CN107970068A - A kind of operating robot - Google Patents

A kind of operating robot Download PDF

Info

Publication number
CN107970068A
CN107970068A CN201711325191.9A CN201711325191A CN107970068A CN 107970068 A CN107970068 A CN 107970068A CN 201711325191 A CN201711325191 A CN 201711325191A CN 107970068 A CN107970068 A CN 107970068A
Authority
CN
China
Prior art keywords
pivoted arm
arm
telescopic
hinged
shaft
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.)
Withdrawn
Application number
CN201711325191.9A
Other languages
Chinese (zh)
Inventor
孙帝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Zhi Chuang Space Incubator Management Co Ltd
Original Assignee
Sichuan Zhi Chuang Space Incubator Management Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sichuan Zhi Chuang Space Incubator Management Co Ltd filed Critical Sichuan Zhi Chuang Space Incubator Management Co Ltd
Priority to CN201711325191.9A priority Critical patent/CN107970068A/en
Publication of CN107970068A publication Critical patent/CN107970068A/en
Withdrawn legal-status Critical Current

Links

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
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08F—MACROMOLECULAR COMPOUNDS OBTAINED BY REACTIONS ONLY INVOLVING CARBON-TO-CARBON UNSATURATED BONDS
    • C08F283/00—Macromolecular compounds obtained by polymerising monomers on to polymers provided for in subclass C08G
    • C08F283/02—Macromolecular compounds obtained by polymerising monomers on to polymers provided for in subclass C08G on to polycarbonates or saturated polyesters
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D151/00—Coating compositions based on graft polymers in which the grafted component is obtained by reactions only involving carbon-to-carbon unsaturated bonds; Coating compositions based on derivatives of such polymers
    • C09D151/08—Coating compositions based on graft polymers in which the grafted component is obtained by reactions only involving carbon-to-carbon unsaturated bonds; Coating compositions based on derivatives of such polymers grafted on to macromolecular compounds obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
    • C09D5/14—Paints containing biocides, e.g. fungicides, insecticides or pesticides
    • 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

Landscapes

  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Organic Chemistry (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Materials Engineering (AREA)
  • Biomedical Technology (AREA)
  • Wood Science & Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Plant Pathology (AREA)
  • Polymers & Plastics (AREA)
  • Medicinal Chemistry (AREA)
  • Materials For Medical Uses (AREA)

Abstract

A kind of operating robot, 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

A kind of operating robot
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 operating robot includes：
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；
Nipper, the nipper include a central shaft, and center shaft end is hinged with three gripping arms, a work is cased with central shaft Dynamic column, portable pillar can be moved above along central shaft, and connecting rod, the other end of connecting rod and gripping arm hinge are hinged with portable pillar Connect.
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.
Nipper disclosed by the invention can accurately catch the respective organization of operative site, and convenient control.
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；
Fig. 3 is the structure diagram of nipper；
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, 7- nippers, 701- central shafts, 702- gripping arms, 703- portable pillars, 704- connecting rods.
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 operating robot, 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；
Nipper 7, the nipper include a central shaft 701, and center shaft end is hinged with three gripping arms 702, is covered on central shaft There is a portable pillar 703, portable pillar can be moved above along central shaft, and connecting rod 704 is hinged with portable pillar, connecting rod The other end and gripping arm are hinged.
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..
Operating robot according to claim 4, it is characterised in that the initiator is selected from benzoyl peroxide first Acyl, 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)

