CN107320178B - Medical auxiliary operation device - Google Patents
Medical auxiliary operation device Download PDFInfo
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- CN107320178B CN107320178B CN201710683947.0A CN201710683947A CN107320178B CN 107320178 B CN107320178 B CN 107320178B CN 201710683947 A CN201710683947 A CN 201710683947A CN 107320178 B CN107320178 B CN 107320178B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 59
- 230000001954 sterilising effect Effects 0.000 claims description 5
- 238000004659 sterilization and disinfection Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 230000005855 radiation Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000035143 Bacterial infection Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 208000022362 bacterial infectious disease Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 229920002457 flexible plastic Polymers 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
Abstract
The invention relates to a medical auxiliary operation device, comprising: the surgical instrument comprises a main arm, a positioning unit and an instrument driving unit, wherein the proximal end of the positioning unit is fixedly connected with the main arm, the positioning unit can stretch and retract relative to the main arm, the positioning unit comprises a stretching part, a multi-degree-of-freedom movable part and a first locking part, the first locking part can simultaneously lock the stretching part and the multi-degree-of-freedom movable part, the instrument driving unit is positioned at the distal end of the positioning unit and is detachably connected with the positioning unit, the instrument driving unit comprises a motor device, an instrument fixing part and an instrument transmission part, a surgical instrument is fixed on the instrument driving unit by the instrument fixing part, the instrument transmission part is self-adaptive to the surgical instruments with different shapes and heights, and actions are transmitted to the surgical instrument under the driving of the motor device. The device has good self-adaptability, so that an operator can conveniently operate the positioned surgical instrument or the non-positioned surgical instrument by a single person.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a medical auxiliary operation device.
Background
Compared to traditional surgical methods, robotic-assisted or robotically-assisted surgical procedures have become one of the hot spots for surgical development, such as endoscopic minimally invasive procedures, spinal minimally invasive procedures, cardiovascular interventional procedures, and the like. Since the surgeon's hands need to manipulate the surgical instruments and must be kept sterile, when multiple surgical instruments need to be manipulated simultaneously, an assistant is needed, and at this time, if the manipulator or robot is used for assisting the manipulation, the manpower and the manipulation time will be greatly saved. The development of interventional techniques has led to an increasing number of surgical operations to be performed in an operating room with X-ray assisted irradiation, and as the operation time and the number of times are accumulated, the radiation amount born by the operator is accumulated, and when the operation amount is large, irreversible radiation damage is easily caused to the operator, and at this time, if the auxiliary operation of a mechanical arm or a robot is used, the damage is greatly reduced.
Patent CN200910127112.2 describes a device for holding surgical instruments, the device having a telescopic drive comprising: a support; a first telescopic stage carried by the support, the first telescopic stage being capable of performing a first movement with respect to the support; a second telescoping stage capable of completing a second motion relative to the first telescoping stage; and a drive system operable to drive the first and second motions so as to perform the first motion at the first telescoping member and the second motion at the same time at the second telescoping member, wherein the telescoping drive is operable to support the other device and move the other device so that the motion is centered about a point, or each telescoping member is arcuate. The technique described in this patent, although of some utility, when the device is in first and second movements, the arcuate telescoping member occupies a large space, and when the distal end is connected to a surgical instrument, the degree of freedom adjustment is adjusted by a proximal ball-joint arm that is further from the distal end, and then locked, and due to the large size of the device, the length of the joint arm is long and has a weight that does not allow for one-handed operation of the device for position-adaptive adjustment of the surgical instrument that has been positioned during surgery.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a medical auxiliary operating device which has a good adaptability, so that an operator can easily perform a single operation on an already positioned surgical instrument or an undeposited surgical instrument.
The invention aims at realizing the following technical scheme:
a medical auxiliary operation device comprising: the surgical instrument comprises a main arm, a positioning unit and an instrument driving unit, wherein the proximal end of the positioning unit is fixedly connected with the main arm, the positioning unit can stretch and retract relative to the main arm, the positioning unit comprises a stretching part, a multi-degree-of-freedom movable part and a first locking part, the first locking part can lock the stretching part and the multi-degree-of-freedom movable part at the same time, the instrument driving unit is positioned at the distal end of the positioning unit and detachably connected with the positioning unit, the instrument driving unit comprises a motor device, an instrument fixing part and an instrument transmission part, a surgical instrument is fixed on the instrument driving unit by the instrument fixing part, and the instrument transmission part is self-adaptive to surgical instruments with different shapes and heights and transmits actions to the surgical instrument under the driving of the motor device.
