CN107961075A - A kind of surgery mechanical arm with antibacterial functions - Google Patents
A kind of surgery mechanical arm with antibacterial functions Download PDFInfo
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- CN107961075A CN107961075A CN201711324994.2A CN201711324994A CN107961075A CN 107961075 A CN107961075 A CN 107961075A CN 201711324994 A CN201711324994 A CN 201711324994A CN 107961075 A CN107961075 A CN 107961075A
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- arm
- pivoted arm
- telescopic
- pivoted
- antibacterial functions
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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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)
- Materials For Medical Uses (AREA)
Abstract
A kind of surgery mechanical arm with antibacterial functions, belongs to field of medical device, including：Base（1）, the base fixes or places on the ground；First pivoted arm（2）, first pivoted arm and base（1）Rotation connection, can rotate with base along vertical direction；Second pivoted arm（3）, second pivoted arm and the first pivoted arm be hinged, and the articulated shaft is mobilizable articulated shaft, and the articulated shaft can be moved up and down along vertical direction, and second pivoted arm is connected with a telescopic shaft（201）, the telescopic shaft and the connection of the first pivoted arm, the length of the telescopic shaft can change；3rd pivoted arm（4）, the 3rd pivoted arm and the second pivoted arm be hinged, and articulated shaft is horizontal direction.
Description
Technical field
The present invention relates to operating robot field.
Background technology
On May 5th, 1997, navy hospital's neurosurgical unit implements China's First robotic surgery, total by naval
The First Medical Robot that hospital and BJ University of Aeronautics ＆ Astronautics's robot research are succeeded in developing jointly, two doctors with
Stereotaxis craniopharyngioma internal radiotherapy art is completed under the common instruction of one computer elite first.
Surgery mechanical people has been more and more widely used, but operating robot is made by metal material,
The surface of very metal material is easy to grow bacterium, while operating robot does not allow easy cleaning again, many if ultraviolet disinfection
Place can not sterilize, at the same each component dismantle disinfection again it is unrealistic.
Existing each articulated shaft of surgery mechanical arm is relatively more fixed at the same time so that mechanical arm limitation of activity in operation.
The content of the invention
It is an object of the invention to：For above-mentioned problem, there is provided a kind of surgery mechanical arm with antibacterial functions
Including：
Base, the base are fixed or placed on the ground；
First pivoted arm, first pivoted arm are connected with base rotation, can be rotated with base along vertical direction；
Second pivoted arm, second pivoted arm and the first pivoted arm are hinged, and the articulated shaft is mobilizable articulated shaft, described
Articulated shaft can be moved up and down along vertical direction, and second pivoted arm is connected with a telescopic shaft, the telescopic shaft and
First pivoted arm connects, and the length of the telescopic shaft can change；
3rd pivoted arm, the 3rd pivoted arm and the second pivoted arm are hinged, and articulated shaft is horizontal direction；
Telescopic arm, the telescopic arm and the connection of the 3rd pivoted arm, the telescopic arm can be along the axial direction phase of telescopic arm
Stretch for the 3rd pivoted arm；
Apparatus connecting seat, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the connecting seat of unloading
For fixation surgical instrument.
Due to the shaft design that stretches, the articulated shaft of the second pivoted arm of the invention and the first pivoted arm stent can move up and down,
So that the preferably flexibly activity of each pivoted arm, adds operability of the mechanical arm in operation.
As an improvement, the 3rd pivoted arm is equipped with the passage for being used for placing telescopic arm, the 3rd pivoted arm is equipped with one
The linking arm that control telescopic arm stretches, one end of the linking arm are connected with telescopic arm, and the other end is hinged on the second pivoted arm.
As an improvement, the telescopic arm is equipped with a deck, spring is equipped between deck and the 3rd pivoted arm.
As an improvement, first pivoted arm is equipped with a hinged axis channel being distributed along vertical direction, it is described
The articulated shaft of first pivoted arm is located in hinged axis channel and can be moved up and down along hinged axis channel.、
As an improvement, one end that the telescopic shaft is located at the first pivoted arm is connected with motor, the motor is located at the first pivoted arm
Interior, the telescopic shaft and the second pivoted arm are threadedly coupled, drive telescopic shaft to rotate by motor control the first pivoted arm along
Articulated shaft channel direction moves.
