CN107951565A - A kind of laparoscopic surgery robot architecture centered on holding handel - Google Patents
A kind of laparoscopic surgery robot architecture centered on holding handel Download PDFInfo
- Publication number
- CN107951565A CN107951565A CN201711362359.3A CN201711362359A CN107951565A CN 107951565 A CN107951565 A CN 107951565A CN 201711362359 A CN201711362359 A CN 201711362359A CN 107951565 A CN107951565 A CN 107951565A
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- China
- Prior art keywords
- joint
- handel
- support arm
- arm
- centered
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- 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
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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
-
- 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
-
- 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
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
Abstract
The present invention provides a kind of laparoscopic surgery robot architecture centered on holding handel, using circumferential type structure of three apparatus arms centered on holding handel, (apparatus arm has eight frees degree, holding handel has six-freedom degree), the pendulum position that four arms realize various complicated shapes in clinical operation in space is required, various clinical patients postures can be by adjusting rear adaptation, there is redundant degree of freedom, three arm are non-interference, and various complicated vision orientation can be realized easily；Four arm use modular construction, remove and install it is simple and convenient, securely and reliably；This structure operates steadily, registration, has more preferable dexterity, can complete finer and complicated operation safely, and the visual effect in various orientation is obviously improved；It is simple in structure, it is novel in design reasonable, it is of low cost, easy to promote the use of.
Description
Technical field
The present invention relates to the field of medical instrument technology, is specially a kind of laparoscopic surgery robot centered on holding handel
Structure.
Background technology
With the extensive use of conventional laparoscopic technology, modern surgery enters the minimally invasiveization epoch, and Minimally Invasive Surgery, refers to profit
The operation carried out with the modern medical equipments such as laparoscope, thoracoscope and relevant device.Minimally Invasive Surgery have wound is small, pain is light,
Post-operative recovery in love advantage soon, is conducive to improve surgical operation quality, reduces medical treatment cost, compared with traditional operation, is undoubtedly
Revolutionary progress, it is called one of 21 century surgery developing direction, be electronic display system with high-tech operating theater instruments with
And the cutting edge technology that traditional surgery is combined.But the limitation of conventional laparoscopic equipment, significantly limit minimally invasive surgery
Further development, as interference phenomenon often occurs in equipment pendulum position in clinical operation, some pendulum positions can not meet that some are special
The requirement of operation, visual effect is undesirable, and complicated, of high cost, is not easy to promote and apply.
The content of the invention
1. to solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, there is provided one kind is centered on holding handel
Laparoscopic surgery robot architecture, it include base, handrail, lifting column, the first support arm, the second support arm, rotating disk,
Apparatus arm and handel is held, the lifting column is connected with the base, and opposite by the flexible realization of the lifting column
In the lifting of the base；The handrail is connected with the lifting column, is realized by the handrail to the lifting column
It is dilatory；First support arm is connected with the lifting column, and can be rotated freely around the lifting column, second support
Arm is connected with first support arm, and second support arm can be rotated freely relative to first support arm, described
Rotating disk is connected with second support arm, and can be rotated freely around second support arm；The apparatus arm holds mirror with described
Arm is connected with the rotating disk respectively, and the pendulum position adjustment of diverse location, and the apparatus are realized under the drive of the rotating disk
Arm be three, three apparatus arms by it is described hold handel centered on form circumferential type structure.
Preferably, every apparatus arm includes the first joint, second joint, the 3rd joint, the 4th joint, the 5th pass
Section, the 6th joint, the 7th joint and the 8th joint.
Preferably, first joint and the 8th joint are arthrodia；The second joint is telescopic joint；Institute
It is pitching joint that the 3rd joint, which is stated, with the 7th joint；4th joint, the 5th joint and the 6th joint are
Rotary joint.
Preferably, the handel of holding includes the 9th joint, the tenth joint, the 11st joint, the 12nd joint, the 13rd pass
Section, the 14th joint.
Preferably, the 9th joint is telescopic joint；Tenth joint, the 11st joint, the described 12nd
Joint is rotary joint；13rd joint is pitching joint；14th joint is arthrodia.
Compared with the prior art, the beneficial effects of the present invention are：The present invention provides a kind of abdomen centered on holding handel
Endoscope-assistant surgery robot architecture, using circumferential type structure of three apparatus arms centered on holding handel, (apparatus arm has eight freedom
Degree, holding handel has six-freedom degree) so that four arms can realize that the pendulum position of various complicated shapes in clinical operation will in space
Ask, various clinical patients postures there can be redundant degree of freedom by adjusting rear adaptation, and three arm are non-interference, and various complexity
Vision orientation can be realized easily；Four arm use modular construction, remove and install it is simple and convenient, securely and reliably；It is this
Structure operates steadily, registration, has more preferable dexterity, can complete finer and complicated operation, various sides safely
The visual effect of position is obviously improved；It is simple in structure, it is novel in design reasonable, it is of low cost, easy to promote the use of.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is the structure of laparoscopic surgery robot architecture centered on holding handel in the embodiment of the present invention 1 a kind of
Figure；
Fig. 2 is the three-dimensional of laparoscopic surgery robot architecture centered on holding handel in the embodiment of the present invention 1 a kind of
Concept view；
Fig. 3 is the two dimension of laparoscopic surgery robot architecture centered on holding handel in the embodiment of the present invention 1 a kind of
Top view；
Fig. 4 is the structure chart of apparatus arm in the embodiment of the present invention 1；
Fig. 5 is the structure chart that handel is held in the embodiment of the present invention 1；
Fig. 6 is the structure of laparoscopic surgery robot architecture centered on holding handel in the embodiment of the present invention 2 a kind of
Figure.