The aim of the invention can be further realized by the following technical scheme:
in one embodiment, one end of the instrument transmission part is connected with the motor device, the other end of the instrument transmission part is provided with a connecting part connected with the surgical instrument, and the connecting part is inelastic and can be adjusted in length.
In a preferred embodiment, the connecting component is a transmission rod, and the transmission rod can move to approach to and contact with the surgical instrument under the drive of the motor device, so as to transmit motion and realize transmission.
In one embodiment, one end of the apparatus transmission part is detachably connected with the motor device, a second locking part is further arranged on the apparatus driving unit, when the apparatus driving part is in a locked state, the apparatus transmission part is matched with the motor device so as to transmit driving force, after the second locking part is operated to be unlocked, the apparatus transmission part and the motor device can move relatively, and the apparatus transmission part can be manually moved to a required position.
In one embodiment, the positioning unit is coaxial with the main arm, and a groove or a track is arranged on the positioning unit, and the groove or the track is parallel to the axis of the main arm.
In a preferred embodiment, the telescopic member is coaxial with the main arm, the telescopic member comprising a first telescopic member and a second telescopic member, the second telescopic member being coaxially sleeved inside the first telescopic member and axially movable within the first telescopic member.
In a preferred embodiment, the first locking component is a locking screw, a first positioning component, a second positioning component and a third positioning component are further arranged in the positioning unit, the distal end portion of the first positioning component is arranged in the second telescopic component and used for limiting, the second positioning component is a wedge block, the proximal end of the third positioning component is provided with a wedge surface matched with the second positioning component, the distal end of the third positioning component is provided with a surface matched with the multi-freedom-degree movable component, and the components are matched, so that the locking screw can lock the telescopic component and the multi-freedom-degree movable component simultaneously at one time.
In one embodiment, the multiple degree of freedom movable member is a ball joint.
In one embodiment, the positioning unit is further provided with a connection unit, the connection unit is located between the positioning unit and the instrument driving unit, the proximal end of the connection unit is fixedly or detachably connected with the positioning unit, and the distal end of the connection unit is detachably connected with the instrument driving unit.
In one embodiment, the instrument drive unit is provided with a guide slot or rail along which the instrument transmission part moves.
In one embodiment, the instrument drive unit is a disposable sterilization consumable.
Compared with the prior art, the technical scheme has the advantages that:
1. according to the technical scheme, on the basis of the multi-degree-of-freedom movable part of the positioning unit, the telescopic part is additionally arranged, the first locking part can lock the telescopic part and the multi-degree-of-freedom part simultaneously, and particularly when the multi-degree-of-freedom part is a ball joint, the structure is smaller in volume than a common mechanical joint, small in occupied space and convenient to lock once, so that the position matching between the mechanical arm and the surgical instrument in the earlier stage is quicker and more convenient to operate, the single-hand locking of a doctor is facilitated, the number of people of the operator is reduced, the space of an operating room is saved, and the operating time is shortened.
2. According to the technical scheme, the detachable scheme is adopted for the instrument driving unit and the integral device, and the instrument driving unit is arranged as disposable sterilization consumable materials, so that operation of an operator is facilitated, operation time is shortened, and meanwhile, the instrument driving unit can be provided with more types for the operator to select types and types; on the other hand, the aseptic technique reduces the possibility of pollution and avoids the occurrence of bacterial infection and cross infection caused by improper cleaning.
3. According to the technical scheme, the structural design on the instrument transmission part can enable the instrument transmission part to be in adaptive connection with surgical instruments with different shapes and heights, transmission is realized, and the scheme that one device can correspondingly assist in operating various surgical instruments is realized.