As an improvement, the top layer of surgery mechanical arm is coated with one layer of polymeric antimicrobial coating, polymer by electrostatic spinning
The thickness of antimicrobial coating is 10-100 μm.
As an improvement, the polymer antimicrobial coating is a kind of makrolon multi-monomer grafting polymer, described connects
Branch monomer includes containing phenyl ring or pyridine ring unsaturated silane and acrylonitrile monemer.
As an improvement, the unsaturated silane monomer is selected from：Triple phenoxyl vinyl silanes, 3- chloropropyl dimethyl second
Alkenyl silanes, triphenyl vinyl silane, 3,5-dimethylphenyl vinyl silanes, dimethyl (2- pyridine radicals) vinyl silanes.
As an improvement, the polymer and grafted monomers parts by weight of raw materials is as follows：100 parts of makrolon, unsaturated silicon
5-20 parts of alkane monomer, 5-20 parts of acrylonitrile monemer.
As an improvement, the preparation method of the polymer coating is as follows：
Step A：Unsaturated silane, acrylonitrile are uniformly mixed；
Step B:Makrolon is melted in rheometer；
Step C：Mixture and initiator after step A are added in rheometer, react 5 min -10min..
As an improvement, the initiator is selected from benzoyl peroxide, lauroyl peroxide, isopropyl benzene hydroperoxide, uncle
Butylhydroperoxide, cumyl peroxide.
As an improvement, the initiator is benzoyl peroxide and the mixture of cumyl peroxide, molar ratio is
1:（0.7-1.5）.
As an improvement, the melting time of the step B is 1-5min.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：There is antimicrobial coating and do not resisting
The test that the surgery mechanical arm of bacterium coating carries out after after a while shows that the pathogen of new polymers coating surface remains
Amount just corresponds to a ten thousandth rank of operating scissors surface bacteria quantity.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the schematic diagram of telescopic shaft；
Marked in figure：1- bases, the first pivoted arms of 2-, 201- telescopic shafts, the second pivoted arms of 3-, the 3rd pivoted arms of 4-, 401- linking arms, 5-
Telescopic arm, 501- springs, 502- decks, 6- apparatus connecting seats.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Specific embodiment 1：A kind of surgery mechanical arm with antibacterial functions, including：
Base 1, the base are fixed or placed on the ground；
First pivoted arm 2, first pivoted arm and base 1 are rotatablely connected, and can be rotated with base along vertical direction；
Second pivoted arm 3, second pivoted arm and the first pivoted arm are hinged, and the articulated shaft is mobilizable articulated shaft, described
Articulated shaft can be moved up and down along vertical direction, second pivoted arm is connected with a telescopic shaft 201, and described is flexible
Axis and the connection of the first pivoted arm, the length of the telescopic shaft can change；
3rd pivoted arm 4, the 3rd pivoted arm and the second pivoted arm are hinged, and articulated shaft is horizontal direction；
Telescopic arm 5, the telescopic arm and the connection of the 3rd pivoted arm, the telescopic arm can be along the axial direction phase of telescopic arm
Stretch for the 3rd pivoted arm；
Apparatus connecting seat 6, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the connection of unloading
Seat is used for fixation surgical instrument.
3rd pivoted arm is equipped with the passage for being used for placing telescopic arm, and the 3rd pivoted arm is equipped with a control telescopic arm
Flexible linking arm 401, one end of the linking arm are connected with telescopic arm, and the other end is hinged on the second pivoted arm 3, described
Telescopic arm is equipped with a deck 502, and spring 501 is equipped between deck and the 3rd pivoted arm.First pivoted arm is equipped with one
A hinged axis channel being distributed along vertical direction, the articulated shaft of first pivoted arm are located in hinged axis channel and can be with
Moved up and down along hinged axis channel.、
One end that the telescopic shaft is located at the first pivoted arm is connected with motor, and the motor is located in the first pivoted arm, described
Telescopic shaft and the second pivoted arm are threadedly coupled, and drive telescopic shaft to rotate by motor to control the first pivoted arm along hinged axis channel
Move in direction.
The top layer of surgery mechanical arm is coated with one layer of polymeric antimicrobial coating by electrostatic spinning, polymer antimicrobial coating
Thickness is 10-100 μm.