  1. A kind of 1. operating robot, 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；
    Nipper（7）, the nipper includes a central shaft（701）, center shaft end is hinged with three gripping arms（702）, center A portable pillar is cased with axis（703）, portable pillar can move above along central shaft, and connecting rod is hinged with portable pillar （704）, the other end of connecting rod and gripping arm are hinged.
  2. 2. operating robot according to claim 1, it is characterised in that the 3rd pivoted arm is equipped with to be stretched for placement The passage of contracting arm, the 3rd pivoted arm are equipped with the linking arm that a control telescopic arm stretches（401）, one end of the linking arm and Telescopic arm connects, and the other end is hinged on the second pivoted arm（3）On.
  3. 3. operating robot according to claim 2, it is characterised in that the telescopic arm is equipped with a deck （502）, spring is equipped between deck and the 3rd pivoted arm（501）.
  4. 4. operating robot according to claim 3, it is characterised in that first pivoted arm is equipped with one along perpendicular The hinged axis channel of straight directional spreding, the articulated shaft of first pivoted arm are located in hinged axis channel and can be along hinged Axis channel moves up and down.
  5. 5. operating robot according to claim 4, it is characterised in that the telescopic shaft is located at one end of the first pivoted arm Motor is connected with, the motor is located in the first pivoted arm, and the telescopic shaft and the second pivoted arm are threadedly coupled, and pass through motor band Dynamic telescopic shaft rotates and then controls the first pivoted arm to be moved along articulated shaft channel direction.
  6. 6. according to claim 1-5 any one of them operating robots, it is characterised in that the top layer of surgery mechanical arm passes through quiet Electrospun is coated with one layer of polymeric antimicrobial coating, and the thickness of polymer antimicrobial coating is 10-100 μm.
  7. 7. operating robot according to claim 6, it is characterised in that the polymer antimicrobial coating is a kind of poly- carbon Acid esters multi-monomer grafting polymer, the grafted monomers include containing phenyl ring or pyridine ring unsaturated silane and acrylonitrile list Body.
  8. 8. operating robot according to claim 1, it is characterised in that the unsaturated silane monomer is selected from：Triphen Ethoxy ethylene base silane, 3- chloropropyl dimethylvinylsiloxies base silane, triphenyl vinyl silane, 3,5-dimethylphenyl vinyl silicon Alkane, dimethyl (2- pyridine radicals) vinyl silanes.
  9. 9. operating robot according to claim 2, it is characterised in that the polymer and grafted monomers raw material weight Part is as follows：100 parts of makrolon, 5-20 parts of unsaturated silane monomer, 5-20 parts of acrylonitrile monemer.
  10. 10. operating robot according to claim 3, it is characterised in that the preparation method of the polymer coating is such as Under：
    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.
CN201711325191.9A 2017-12-13 2017-12-13 A kind of operating robot Withdrawn CN107970068A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711325191.9A CN107970068A (en) 2017-12-13 2017-12-13 A kind of operating robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711325191.9A CN107970068A (en) 2017-12-13 2017-12-13 A kind of operating robot

Publications (1)

Publication Number Publication Date
CN107970068A true CN107970068A (en) 2018-05-01

Family

ID=62010000

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711325191.9A Withdrawn CN107970068A (en) 2017-12-13 2017-12-13 A kind of operating robot

Country Status (1)

Country Link
CN (1) CN107970068A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110811841A (en) * 2019-12-01 2020-02-21 杨锐 Rotary piece of tumor surgical robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205148315U (en) * 2015-10-15 2016-04-13 天津中科先进技术研究院有限公司 Manipulator for robot
CN206140502U (en) * 2016-11-14 2017-05-03 哈尔滨海鸿基业科技发展有限公司 Three -dimensional universal arm

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205148315U (en) * 2015-10-15 2016-04-13 天津中科先进技术研究院有限公司 Manipulator for robot
CN206140502U (en) * 2016-11-14 2017-05-03 哈尔滨海鸿基业科技发展有限公司 Three -dimensional universal arm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110811841A (en) * 2019-12-01 2020-02-21 杨锐 Rotary piece of tumor surgical robot

Similar Documents

Publication Publication Date Title
US8271130B2 (en) Master controller having redundant degrees of freedom and added forces to create internal motion
KR101276920B1 (en) Power assist control method, power assist controller and reposition device
CN106236276A (en) Surgical robot system
CN110420107B (en) Rope-driven three-degree-of-freedom training robot
EP3294183A1 (en) Torque sensing in a surgical robotic wrist
CN110123457B (en) Variable-stiffness robot for minimally invasive surgery and working method
CN105455902B (en) Robot wrist and operating robot
EP0699053A1 (en) Remote center positioner
US20110264018A1 (en) Universal haptic drive system
CN107970068A (en) A kind of operating robot
CN107296719B (en) A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot
JPWO2004085856A1 (en) Fluid pressure actuator and continuous passive motion apparatus using the same
CN1328018C (en) Main operation hand with clamping force sensation
Just et al. Online adaptive compensation of the ARMin Rehabilitation Robot
Sutapun et al. A 4-DOF upper limb exoskeleton for stroke rehabilitation: kinematics mechanics and control
CN107961075A (en) A kind of surgery mechanical arm with antibacterial functions
Bao et al. Toward cooperation of catheter and guidewire for remote-controlled vascular interventional robot
CN108042204A (en) A kind of removable operating robot
IT201800005431A1 (en) POSITIONING APPARATUS OF A LIMB OF A PATIENT
CN108143492A (en) A kind of operating robot nipper
CN107970067A (en) A kind of titanium alloy operating robot nipper
CN208115052U (en) Exercising apparatus for recovery of upper limb
JP2021519624A (en) Surgical robot system
CN108158650A (en) A kind of surgery mechanical arm
CN107892857A (en) A kind of preparation method of medical eye speculum antimicrobial coating

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20180501

WW01 Invention patent application withdrawn after publication