4. According to the technical scheme, the second locking component is arranged on the instrument transmission component, so that the instrument transmission component can be switched between motor driving and manual driving, the switching time is short, the switching mode is convenient, manual operation of the transmission component by an operator can be realized, the transmission component can be moved to a required position, the operability and the practicability of the device are improved, the operator can manually and rapidly move the instrument transmission component to a position corresponding to a surgical instrument, and connection transmission is realized.
5. According to the technical scheme, an operator can remotely operate the existing marketed products by using the medical auxiliary operation device outside an operating room or in a region far away from the C-arm X-ray machine, so that the radiation accumulation amount received by the operator in the operation process is reduced, the operation environment of the operator is improved, and the health of the operator is ensured.
6. According to the technical scheme, the motor and the like are adopted as driving modes, so that the precision and the stability are better, the operation quality and the success rate are improved, and the data observation and recording in the operation process are facilitated.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic view showing the general structure of a medical auxiliary operation device according to the present invention;
FIG. 2 is a schematic view of the use of a medical auxiliary operation device according to the present invention;
FIG. 3 is a schematic diagram of one embodiment of a positioning unit according to the present invention;
FIG. 4 is a schematic view of an embodiment of a first telescoping member according to the present invention;
FIG. 5 is a schematic view of one embodiment of a first locking member according to the present invention;
FIG. 6 is a schematic view of the construction of the distal portion of the second telescoping member of the present invention;
FIG. 7 is a schematic view of an embodiment of a first positioning member according to the present invention;
FIG. 8 is a schematic view of an embodiment of a second positioning member according to the present invention;
FIG. 9 is a schematic view of an embodiment of the third detent mechanism of the present invention engaged with a ball joint;
FIG. 10 is a schematic cross-sectional view of the first, second and third positioning members of the present invention mated with a ball joint;
FIG. 11 is a schematic view of an embodiment of a ball joint according to the present invention;
FIG. 12 is a schematic view of an embodiment of the coupling unit and the instrument drive unit of the present invention;
FIG. 13 is a top view of FIG. 12;
FIG. 14 is a schematic view of another embodiment of the connection unit of the present invention;
FIG. 15 is a schematic view of another embodiment of a ball joint according to the present invention;
FIG. 16 is a schematic view of another embodiment of the connection unit of the present invention;
FIG. 17 is a schematic view of an embodiment of an instrument drive unit according to the present invention;
FIG. 18 is a side view of FIG. 17;
fig. 19 is a front view of fig. 17;
FIG. 20 is a schematic view of another embodiment of an instrument drive unit according to the present invention;
FIG. 21 is a schematic view of an embodiment of the instrument transmission member of the present invention;
FIGS. 22 and 23 are schematic views illustrating the operation of the transmission components of the apparatus of the present invention;
FIGS. 24-29 are schematic views of alternative embodiments of the instrument transmission component of the present invention;
FIG. 30 is a schematic side cross-sectional view of the structural relationship between the instrument transmission member, the motor arrangement and the second locking member of the present invention with the second locking member in an unlocked state;
FIG. 31 is a schematic side cross-sectional view of the structural relationship between the instrument transmission member, the motor arrangement and the second locking member of the present invention with the second locking member in a locked condition;
FIG. 32 is a schematic top cross-sectional view of the structural relationship between the instrument transmission member, the motor arrangement and the second locking member of the present invention with the second locking member in an unlocked state;
FIG. 33 is a schematic top cross-sectional view of the structural relationship between the instrument transmission member, the motor arrangement and the second locking member of the present invention with the second locking member in a locked condition;
FIG. 34 is a schematic cross-sectional view of the lead screw and the third auxiliary link in an unlocked state;
fig. 35 is a schematic cross-sectional view of the screw and the third auxiliary connection in a locked state.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below by referring to the accompanying drawings and examples. In the present invention, terms such as "first" and "second" may be used to describe various components, but these components are not necessarily limited to the above terms, which are used only to distinguish one component from the other.
The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, it should be understood that terms such as "comprises," "comprising," "includes," and "having," are intended to specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof disclosed in the specification, but are not intended to preclude the presence or addition of one or more different features, integers, steps, operations, elements, components, or groups thereof.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The same reference numerals are used throughout the drawings to denote the same or corresponding components, and repeated descriptions of the same components are omitted.
