CN107951564A - One kind can automatic tool changer medical operating robot arm - Google Patents
One kind can automatic tool changer medical operating robot arm Download PDFInfo
- Publication number
- CN107951564A CN107951564A CN201711354206.4A CN201711354206A CN107951564A CN 107951564 A CN107951564 A CN 107951564A CN 201711354206 A CN201711354206 A CN 201711354206A CN 107951564 A CN107951564 A CN 107951564A
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- CN
- China
- Prior art keywords
- armed lever
- theater instruments
- loading part
- operating theater
- robot arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A61B34/30—Surgical robots
-
- 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
- A61B34/74—Manipulators with manual electric input means
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provide one kind can automatic tool changer medical operating robot arm, it includes pedestal, the first armed lever, the second armed lever, the 3rd armed lever, multistage slide, shaft and loading part；First armed lever one end is fixedly mounted on pedestal, the other end of first armed lever is hinged with second armed lever one end, the second armed lever other end is hinged with the 3rd armed lever one end, and the 3rd armed lever other end is slidably connected with multistage slide, and loading part is installed on one end of slide by shaft；Loading part lower end is provided with operating theater instruments.The present invention uses the synergy of more armed levers, multistage slide and operating theater instruments cutter replacing equipment, make operating theater instruments more flexible in operation, can multi-faceted, multi-angle perform the operation, in addition the effect for having used tool changing instrument to make operating theater instruments realize automatic tool changer, increase procedure efficiency, reduce operating time, while there is very strong practicality and market popularization value.
Description
Technical field
The present invention relates to medical robot to set field, especially one kind can automatic tool changer medical operating robot arm.
Background technology
Most of in present medical operating is to use medical instrument or medical robot, and medical operating robot is to operation
Efficiency have very big lifting, as the medical robot of Minimally Invasive Surgery can mitigate in the process of performing an operation the pain of patient, while can
Avoid staying some scars, but different medical robots is utilized among different operations, especially can among bigger operation
The cooperation of multiple medical operating robots can be used, to use a variety of cutters, general curative robot is all fixed cutter,
It generally is intended to manually among surgical procedure to replace, personnel are replaced compared with elapsed time, add operating time, influence the effect of operation
Rate.
The content of the invention
For above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of medical operating robot.
To achieve these goals, the present invention adopts the following technical scheme that：
One kind can automatic tool changer medical operating robot arm, it include pedestal, the first armed lever, the second armed lever, the 3rd arm
Bar, multistage slide, shaft and loading part；Described first armed lever one end is fixedly mounted on pedestal, first armed lever it is another
End is hinged with second armed lever one end, and the second armed lever other end is hinged with the 3rd armed lever one end, the 3rd armed lever other end
It is slidably connected with multistage slide, the loading part is installed on one end of slide by shaft；The loading part lower end is provided with hand
Art apparatus.
Preferably, the loading part inner upper end center is provided with drive division, drive division lower end center
It is connected with mobile bull stick；
The mobile bull stick lower end is connected with tool changing frame, and the tool changing sets up the slot for being equipped with annular spread, each described
Different cutters is placed in slot, the drive division lower end is connected with operating theater instruments with mobile bull stick eccentric position.
Preferably, the operating theater instruments upper end is connected with moving mechanism, the operating theater instruments lower end run through with tool changing frame its
In any slot.
Preferably, the operating theater instruments includes connecting shaft and cutter head forms, and cutter head is connected with connecting shaft one end.
Preferably, the multistage slide other end is additionally provided with the guide pipe to align with operating theater instruments.
Due to the adoption of the above technical scheme, the present invention uses the connection of more armed levers, multistage slide and operating theater instruments cutter replacing equipment
Cooperation use, make operating theater instruments in operation more flexibly, can multi-faceted, multi-angle perform the operation, in addition used tool changing instrument
Operating theater instruments is realized the effect of automatic tool changer, increase procedure efficiency, reduce operating time, at the same have very strong practicality and
Market popularization value.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the loading part structure diagram of the embodiment of the present invention；
Fig. 3 is the tool changing frame floor map of the embodiment of the present invention；
Fig. 4 is another embodiment of the invention；
Fig. 5 is the tool changing frame floor map of another embodiment of the invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Such as Fig. 2 and with reference to shown in Fig. 3 to Fig. 4, one kind can automatic tool changer medical operating robot arm, it includes pedestal
140th, the first armed lever 62, the second armed lever 64, the 3rd armed lever 66, multistage slide 68, shaft 74 and loading part 70；First armed lever 62 1
End is fixedly mounted on pedestal 140, and the other end and 64 one end of the second armed lever of the first armed lever 62 are hinged, 64 other end of the second armed lever
It is hinged with 66 one end of the 3rd armed lever, 66 other end of the 3rd armed lever is slidably connected with multistage slide 68, and loading part 70 passes through shaft 74
Installed in one end of multistage slide 68；70 lower end of loading part is provided with operating theater instruments 38,70 inner upper end center of loading part
Drive division 82 is installed, 82 lower end center of drive division is connected with mobile bull stick 84；Mobile 84 lower end of bull stick is connected with tool changing
Frame 88, tool changing frame 88 are provided with the slot of annular spread, different cutters, 82 lower end of drive division and movement are placed in each slot
84 eccentric position of bull stick is connected with operating theater instruments 38.