Digital representation in figure：
1- apparatus arms；The first joints of 11-；12- second joints；The 3rd joints of 13-；The 4th joints of 14-；The 5th joints of 15-；
The 6th joints of 16-；The 7th joints of 17-；The 8th joints of 18-；2- holds handel；The 9th joints of 21-；The tenth joints of 22-；23- the tenth
One joint；The 12nd joints of 24-；The 13rd joints of 25-；The 14th joints of 26-；3- lifting columns；4- large arm；5- forearms；6-
Base；7- rotating disks；8- handrails.
Embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
Refer to shown in Fig. 1, Fig. 2 and Fig. 3,
Fig. 1 is the structure chart of laparoscopic surgery robot architecture centered on holding handel in the present embodiment a kind of；
The schematic three-dimensional that Fig. 2 is a kind of laparoscopic surgery robot architecture centered on holding handel in the present embodiment regards
Figure；
Fig. 3 is the two dimension vertical view of laparoscopic surgery robot architecture centered on holding handel in the present embodiment a kind of
Figure.
The present embodiment provides a kind of laparoscopic surgery robot architecture centered on holding handel, it includes apparatus arm 1, holds
Handel 2, lifting column 3, the first support arm 4, the second support arm 5, base 6, rotating disk 7 and handrail 8.The lifting column 3 with
The base 6 is connected, it is possible to achieve the overall rise of equipment and the process reduced；The handrail 8 connects with the lifting column 3
Connect, be used for realization the push-and-pull process of equipment entirety；First support arm 4 is connected with the lifting column 3, and can be around the liter
Drop column 3 rotates freely；Second support arm 5 is connected with first support arm 4, and second support arm 5 relative to
First support arm 4 can rotate freely, and the rotating disk 7 is connected with second support arm 5, and can be around described second
Brace 5 rotates freely, and the apparatus arm 1 is held handel 2 and be connected respectively with the rotating disk 8 with described, in the band of the rotating disk 8
Under dynamic, the apparatus arm 1 can realize that the pendulum position of diverse location adjusts with the handel 2 of holding.
It is shown in Figure 4,
Fig. 4 is the structure chart of apparatus arm in the present embodiment.
The apparatus arm 1 includes the first joint 11, second joint 12, the 3rd joint 13, the 4th joint 14, the 5th joint
15th, the 6th joint 16, the 7th joint 17 and the 8th joint 18, first joint 11 are closed with the 8th joint 18 to slide
Section, the second joint 12 be telescopic joint, and the 3rd joint 13 and the 7th joint 17 are pitching joint, the described 4th
Joint 14, the 5th joint 15 and the 6th joint 16 are rotary joint, and eight frees degree can realize eight kinds of orientation
Put position adjustment.
It is shown in Figure 5,
Fig. 5 is the structure chart that handel is held in the present embodiment.
The handel 2 of holding includes the 9th joint 21, the tenth joint 22, the 11st joint 23, the 12nd joint the 24, the 13rd
Joint 25, the 14th joint 26, the 9th joint 21 are telescopic joint, the tenth joint 22, the 11st joint 23,
12nd joint 24 is rotary joint, and the 13rd joint 25 is pitching joint；14th joint 26 is slip
Joint, 6 frees degree can realize the pendulum position adjustment in 6 kinds of orientation.
The apparatus arm 1 be three, three apparatus arms 1 by it is described hold handel 2 centered on form circumferential type structure, this
The pendulum position that kind structure enables four arms to realize various complicated shapes in clinical operation in space requires, various clinical patients appearances
State can have redundant degree of freedom by adjusting rear adaptation, and three arm are non-interference, and various complicated vision orientation can be light
Realize；Four arm use modular construction, remove and install it is simple and convenient, securely and reliably；This structure operates steadily, positioning accurate
Really, there is more preferable dexterity, finer and complicated operation can be completed safely, the visual effect in various orientation obtains
It is obviously improved；It is simple in structure, it is novel in design reasonable, it is of low cost, easy to promote the use of.
Embodiment 2
It is shown in Figure 6,
Fig. 6 is the structure chart of laparoscopic surgery robot architecture centered on holding handel in the present embodiment a kind of.