The polymer antimicrobial coating is a kind of makrolon multi-monomer grafting polymer, and the grafted monomers include
Containing phenyl ring or pyridine ring unsaturated silane and acrylonitrile monemer, the unsaturated silane monomer can be selected from：Triphen oxygen
Base vinyl silanes, 3- chloropropyl dimethylvinylsiloxies base silane, triphenyl vinyl silane, 3,5-dimethylphenyl vinyl silanes,
Dimethyl (2- pyridine radicals) vinyl silanes.
The polymer and grafted monomers parts by weight of raw materials is as follows：100 parts of makrolon, unsaturated silane monomer 20
Part, 20 parts of acrylonitrile monemer.
The preparation method of the polymer coating is as follows：
Step A：Unsaturated silane, acrylonitrile are uniformly mixed；
Step B:Makrolon is melted in rheometer；
Step C：Mixture and initiator after step A are added in rheometer, react 5 min -10min..
Surgery mechanical arm according to claim 4 with antibacterial functions, it is characterised in that the initiator choosing
From benzoyl peroxide, lauroyl peroxide, isopropyl benzene hydroperoxide, tert-butyl hydroperoxide, cumyl peroxide.
The initiator is the mixture of benzoyl peroxide and cumyl peroxide, molar ratio 1:1.5.It is described
The melting time of step B is 1-5min.
Claims (10)
- A kind of 1. surgery mechanical arm with antibacterial functions, it is characterised in that including：Base（1）, the base fixes or places on the ground；First pivoted arm（2）, first pivoted arm and base（1）Rotation connection, can rotate with base along vertical direction；Second pivoted arm（3）, second pivoted arm and the first pivoted arm be hinged, and the articulated shaft is mobilizable articulated shaft, institute The articulated shaft stated can be moved up and down along vertical direction, and second pivoted arm is connected with a telescopic shaft（201）, it is described Telescopic shaft and the connection of the first pivoted arm, the length of the telescopic shaft can change；3rd pivoted arm（4）, the 3rd pivoted arm and the second pivoted arm be hinged, and articulated shaft is horizontal direction；Telescopic arm（5）, the telescopic arm and the 3rd pivoted arm connection, the telescopic arm can be along the axial direction of telescopic arm Stretch relative to the 3rd pivoted arm；Apparatus connecting seat（6）, the mechanical connection seat and telescopic arm be hinged, and articulated shaft is horizontal direction, the company of unloading Joint chair is used for fixation surgical instrument.
- 2. the surgery mechanical arm according to claim 1 with antibacterial functions, it is characterised in that on the 3rd pivoted arm Equipped with the passage for placing telescopic arm, the 3rd pivoted arm is equipped with the linking arm that a control telescopic arm stretches（401）, it is described One end of linking arm is connected with telescopic arm, and the other end is hinged on the second pivoted arm（3）On.
- 3. the surgery mechanical arm according to claim 2 with antibacterial functions, it is characterised in that set on the telescopic arm There is a deck（502）, spring is equipped between deck and the 3rd pivoted arm（501）.
- 4. the surgery mechanical arm according to claim 3 with antibacterial functions, it is characterised in that on first pivoted arm Equipped with a hinged axis channel being distributed along vertical direction, the articulated shaft of first pivoted arm is located in hinged axis channel simultaneously And it can be moved up and down along hinged axis channel.
- 5. the surgery mechanical arm according to claim 4 with antibacterial functions, it is characterised in that the telescopic shaft is located at One end of first pivoted arm is connected with motor, and the motor is located in the first pivoted arm, the telescopic shaft and the second pivoted arm screw thread Connection, drives telescopic shaft to rotate to control the first pivoted arm to be moved along articulated shaft channel direction by motor.
- 6. there is the surgery mechanical arm of antibacterial functions according to claim 1-5 any one of them, it is characterised in that surgery mechanical The top layer of arm is coated with one layer of polymeric antimicrobial coating by electrostatic spinning, and the thickness of polymer antimicrobial coating is 10-100 μm.
- 7. the surgery mechanical arm according to claim 6 with antibacterial functions, it is characterised in that the polymer antibacterial Coating is a kind of makrolon multi-monomer grafting polymer, and the grafted monomers include unsaturated containing phenyl ring or pyridine ring Silane and acrylonitrile monemer.