Using the connection of multistage armed lever, make robot arm movement more flexibly, it can be achieved that multi-faceted, multi-angle fortune
It is dynamic, multistage slide 68 is separately employed, makes operating theater instruments 38 is front and rear to promote stroke bigger, advancing movement is more flexible；Loading part 70 with
Multistage 68 one end of slide is connected by shaft, and shaft 74 can drive loading part 70 to rotate.82 lower end center of drive division connects
Tool changing frame 88 is connected to, the slot of several annular spreads is provided with tool changing frame 88, each slot is both provided with different types of
Cutter.When needing tool changing during the work time, first pass through drive division 82 and operating theater instruments 38 bounces back, be reduced in tool changing frame, make hand
Then 92 Automatic-falling of former cutter head of art apparatus 38 is rotated using mobile bull stick 84, will changed on the slot in tool changing frame
When knife rest 88 goes to 90 aligned position of connecting shaft of required cutter and operating theater instruments 30, then using drive division 82 by surgical device
Tool 38 is released, and the connecting shaft 90 in operating theater instruments 38 is connected through tool changing frame 88 with required cutter, so as to carry out hand
Art works.
Multistage 68 other end of slide is additionally provided with the guide pipe 72 to align with operating theater instruments 38, and guide pipe 72 can make surgical device
Tool 38 preferably positions, and the cutter head 92 being also prevented from operating theater instruments 38 shakes effect that is excessive and influencing operation, since operation is
A very fine work, it is impossible to have any carelessness, then the operating accuracy requirement to operating theater instruments is larger；Multistage slide 68 is downward
Movement makes operating theater instruments 38 be socketed on guide pipe 72, can so make operating theater instruments 38 more firm.
Fig. 4 is another embodiment of the invention, another embodiment and embodiment of the present invention main difference
It is, present embodiment is to carry out tool changing by 70 rotation mode of loading part, and another embodiment is by the second dress
76 transverse shifting mode of load portion carries out tool changing；The functional effect that two kinds of embodiments produce is identical, and all possessing has automatic tool changer
Function, Fig. 5 is the second tool changing frame structure diagram of another embodiment of the present invention loading part
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made, it is related to be directly or indirectly used in other
Technical field, be included within the scope of the present invention.
Claims (5)
1. one kind can automatic tool changer medical operating robot arm, it is characterised in that:It includes pedestal, the first armed lever, the second arm
Bar, the 3rd armed lever, multistage slide, shaft and loading part；Described first armed lever one end is fixedly mounted on pedestal, first arm
The other end of bar is hinged with second armed lever one end, and the second armed lever other end is hinged with the 3rd armed lever one end, the 3rd arm
The bar other end is slidably connected with multistage slide, and the loading part is installed on one end of slide by shaft；The loading part lower end
It is provided with operating theater instruments.
2. one kind as claimed in claim 1 can automatic tool changer medical operating robot arm, it is characterised in that：The loading part
Inner upper end center is provided with drive division, and drive division lower end center is connected with mobile bull stick；
The mobile bull stick lower end is connected with tool changing frame, and the tool changing sets up the slot for being equipped with annular spread, each slot
Interior to place different cutters, the drive division lower end is connected with operating theater instruments with mobile bull stick eccentric position.
3. one kind as claimed in claim 1 can automatic tool changer medical operating robot arm, it is characterised in that：The surgical device
Tool upper end is connected with moving mechanism, and the operating theater instruments lower end is run through and tool changing frame any of which slot.
4. one kind as claimed in claim 1 can automatic tool changer medical operating robot arm, it is characterised in that：The surgical device
Tool includes connecting shaft and cutter head forms, and the cutter head is connected with connecting shaft one end.
