above-mentioned operating robot.
The operating robot that the present invention is provided, by using the operating theater instruments 1 of above-mentioned operating robot, on the one hand causes
Operation enforcement division 142 can adjust position or the angle of itself, the flexibility of lifting device, operation of being more convenient for according to the actual requirements
Or treatment, on the other hand also by setting different operation enforcement divisions 142 in different first supports 12 with realize it is quick more
The function of hand-off art enforcement division 142, improves convenience and feature that operating robot is used.
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 (12)
1. a kind of operating theater instruments of operating robot, for operating robot, it is characterised in that including：
First support；
Transmission component, is arranged in the first support, and the transmission component includes transmission magnetic part；
Operation enforcement division, the operation enforcement division is connected with the transmission component；
Second support, the first support and the second support are detachably connected；
Drive component, is arranged in the second support, the drive component include driving magnetic part, the driving magnetic part with
The transmission magnetic part is adapted；
Wherein, when the first support is connected with the second support, the transmission magnetic part leads to the driving magnetic part
Cross magnetic force to be connected, the drive component is by driving the driven subassembly to move so that the operation enforcement division is moved.
2. the operating theater instruments of operating robot according to claim 1, it is characterised in that
A setting in the transmission magnetic part and the driving magnetic part is fluted, and another is provided with projection, described convex
Rise and be adapted with the groove.
3. the operating theater instruments of operating robot according to claim 2, it is characterised in that
Guiding surface is provided with the projection.
4. the operating theater instruments of operating robot according to claim 2, it is characterised in that
The depth of the groove is more than or equal to the raised height.
5. the operating theater instruments of operating robot according to claim 1, it is characterised in that
The driving magnetic part is provided with mating groove, and the mating groove is adapted with the transmission magnetic part；
Wherein, when the transmission magnetic part is connected with the driving magnetic part, the transmission magnetic part insertion is described coordinates
Groove.
6. the operating theater instruments of operating robot according to any one of claim 1 to 5, it is characterised in that the driving
Component includes：
Motor, the motor is provided with output shaft；
Assembly rail, the Assembly rail is hollow structure, and one end of the Assembly rail is provided with opening and is set on the output shaft,
The driving magnetic part is movably set in the other end of the Assembly rail；
Bail, the bail is folded in one end of the Assembly rail Assembly rail is clamped on the output shaft；
Elastic component, is set on the Assembly rail and is located between the driving magnetic part and the bail.
7. the operating theater instruments of operating robot according to claim 6, it is characterised in that
The elastic component is spring.
8. the operating theater instruments of operating robot according to any one of claim 1 to 5, it is characterised in that the transmission
Component includes：
First drive link, the operation enforcement division is connected with first drive link, and is provided with first drive link
One gear；
Second gear is provided with connecting rod, the connecting rod, the second gear is meshed with the first gear, it is described to pass
Dynamic magnetic part includes the first transmission magnetic part, and the first transmission magnetic part is arranged on one end of the connecting rod；
Wherein, the drive component driving the first transmission magnetic part is rotated so that second gear rotation, described second
Gear drives the first gear to rotate so that first drive link and the operation enforcement division are rotated.
9. the operating theater instruments of operating robot according to claim 8, it is characterised in that the transmission component also includes：
Second drive link, second drive link is arranged in first drive link, the operation enforcement division and described second
Drive link is connected；
First sliding block, second drive link is connected with first sliding block；
First screw mandrel, first sliding block is set on first screw mandrel, and the transmission magnetic part also includes the second transmission magnetic
Property part, the second transmission magnetic part is arranged on one end of first screw mandrel；
Wherein, the drive component driving the second transmission magnetic part is rotated so that first screw mandrel is rotated, and then makes institute
Axial movement of first sliding block along first screw mandrel is stated, first sliding block drives the second drive link movement so that described
Enforcement division of performing the operation is rotated around the rotary shaft of the operation enforcement division.
10. the operating theater instruments of operating robot according to claim 9, it is characterised in that the transmission component also includes：
3rd drive link, the 3rd drive link is arranged in second drive link, the operation enforcement division and the described 3rd
Drive link is connected；
Second sliding block, the 3rd drive link is connected with second sliding block；
Second screw mandrel, second sliding block is set on second screw mandrel, and the transmission magnetic part also includes the 3rd transmission magnetic
Property part, the 3rd transmission magnetic part is arranged on one end of second screw mandrel；
Wherein, the operation enforcement division is folding apparatus, drive component driving the 3rd transmission magnetic part rotate so that
Second screw mandrel is rotated, and then makes axial movement of second sliding block along second screw mandrel, and second sliding block drives
3rd drive link is moved so that the operation enforcement division is opened or closed.
11. the operating theater instruments of operating robot according to any one of claim 1 to 5, it is characterised in that
The operation enforcement division includes scissors, bipolar nipper, noninvasive single hole nipper, noninvasive diplopore nipper, electric hook, ultrasound knife or held
Pin device；
Wherein, the scissors, the bipolar nipper, the noninvasive single hole nipper and the noninvasive diplopore nipper are folding apparatus.
12. a kind of operating robot, it is characterised in that including：
The operating theater instruments of operating robot as any one of claim 1 to 11.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710645934.4A CN107260310B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645934.4A CN107260310B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument of surgical robot and surgical robot |
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| Publication Number | Publication Date |
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| CN107260310A true CN107260310A (en) | 2017-10-20 |
| CN107260310B CN107260310B (en) | 2021-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710645934.4A Active CN107260310B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument of surgical robot and surgical robot |
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| CN108888301A (en) * | 2018-05-29 | 2018-11-27 | 微创（上海）医疗机器人有限公司 | Snakelike surgical instrument |
| CN110720987A (en) * | 2019-11-01 | 2020-01-24 | 首都医科大学附属北京友谊医院 | Robot device for single-hole minimally invasive surgery |
| CN110960324A (en) * | 2019-12-24 | 2020-04-07 | 杨锐 | Rotation control unit for surgical instrument of pediatric surgical robot |
| CN111012502A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN111012501A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN111096793A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN111096790A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN111096791A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN111096792A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN111096794A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical robot |
| WO2021190365A1 (en) * | 2020-03-24 | 2021-09-30 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument, surgical instrument system, and surgical robot |
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| CN111096791A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN111012502B (en) * | 2018-10-09 | 2022-10-21 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN111012502A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN111012501B (en) * | 2018-10-09 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN110720987A (en) * | 2019-11-01 | 2020-01-24 | 首都医科大学附属北京友谊医院 | Robot device for single-hole minimally invasive surgery |
| CN110960324A (en) * | 2019-12-24 | 2020-04-07 | 杨锐 | Rotation control unit for surgical instrument of pediatric surgical robot |
| WO2021190365A1 (en) * | 2020-03-24 | 2021-09-30 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument, surgical instrument system, and surgical robot |
| CN115040201A (en) * | 2022-06-02 | 2022-09-13 | 以诺康医疗科技（苏州）有限公司 | Scissors type ultrasonic surgical instrument |
| CN115040201B (en) * | 2022-06-02 | 2023-08-18 | 以诺康医疗科技（苏州）有限公司 | Scissor type ultrasonic surgical instrument |
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