- 8. the surgery mechanical arm according to claim 1 with antibacterial functions, it is characterised in that the unsaturated silane Monomer is selected from：Triple phenoxyl vinyl silanes, 3- chloropropyl dimethylvinylsiloxies base silane, triphenyl vinyl silane, dimethyl Phenylethylene base silane, dimethyl (2- pyridine radicals) vinyl silanes.
- 9. the surgery mechanical arm according to claim 2 with antibacterial functions, it is characterised in that the polymer and connect Branch raw material monomer parts by weight are as follows：100 parts of makrolon, 5-20 parts of unsaturated silane monomer, 5-20 parts of acrylonitrile monemer.
- 10. the surgery mechanical arm according to claim 3 with antibacterial functions, it is characterised in that the polymer applies The preparation method of layer is as follows：Step A：Unsaturated silane, acrylonitrile are uniformly mixed；Step B:Makrolon is melted in rheometer；Step C：Mixture and initiator after step A are added in rheometer, react 5 min -10min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711324994.2A CN107961075A (en) | 2017-12-13 | 2017-12-13 | A kind of surgery mechanical arm with antibacterial functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711324994.2A CN107961075A (en) | 2017-12-13 | 2017-12-13 | A kind of surgery mechanical arm with antibacterial functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107961075A true CN107961075A (en) | 2018-04-27 |
Family
ID=61994477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711324994.2A Withdrawn CN107961075A (en) | 2017-12-13 | 2017-12-13 | A kind of surgery mechanical arm with antibacterial functions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020042124A1 (en) * | 2018-08-30 | 2020-03-05 | Abb Schweiz Ag | Structural member of robot, robot, and associated manufacturing method |
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| CN203763142U (en) * | 2014-02-19 | 2014-08-13 | 孙永全 | Neurosurgical retractor |
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| CN205814426U (en) * | 2016-05-14 | 2016-12-21 | 孟阔 | A kind of surgery mechanical claw |
| CN106632864A (en) * | 2016-12-05 | 2017-05-10 | 彭州市运达知识产权服务有限公司 | HDPE multi-monomer graft polymer and preparation method thereof |
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Patent Citations (8)
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| CN103108895A (en) * | 2010-09-17 | 2013-05-15 | 沙伯基础创新塑料知识产权有限公司 | Polycarbonate graft copolymers |
| CN202169592U (en) * | 2011-06-08 | 2012-03-21 | 北京诚志北分机电技术有限公司 | Radiation-shielding mechanical arm |
| CN202592385U (en) * | 2012-04-09 | 2012-12-12 | 株洲市中成机械制造有限公司 | Numerical control flexible mechanical arm device with six degrees of freedom |
| CN103551055A (en) * | 2013-11-01 | 2014-02-05 | 中国海诚工程科技股份有限公司 | Modifying method of cellulose acetate filtration membrane |
| CN203763142U (en) * | 2014-02-19 | 2014-08-13 | 孙永全 | Neurosurgical retractor |
| CN105196308A (en) * | 2015-10-23 | 2015-12-30 | 王海平 | Multifunctional hydraulic mechanical arm |
| CN205814426U (en) * | 2016-05-14 | 2016-12-21 | 孟阔 | A kind of surgery mechanical claw |
| CN106632864A (en) * | 2016-12-05 | 2017-05-10 | 彭州市运达知识产权服务有限公司 | HDPE multi-monomer graft polymer and preparation method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020042124A1 (en) * | 2018-08-30 | 2020-03-05 | Abb Schweiz Ag | Structural member of robot, robot, and associated manufacturing method |
| CN111770818A (en) * | 2018-08-30 | 2020-10-13 | Abb瑞士股份有限公司 | Structural member of robot, robot and related manufacturing method thereof |
| CN111770818B (en) * | 2018-08-30 | 2024-03-08 | Abb瑞士股份有限公司 | Structural member of robot, and related manufacturing method |
| US11958186B2 (en) | 2018-08-30 | 2024-04-16 | Abb Schweiz Ag | Structural member of robot, robot, and associated manufacturing method |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180427 |
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| WW01 | Invention patent application withdrawn after publication |