As shown in fig. 1, a medical auxiliary operation device 1 includes a main arm 100, a positioning unit 200, and an instrument driving unit 300, wherein a proximal end of the main arm 100 is fixedly connected with a movable housing (not shown) and is disposed at a position near a hospital bed 3 as shown in fig. 2, a distal end of the main arm 100 is fixedly connected with a proximal end of the positioning unit 200, the positioning unit 200 is retractable with respect to the main arm 100, and the instrument driving unit 300 is disposed at a distal end of the positioning unit 200 and is detachably connected therewith for being connected with a surgical instrument 2 as shown in fig. 2 to assist in operation near the hospital bed 3.
As shown in fig. 3, the positioning unit 200 is coaxial with the main arm, the positioning unit 200 includes a telescopic component 210, a multi-degree-of-freedom movable component 220, and a first locking component 230, the telescopic component 210 is coaxial with the main arm, the telescopic component 210 includes a first telescopic component 211 and a second telescopic component 212, the second telescopic component 212 is coaxially sleeved in the first telescopic component 211 and can move axially in the first telescopic component 211 to realize telescopic operation, and in another embodiment (not shown), the telescopic component may include a third telescopic component to realize coaxial sleeve connection of three parts, so that the overall length of the positioning unit after shrinkage is shorter and the occupied space is smaller; the positioning unit 200 is further provided with a groove or track 214 parallel to the axis of the spindle, in this embodiment, the multiple freedom degree moving member 220 is a ball joint, and is located in the distal end portion of the second telescopic member 212 shown in fig. 6, so as to implement multiple freedom degree movement, and as shown in fig. 3 and 4, the positioning unit 200 is further provided with positioning light 213, such as infrared light and visible laser, so as to facilitate the operator to move the medical auxiliary operation device to a position near the surgical instrument in advance.
As shown in fig. 5, in one embodiment, the first locking member 230 is a locking screw that translates along the slot or rail 214 with the second telescoping member 212 as shown in fig. 3 relative to the first telescoping member 211, the first locking member 230 locking, fixing the relative position between the first telescoping member 211 and the second telescoping member 212; as shown in fig. 7 to 9, a first positioning member 240 (fig. 7), a second positioning member 250 (fig. 8) and a third positioning member 260 (fig. 9) are further disposed in the positioning unit, as shown in fig. 10, a distal end portion of the first positioning member 240 is disposed inside the second telescopic member 212 for limiting, the second positioning member 250 is a wedge, a proximal end of the third positioning member 260 is provided with a wedge surface matching with the wedge, a distal end of the third positioning member 260 is provided with a surface matching with the ball joint 220, the above members are matched with the locking screw 230 as shown in fig. 5, when the locking screw 230 performs a locking action, the second positioning member 250 is pressed inside the positioning unit, meanwhile, a force is transferred to the third positioning member 260, and is transferred to the ball joint 220, under the interaction of the above members, the first locking member 230 realizes one-time simultaneous locking of the telescopic member 211 and the second multi-degree-of-freedom telescopic member 212 and the movable telescopic member 220, namely, the one-time locking of the telescopic member 220 is realized. When the multi-degree-of-freedom movable part 220 is a ball joint, the structure is smaller than a common mechanical joint, occupies a small space, can be conveniently locked once, so that the position matching between the mechanical arm and the surgical instrument in the earlier stage is quicker and more convenient, the operation is simpler and more convenient, the single-person operation of a doctor is facilitated, the locking of one hand is realized, the number of people in an operation room is reduced, the space in the operation room is saved, and the operation time is reduced.
In one embodiment, in order to realize the detachable connection between the instrument driving unit 300 and the positioning unit, the positioning unit is further provided with a connection unit 250 as shown in fig. 12, which is located between the instrument driving unit 300 and the positioning unit, as shown in fig. 9, the distal end of the ball joint 220 is provided with a threaded structure 221, and the proximal end of the connection unit is in a fixed connection with a threaded detachable connection or a threaded glue connection, as shown in fig. 12, and the distal end of the connection unit 250 is detachably connected with the instrument driving unit 300. In another embodiment, as shown in fig. 11, the distal end of the multiple degree of freedom movable member 220 is a bending rod member, which increases the movable range thereof.