The present embodiment provides a kind of laparoscopic surgery robot architecture centered on holding handel, it includes apparatus arm 1, rises
Column 3, the first support arm 4, the second support arm 5, base 6, rotating disk 7 and handrail 8 drop.The lifting column 3 and the base 6
It is connected, it is possible to achieve the overall rise of equipment and the process reduced；The handrail 8 is connected with the lifting column 3, for reality
The push-and-pull process of existing equipment entirety；First support arm 4 is connected with the lifting column 3, and can be around the lifting column 3 certainly
By rotating；Second support arm 5 is connected with first support arm 4, and second support arm 5 is relative to described first
Brace 4 can rotate freely, and the rotating disk 7 is connected with second support arm 5, and can be around second support arm 5 freely
Rotation, the apparatus arm 1 is connected with the rotating disk 8, and under the drive of the rotating disk 8, the apparatus arm 1 can realize difference
The pendulum position adjustment of position.
The apparatus arm 1 includes the first joint 11, second joint 12, the 3rd joint 13, the 4th joint 14, the 5th joint
15th, the 6th joint 16, the 7th joint 17 and the 8th joint 18, first joint 11 are closed with the 8th joint 18 to slide
Section, the second joint 12 be telescopic joint, and the 3rd joint 13 and the 7th joint 17 are pitching joint, the described 4th
Joint 14, the 5th joint 15 and the 6th joint 16 are rotary joint, and eight frees degree can realize eight kinds of orientation
Put position adjustment.
The present embodiment in place of the difference of embodiment 1 with being, a kind of abdomen centered on holding handel provided in this embodiment
Endoscope-assistant surgery robot architecture actually holds handel, but makes using any one in three apparatus arms as holding handel
With, such a structure is directed to the operation that some are fairly simple or operative site is special, can so make patient trauma face smaller,
Reduce pain and reduce the possibility of infection, while also reduce the operation difficulty of operation.
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art,
It can still modify the technical solution described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacing, within the spirit and principles of the invention, any modification, equivalent replacement, improvement and so on, should be included in this
Within the protection domain of invention.
Claims (5)
1. a kind of laparoscopic surgery robot architecture centered on holding handel, it is characterised in that it includes base, handrail, liter
Drop column, the first support arm, the second support arm, rotating disk, apparatus arm and hold handel, the lifting column is connected with the base
Connect, and the lifting by the flexible realization of the lifting column relative to the base；The handrail connects with the lifting column
Connect, realized by the handrail and the lifting column is drawn；First support arm is connected with the lifting column, and can
Rotated freely around the lifting column, second support arm is connected with first support arm, and the second support arm phase
It can be rotated freely for first support arm, the rotating disk is connected with second support arm, and can be around described second
Support arm rotates freely；The apparatus arm is held handel and is connected respectively with the rotating disk with described, in the drive of the rotating disk
It is lower realize diverse location pendulum position adjustment, and the apparatus arm be three, three apparatus arms by it is described hold handel centered on
Form circumferential type structure.
2. the laparoscopic surgery robot architecture according to claim 1 centered on holding handel, it is characterised in that every
The apparatus arm includes the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint
With the 8th joint.
3. the laparoscopic surgery robot architecture according to claim 2 centered on holding handel, it is characterised in that described
First joint and the 8th joint are arthrodia；The second joint is telescopic joint；3rd joint and described the
Seven joints are pitching joint；4th joint, the 5th joint and the 6th joint are rotary joint.
4. the laparoscopic surgery robot architecture according to claim 1 centered on holding handel, it is characterised in that described
Holding handel includes the 9th joint, the tenth joint, the 11st joint, the 12nd joint, the 13rd joint, the 14th joint.
5. the laparoscopic surgery robot architecture according to claim 4 centered on holding handel, it is characterised in that described
9th joint is telescopic joint；Tenth joint, the 11st joint, the 12nd joint are rotary joint；It is described
13rd joint is pitching joint；14th joint is arthrodia.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711362359.3A CN107951565A (en) | 2017-12-18 | 2017-12-18 | A kind of laparoscopic surgery robot architecture centered on holding handel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711362359.3A CN107951565A (en) | 2017-12-18 | 2017-12-18 | A kind of laparoscopic surgery robot architecture centered on holding handel |
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| Publication Number | Publication Date |
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| CN107951565A true CN107951565A (en) | 2018-04-24 |
Family
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| CN201711362359.3A Pending CN107951565A (en) | 2017-12-18 | 2017-12-18 | A kind of laparoscopic surgery robot architecture centered on holding handel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171612A (en) * | 2018-10-29 | 2019-01-11 | 复旦大学附属中山医院 | A kind of compound eye type ultra micro wound laparoscopic surgery device |
| CN109730778A (en) * | 2019-03-20 | 2019-05-10 | 苏州康多机器人有限公司 | A kind of the laparoscopic surgery robot and system of double control cooperating |
| CN114129266A (en) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Method, robot arm, device, robot, and medium for maintaining RC point constant |
| CN114469355A (en) * | 2021-12-29 | 2022-05-13 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation equipment, surgical robot and method for keeping RC point unchanged |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171612A (en) * | 2018-10-29 | 2019-01-11 | 复旦大学附属中山医院 | A kind of compound eye type ultra micro wound laparoscopic surgery device |
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| CN114129266A (en) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Method, robot arm, device, robot, and medium for maintaining RC point constant |
| CN114469355A (en) * | 2021-12-29 | 2022-05-13 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation equipment, surgical robot and method for keeping RC point unchanged |
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