CN108042204A - A kind of removable operating robot - Google Patents

A kind of removable operating robot Download PDF

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Publication number
CN108042204A
CN108042204A CN201711324963.7A CN201711324963A CN108042204A CN 108042204 A CN108042204 A CN 108042204A CN 201711324963 A CN201711324963 A CN 201711324963A CN 108042204 A CN108042204 A CN 108042204A
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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Withdrawn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
CN201711324963.7A
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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 CN201711324963.7A priority Critical patent/CN108042204A/en
Publication of CN108042204A publication Critical patent/CN108042204A/en
Withdrawn legal-status Critical Current

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L31/00—Materials for other surgical articles, e.g. stents, stent-grafts, shunts, surgical drapes, guide wires, materials for adhesion prevention, occluding devices, surgical gloves, tissue fixation devices
    • A61L31/14—Materials characterised by their function or physical properties, e.g. injectable or lubricating compositions, shape-memory materials, surface modified materials
    • A61L31/16—Biologically active materials, e.g. therapeutic substances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2300/00—Biologically active materials used in bandages, wound dressings, absorbent pads or medical devices
    • A61L2300/20—Biologically active materials used in bandages, wound dressings, absorbent pads or medical devices containing or releasing organic materials
    • A61L2300/216—Biologically active materials used in bandages, wound dressings, absorbent pads or medical devices containing or releasing organic materials with other specific functional groups, e.g. aldehydes, ketones, phenols, quaternary phosphonium groups
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2300/00—Biologically active materials used in bandages, wound dressings, absorbent pads or medical devices
    • A61L2300/40—Biologically active materials used in bandages, wound dressings, absorbent pads or medical devices characterised by a specific therapeutic activity or mode of action
    • A61L2300/404—Biocides, antimicrobial agents, antiseptic agents

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medicinal Chemistry (AREA)
  • Epidemiology (AREA)
  • Vascular Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials For Medical Uses (AREA)
  • Prostheses (AREA)

Abstract

The invention discloses a kind of removable operating robots, belong to field of medical device, including：Pedestal（1）, the pedestal fixes or places on the ground；First pivoted arm（2）, first pivoted arm and pedestal（1）Rotation connection, can rotate with pedestal 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 there are one telescopic shafts for second pivoted arm connection（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 removable operating robot
Technical field
The present invention relates to operating robot fields.
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 for the first time.
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 simultaneously so that mechanical arm limitation of activity in operation.
The content of the invention
It is an object of the invention to：In view of the above problems, providing a kind of operating robot includes：
Pedestal, the pedestal are fixed or placed on the ground；The base bottom is equipped with and can roll and fixed idler wheel.
First pivoted arm, first pivoted arm are connected with base rotation, can be rotated with pedestal 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, second pivoted arm connection there are one 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 It stretches for the 3rd pivoted arm；
Instrument 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, and there are one living for set on 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 in portable pillar It connects.
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 facilitate control.
As an improvement, the 3rd pivoted arm is equipped with to place the passage of telescopic arm, set on the 3rd pivoted arm there are 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, being set on the telescopic arm there are one deck, spring is equipped between deck and the 3rd pivoted arm.
As an improvement, set on first pivoted arm there are one the 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, by motor telescopic shaft is driven to rotate control the first pivoted arm along Articulated shaft channel direction moves.
As an improvement, the surface 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 is included 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- pyridyl groups) 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 a period of time shows that the pathogen of new polymers coating surface remains Amount just corresponds to a ten thousandth rank of operating scissors surface bacteria quantity.
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；
It is marked in figure：1- pedestals, 101- idler wheels, the first pivoted arms of 2-, 201- telescopic shafts, the second pivoted arms of 3-, the 3rd pivoted arms of 4-, 401- Linking arm, 5- telescopic arms, 501- springs, 502- decks, 6- instrument connecting seats, 7- nippers, 701- central shafts, 702- gripping arms, 703- portable pillars, 704- connecting rods.
Specific 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：
Pedestal 1, the pedestal are fixed or place on the ground, and the base bottom is equipped with and can roll and fixed idler wheel 101。
First pivoted arm 2, first pivoted arm and pedestal 1 are rotatablely connected, and can be rotated with pedestal 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, there are one telescopic shaft 201, described is flexible for second pivoted arm connection 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 It stretches for the 3rd pivoted arm；
Instrument 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 are one portable pillar 703, portable pillar can be moved above along central shaft, and connecting rod 704 is hinged in portable pillar, connecting rod The other end and gripping arm are hinged.
3rd pivoted arm is equipped with to place the passage of telescopic arm, sets that there are one control telescopic arms on the 3rd pivoted 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 It is set on telescopic arm there are one deck 502, 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 It is 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 by motor telescopic shaft are driven to rotate to control the first pivoted arm along hinged axis channel It moves in direction.
The surface 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- pyridyl groups) 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, which is characterized 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 removable operating robot, which is characterized in that including：
Pedestal（1）, the pedestal fixes or places on the ground, and the base bottom is equipped with and can roll and fixed rolling Wheel（101）；
First pivoted arm（2）, first pivoted arm and pedestal（1）Rotation connection, can rotate with pedestal 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 there are one telescopic shafts for second pivoted arm connection（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 It stretches compared with the 3rd pivoted arm；
Instrument 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 There are one portable pillars for set on axis（703）, portable pillar can move above along central shaft, and connecting rod is hinged in portable pillar （704）, the other end of connecting rod and gripping arm are hinged.
2. operating robot according to claim 1, which is characterized in that the 3rd pivoted arm is equipped with to be stretched for placing The passage of contracting arm, sets that there are one the linking arms that control telescopic arm stretches on the 3rd pivoted arm（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. operating robot according to claim 2, which is characterized in that deck there are one being set on the telescopic arm （502）, spring is equipped between deck and the 3rd pivoted arm（501）.
4. operating robot according to claim 3, which is characterized in that along perpendicular there are one being set on first pivoted arm 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. operating robot according to claim 4, which is characterized 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 the first pivoted arm is controlled to be moved along articulated shaft channel direction.
6. according to claim 1-5 any one of them operating robots, which is characterized in that the surface 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. operating robot according to claim 6, which is characterized in that the polymer antimicrobial coating is a kind of poly- carbon Acid esters multi-monomer grafting polymer, the grafted monomers are included containing phenyl ring or pyridine ring unsaturated silane and acrylonitrile list Body.
8. operating robot according to claim 1, which is characterized 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- pyridyl groups) vinyl silanes.
9. operating robot according to claim 2, which is characterized 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. operating robot according to claim 3, which is characterized 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.
CN201711324963.7A 2017-12-13 2017-12-13 A kind of removable operating robot Withdrawn CN108042204A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711324963.7A CN108042204A (en) 2017-12-13 2017-12-13 A kind of removable operating robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711324963.7A CN108042204A (en) 2017-12-13 2017-12-13 A kind of removable operating robot

Publications (1)

Publication Number Publication Date
CN108042204A true CN108042204A (en) 2018-05-18

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CN201711324963.7A Withdrawn CN108042204A (en) 2017-12-13 2017-12-13 A kind of removable operating robot

Country Status (1)

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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

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Application publication date: 20180518

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