In one embodiment, as shown in fig. 12 and 13, the instrument driving unit 300 is a disposable sterilization consumable, and includes a housing 310, a motor device, an instrument fixing part 320 and an instrument transmission part 330, wherein the motor device is located inside the housing 310, the instrument transmission part 330 is adaptive to surgical instruments with different shapes and heights, and the motion is transmitted to the surgical instruments under the driving of the motor device, and in another embodiment, the motor device is a motor. As shown in fig. 14, in order to achieve the detachable connection of the instrument driving unit and the connection unit 250, the connection unit 250 is provided with a groove 251 at a distal end portion and handles 252 at both sides, and the groove 251 is engaged with a plunger (not shown) provided inside the instrument driving unit 300 to achieve the detachable connection. In other embodiments (not shown), the connection unit may be detachably connected by means of a conventional snap, turn buckle, or the like. In another embodiment, as shown in fig. 15, the distal end of the ball joint 220 is an elastic insert 221, as shown in fig. 16, a groove 253 that is matched with the elastic insert 221 and a handle 252 that is convenient to hold are provided on the connection unit 250, and under the matching of the above components, the ball joint 220 and the connection unit 250 can be detachably connected in a plugging and unplugging manner.
In one embodiment, as shown in fig. 17 to 19, in order to adapt to surgical instruments with different shapes and heights, a guide groove or a sliding rail 350 is provided on the instrument driving unit 300, the instrument fixing component 320 is in a pluggable buckle structure as shown in fig. 18, and is detachably connected with a surgical instrument used by an operator, one end of the instrument driving component 330 is fixedly connected with the motor device, the other end is provided with a driving rod 340, and the motor is used for realizing fixation and movement, so that the surgical instrument can be driven by the motor to move along the guide groove or the sliding rail 350 as shown in fig. 19 in the arrow direction, thereby realizing approaching and contacting the surgical instrument, and transmitting actions. The advantage of this embodiment lies in, in the art, when the operator carries out the cooperation of position and fixed with auxiliary operation device and surgical instrument, do not receive the restriction of surgical instrument original height and instrument shape, realized that a device can correspond the scheme of auxiliary operation multiple surgical instrument. In another embodiment, as shown in fig. 20, the instrument driving unit 300 is another model type of disposable sterilization consumable, the guide groove 350 is disposed transversely along the instrument driving unit 300, the instrument transmission component 330 is a clamping groove, and is detachably connected with a surgical instrument, and an operator can select the model type of the instrument driving unit according to the requirement of actual operation actions.
In other embodiments, as shown in fig. 21, one end of the instrument transmission member 330 is connected to the motor device, the other end is provided with a connecting member 360 connected to the surgical instrument, the instrument transmission member 330 is further provided with a first auxiliary connecting member 341 and a second auxiliary connecting member 342, the first auxiliary connecting member 341 is located on the side surface of the instrument transmission member 330 and is fixedly connected to one end of the connecting member 360, the second auxiliary connecting member 342 is located on the other side surface of the instrument transmission member 330, an elastic hole is formed in the second auxiliary connecting member 342, the connecting member 360 is a flexible plastic rope with a certain length and is non-elastic, and a plurality of circular protrusions with a certain distance are arranged on one end of the connecting member adjacent to the second auxiliary connecting member 342, and the circular protrusions are matched with the elastic hole in size. As shown in fig. 22, the end of the connecting member 360 is passed around the surgical instrument 2 and through the elastic hole of the second auxiliary connecting member 342, and the circular protrusion is matched with the elastic hole in size, so that the connecting member 360 can only move unidirectionally in the direction shown by the arrow, the length can be adjusted and the adjusted length can be fixed, and the surgical instrument 2 is fixed on the instrument transmission member 330 after being tensioned. As shown in fig. 23, the motor device then drives the instrument transmission member 330 and, in turn, the surgical instrument 2 secured thereto, upward in the direction of the arrow as shown in the drawing, to effect an auxiliary operation. In another embodiment, the difference from the above embodiment is that, as shown in fig. 24, the first auxiliary connector 341 and the second auxiliary connector 342 are both fixed in length adjustably with the connecting part 360. In another embodiment, as shown in fig. 25 and 26, the connecting member 360 is provided with a ribbon structure 361, which is used in cooperation with a detent provided in the second auxiliary connecting member 342, so that the length can be adjusted and the adjusted length can be fixed. In other embodiments, the difference from the above embodiments is that the connection member 360 is an inelastic string, as shown in fig. 27, and can be fixed around the second auxiliary connection member 342, as shown in fig. 28, and can be fixed by a press sleeve after winding, as shown in fig. 29, and the second auxiliary connection member 342 can be a rotatable structure, and the length of the connection member 360 can be adjusted by rotation. The technical scheme in the embodiment can realize that the device transmission part is self-adaptive to surgical devices with different shapes and heights, and realize auxiliary operation.