5. one kind as claimed in claim 1 can automatic tool changer medical operating robot arm, it is characterised in that：It is described multistage sliding
The rail other end is additionally provided with the guide pipe to align with operating theater instruments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354206.4A CN107951564A (en) | 2017-12-15 | 2017-12-15 | One kind can automatic tool changer medical operating robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354206.4A CN107951564A (en) | 2017-12-15 | 2017-12-15 | One kind can automatic tool changer medical operating robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107951564A true CN107951564A (en) | 2018-04-24 |
Family
ID=61959121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711354206.4A Pending CN107951564A (en) | 2017-12-15 | 2017-12-15 | One kind can automatic tool changer medical operating robot arm |
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| CN (1) | CN107951564A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020097224A1 (en) * | 2018-11-06 | 2020-05-14 | Bono Peter L | Robotic surgical system and method |
| CN111249006A (en) * | 2020-03-31 | 2020-06-09 | 何筱峰 | medical loading device |
| CN113164217A (en) * | 2018-10-26 | 2021-07-23 | 尹三悦 | Wearable surgical mechanical arm |
| CN114271943A (en) * | 2021-12-16 | 2022-04-05 | 江苏邦士医疗科技有限公司 | Operation mechanical arm |
| CN114521965A (en) * | 2020-11-23 | 2022-05-24 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument replacement robot, surgical robot system, and surgical instrument replacement system |
| CN115005976A (en) * | 2022-08-03 | 2022-09-06 | 杭州德适生物科技有限公司 | Intelligent mechanical arm for surgical operation |
| CN117562669A (en) * | 2023-11-13 | 2024-02-20 | 上海馥逸医疗科技有限公司 | Tool changing device, surgical robot and tool changing method of surgical robot |
| WO2024112537A1 (en) * | 2022-11-23 | 2024-05-30 | Vialase, Inc. | Mechanisms to control movement of a head of a medical system relative to an anatomical site |
| WO2024112536A1 (en) * | 2022-11-23 | 2024-05-30 | Vialase, Inc. | Mechanisms to control movement of a head of a medical system relative to an anatomical site |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203303159U (en) * | 2013-06-19 | 2013-11-27 | 张宪业 | Mechanical arm for minimally invasive surgery |
| CN204814184U (en) * | 2015-06-17 | 2015-12-02 | 杨明华 | Can automatic tool changing medical treatment operation robot arm |
-
2017
- 2017-12-15 CN CN201711354206.4A patent/CN107951564A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203303159U (en) * | 2013-06-19 | 2013-11-27 | 张宪业 | Mechanical arm for minimally invasive surgery |
| CN204814184U (en) * | 2015-06-17 | 2015-12-02 | 杨明华 | Can automatic tool changing medical treatment operation robot arm |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113164217A (en) * | 2018-10-26 | 2021-07-23 | 尹三悦 | Wearable surgical mechanical arm |
| WO2020097224A1 (en) * | 2018-11-06 | 2020-05-14 | Bono Peter L | Robotic surgical system and method |
| US11857351B2 (en) | 2018-11-06 | 2024-01-02 | Globus Medical, Inc. | Robotic surgical system and method |
| CN111249006A (en) * | 2020-03-31 | 2020-06-09 | 何筱峰 | medical loading device |
| CN114521965A (en) * | 2020-11-23 | 2022-05-24 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument replacement robot, surgical robot system, and surgical instrument replacement system |
| CN114271943A (en) * | 2021-12-16 | 2022-04-05 | 江苏邦士医疗科技有限公司 | Operation mechanical arm |
| CN115005976A (en) * | 2022-08-03 | 2022-09-06 | 杭州德适生物科技有限公司 | Intelligent mechanical arm for surgical operation |
| CN115005976B (en) * | 2022-08-03 | 2022-11-18 | 杭州德适生物科技有限公司 | Intelligent manipulator for surgical operation |
| WO2024112537A1 (en) * | 2022-11-23 | 2024-05-30 | Vialase, Inc. | Mechanisms to control movement of a head of a medical system relative to an anatomical site |
| WO2024112536A1 (en) * | 2022-11-23 | 2024-05-30 | Vialase, Inc. | Mechanisms to control movement of a head of a medical system relative to an anatomical site |
| CN117562669A (en) * | 2023-11-13 | 2024-02-20 | 上海馥逸医疗科技有限公司 | Tool changing device, surgical robot and tool changing method of surgical robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180424 |
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| WD01 | Invention patent application deemed withdrawn after publication |