In another embodiment, as shown in fig. 30, the motor means includes a screw 380, one end of the tool transmission member 330 is detachably connected to the screw 380 through a third auxiliary connector 331 having a certain elasticity, in one embodiment, a second locking member 370 is further provided on the tool driving unit 300, as shown in fig. 30 and 32, when the second locking member 370 is rotated to an unlocked state, the third auxiliary connector 331 is separated from the screw 380 to a state as shown in fig. 34, at which time the second locking member 370 is still in partial contact with the third auxiliary connector 331 as shown in fig. 30, so that the tool transmission member 330 and the motor means can be relatively moved, and the tool transmission member 330 can be manually moved to a desired position together with the second locking member 370 and the third auxiliary connector 331 in an up-down direction of the screw 380; as shown in fig. 31 and 33, when the second locking member 370 is rotated to the locked state, the third auxiliary link 331 is caught between the screw 380 to the state shown in fig. 35, so that the instrument transmission member 330 is engaged with the motor means so as to transmit the driving force, and the instrument transmission member 330 is movable by the driving of the motor means. According to the embodiment, the instrument transmission part can be switched between motor driving and manual driving, the switching time is short, the switching mode is convenient, manual operation of the transmission part by an operator can be realized, the transmission part is moved to a required position, the operability and the practicability of the device are improved, and the operator can also manually and rapidly move the instrument transmission part to a position corresponding to a surgical instrument, so that connection transmission is realized.
According to the technical scheme, an operator can remotely operate the existing marketed products by using the medical auxiliary operation device outside an operating room or in a region far away from the C-arm X-ray machine, so that the radiation accumulation of the operator in the operation process is reduced, the operation environment of the operator is improved, and the health of the operator is ensured.
Finally, it should be understood that the foregoing description is merely illustrative of the preferred embodiments of the present invention, and that no limitations are intended to the scope of the invention, as defined by the appended claims.
Claims (8)
1. A medical auxiliary operation device (1), characterized by comprising a main arm (100), a positioning unit (200) and an instrument driving unit (300), wherein the proximal end of the positioning unit (200) is fixedly connected with the main arm (100), the positioning unit (200) can stretch and retract relative to the main arm (100), the positioning unit (200) comprises a stretching component (210), a multi-freedom-degree movable component (220) and a first locking component (230), the first locking component (230) can simultaneously lock the stretching component (210) and the multi-freedom-degree movable component (220), the instrument driving unit (300) is positioned at the distal end of the positioning unit (200) and detachably connected with the positioning unit (200), the instrument driving unit (300) comprises a motor device, an instrument fixing component (320) and an instrument transmission component (330), a surgical instrument is fixed on the instrument driving unit (300) by the instrument fixing component (320), and the instrument transmission component (330) is self-adaptive to the surgical instrument driving unit under the motor driving device with different shapes and heights;
one end of the instrument transmission part (330) is connected with the motor device, the other end of the instrument transmission part (330) is provided with a connecting part (360) connected with the surgical instrument, the connecting part (360) is inelastic, and the length can be adjusted;
one end of the instrument transmission part (330) is detachably connected with the motor device, a second locking part (370) is further arranged on the instrument driving unit (300), when the instrument driving unit is in a locking state, the instrument transmission part (330) is matched with the motor device so as to transmit driving force, after the second locking part (370) is operated to be unlocked, the instrument transmission part (330) and the motor device can move relatively, and the instrument transmission part (330) can be manually moved to a required position.
2. Medical auxiliary operation device according to claim 1, characterized in that the positioning unit (200) is coaxial with the main arm (100), that a groove or track (214) is provided on the positioning unit (200), and that the groove or track (214) is parallel with the main arm (100) axis.
3. The medical auxiliary operation device according to claim 2, wherein the telescopic member (210) is coaxial with the main arm (100), the telescopic member (210) comprising a first telescopic member (211) and a second telescopic member (212), the second telescopic member (212) being coaxially sleeved inside the first telescopic member (211) and being axially movable within the first telescopic member (211).
4. A medical auxiliary operation device according to claim 3, wherein the first locking member (230) is a locking screw, a first positioning member (240), a second positioning member (250) and a third positioning member (260) are further provided in the positioning unit (200), a distal end portion of the first positioning member (240) is provided inside the second telescopic member (212) for limiting, the second positioning member (250) is a wedge block, a proximal end of the third positioning member (260) is provided with a wedge surface matching with the second positioning member (250), and a distal end of the third positioning member (260) is provided with a surface matching with the multiple degree of freedom movable member (220), and the above members cooperate to realize that the locking screw simultaneously locks the telescopic member (210) and the multiple degree of freedom movable member (220) at one time.
5. The medical auxiliary operation device according to claim 1, wherein the multi-degree-of-freedom moving member (220) is a ball joint.
6. The medical auxiliary operation device according to claim 1, wherein a connection unit (250) is further provided on the positioning unit (200), the connection unit (250) is located between the positioning unit (200) and the instrument driving unit (300), a proximal end of the connection unit (250) is fixedly or detachably connected to the positioning unit (200), and a distal end of the connection unit (250) is detachably connected to the instrument driving unit (300).
7. The medical auxiliary operation device according to claim 1, wherein a guide groove or a slide rail (350) is provided on the instrument driving unit (300), and the instrument transmission member (330) moves along the guide groove or the slide rail (350).
8. The medical auxiliary operation device according to claim 1, wherein the instrument drive unit (300) is a disposable sterilization consumable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683947.0A CN107320178B (en) | 2017-08-11 | 2017-08-11 | Medical auxiliary operation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683947.0A CN107320178B (en) | 2017-08-11 | 2017-08-11 | Medical auxiliary operation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107320178A CN107320178A (en) | 2017-11-07 |
| CN107320178B true CN107320178B (en) | 2023-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710683947.0A Active CN107320178B (en) | 2017-08-11 | 2017-08-11 | Medical auxiliary operation device |
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| CN109925009A (en) * | 2017-12-15 | 2019-06-25 | 中国人民解放军第二军医大学 | Regulating device and surgical instrument for surgical instrument |
| CN109171982A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of operating robot control device with foot control |
| CN113081086B (en) * | 2021-04-27 | 2022-04-01 | 极限人工智能有限公司 | Auxiliary surgical instrument |
| CN113288328B (en) * | 2021-06-02 | 2023-02-10 | 上海卓昕医疗科技有限公司 | Osteotomy instrument |
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| CN102697553A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Operation robot system with flexible type endoscope |
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| CN208710055U (en) * | 2017-08-11 | 2019-04-09 | 宁波华科润生物科技有限公司 | A kind of medicine backup actuating device |
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| US9730717B2 (en) * | 2011-02-03 | 2017-08-15 | Karl Storz Gmbh & Co. Kg | Medical manipulator system |
| GB201521807D0 (en) * | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Surgical instrument shaft spokes |
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| US5351676A (en) * | 1991-08-05 | 1994-10-04 | Putman John M | Endoscope stabilizer |
| CN102697553A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Operation robot system with flexible type endoscope |
| CN104869935A (en) * | 2012-12-20 | 2015-08-26 | 阿瓦特拉医学有限公司 | Retaining and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery and surgical robot system |
| CN208710055U (en) * | 2017-08-11 | 2019-04-09 | 宁波华科润生物科技有限公司 | A kind of medicine backup actuating device |
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