CN108113754B - A kind of surgical instrument fixation kit and operating robot - Google Patents
A kind of surgical instrument fixation kit and operating robot Download PDFInfo
- Publication number
- CN108113754B CN108113754B CN201810113234.5A CN201810113234A CN108113754B CN 108113754 B CN108113754 B CN 108113754B CN 201810113234 A CN201810113234 A CN 201810113234A CN 108113754 B CN108113754 B CN 108113754B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- button
- mounting base
- rod
- fixture block
- 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.)
- Expired - Fee Related
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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of surgical instrument fixation kit and operating robots, belong to surgical operating instrument field, it applies on operating robot, can adequately apply in the surgical operations such as laparoscopic minimally invasive surgery, oncology, neurosurgery, stomach surgery, Urology Surgery, cardiothoracic surgery, department of cardiovascular surgery, Breast Surgery, liver and gall surgical department.
Description
Technical field
The present invention relates to surgical medical equipment fields.
Background technique
Robotic surgical system is the synthesis for integrating multinomial modern high tech method.Be mainly used for department of cardiac surgery and
Prostatectomy.Surgeon, which may be located remotely from operating table and operate machine, to perform the operation, and is totally different from traditional operation concept,
It is undisputed revolutionary Surigical tool in world minimally invasive surgery field.On April 4th, 2014, Central South University Hunan refined three
The country of hospital takes the lead in carrying out domestic operating robot gastric perforation neoplasty and appendectomy.
Operating robot is usually the end that surgical instruments such as Clip Applier, electric coagulation knife etc. is mounted on to operating robot, directly
It connects and carries out corresponding operation in sufferer, if attached drawing 1 is a kind of end-effector of robot, which includes and machine
The mounting base 3 of people's connection, sets that there are two through-holes on mounting base, further includes having a fixed plate 101, one end of fixed plate connects
The screw rod 103 for being connected to a motor 102 and being connected to motor is cased with nut 201 on screw rod, and nut is connected with a mounting base
202, mounting base and screw rod are each passed through two through-holes on mounting base, are limited by through-hole, and motor 102 rotates, just
It is mobile to can control mounting base, and the device is fixed by the connecting rod 4 being fixed on mounting base, it is general by normal
The modes such as welding, the nut fixation of rule.This fixed form has the following problems:
1. very inconvenient when disassembly and installation；
2. since connecting rod is rigid, the operation that the vibration of robot is transmitted as readily to mounting base end executes equipment,
Influence its accurate positionin；
3. being difficult accurately to adjust when needing adjustment fixing plate position.
Summary of the invention
It is an object of the invention to: in view of the above problems, provide a kind of surgical instrument fixation kit, include with
The mounting base of robot connection, sets that there are two through-holes on mounting base, further includes having a fixed plate, one end of fixed plate connects
The screw rod for being connected to a motor and being connected to motor, is cased with nut on screw rod, and nut is connected with a mounting base, mounting base and
Screw rod is each passed through two through-holes on mounting base, is limited by through-hole, motor rotation, so that it may control mounting base shifting
Dynamic, fixed plate is fixedly connected by connecting rod with mounting base, and inventive point of the invention is, mounting base is equipped with a company
The channel that extension bar passes through, mounting base side are equipped with a mounting groove, and the channel passes through mounting groove, and being equipped in mounting groove can
With the mounting blocks of taking-up, multiple card slots are distributed in the radial direction that connecting rod is located in mounting groove, are equipped with and are used among mounting blocks
The center trace that connecting rod passes through, mounting blocks are equipped with an operating cavity, and operating cavity is hinged with operation rod, operation rod connection
There is button, the part of button control operation bar assembly is deep into the card slot of the connecting rod of center trace.
As an improvement, the operation rod includes second drive rod hinged with button, the second drive rod and second
The free end of fixture block is hinged, and the second fixture block fixing end is hinged in operating cavity, and the second fixture block is equipped with clamp, and button passes through control the
The free end of two fixture blocks further controls clamp and enters in the card slot of central passage.
As an improvement, the second fixture block, which also passes through the first drive rod, is connected with the first fixture block, the first fixture block, which is equipped with, to be entered
Card slot there are two being set on same sagittal plane in the card slot card slot of central passage, in connecting rod.
As an improvement, the part of the button is located in the button slot being connected to operating cavity, restricted press is covered on button
The second spring that button is moved towards operating cavity, the both ends of second spring limited block of advocating peace respectively with card are connect, and limited block button is solid
Connection, button can pass through card column, and card column is mounted block limit.
As an improvement, connecting rod includes the second connecting rod and the third connecting rod across mounting blocks, the second connecting rod and
Folder is loaded with the first spring between three connecting rods, and third connecting rod is equipped with portable pillar, and the end of portable pillar is equipped with movable head, and second
It is connected with the conduit for placing movable head, movable head is limited to channel floor and controls spring-compressed, and movable head is restricted to only
It can be moved along the axial direction of the second connecting rod.
As an improvement, channel floor and the second connecting rod bottom are equipped with the portable pillar channel for placing portable pillar, movable head is
The conduit section for placing portable pillar is regular hexagon structure.
As an improvement, the second connecting rod is also connected with first connecting rod, the fixation of first connecting rod and fixation surgical instrument
Plate connection.
The vibration disclosed by the invention that robot can be reduced to surgical instrument, while facilitating installation, stability is high.
Detailed description of the invention
Fig. 1 is prior art design drawing；
Fig. 2 is whole design figure of the invention；
Fig. 3 is the design drawing of connecting rod and mounting blocks；
Fig. 4 is the sectional view of mounting blocks connecting rod；
Fig. 5 is the separated schematic diagram of each component；
Fig. 6 is the separated schematic diagram of each component；
Marked in the figure: 101- fixed plate, 102- motor, 103- screw rod, 201- nut, 202- mounting base, 3- mounting base,
301- mounting groove, 4- connecting rod, 401- first connecting rod, the second connecting rod of 402-, the first spring of 403-, 404- portable pillar,
405- third connecting rod, 406- card slot, 501- mounting blocks, the first fixture block of 502-, the first drive rod of 503-, the second fixture block of 504-,
The second drive rod of 505-, 506- button, 507- card column, 508- second spring, 509- limited block.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.
Specific embodiment 1: it as shown in figures 1 to 6, present embodiment discloses a kind of surgical instrument mounting assembly, is used to pacify
Assembling device is connected on the mounting base 3 of operating robot, and mounting device is for installing surgical instrument, the mounting assembly packet
The connecting rod being connected on mounting base 34 is included, mounting base 3 is equipped with the channel that a connecting rod 4 passes through, installation
Bottom panel side is equipped with a mounting groove 301, and the channel passes through mounting groove 301, is equipped with the peace that can be taken out in mounting groove 301
Block 501 is filled, connecting rod is located at the radial direction in mounting groove, and that multiple card slot 406(are distributed with is as shown in Figure 3) it sets among mounting blocks
There is the center trace passed through for connecting rod, mounting blocks are equipped with an operating cavity, and operating cavity is hinged with operation rod, operating stick group
Part is connected with button 506, and the part of button control operation bar assembly is deep into the card slot 406 of the connecting rod positioned at center trace.
When in use, operating stick can be controlled by control button corresponding component is caught in card slot 406, or
Person removes from card slot, as shown in Figure 4.The card slot is sequentially distributed in connecting rod 4 generally along axial as several
, when needing to adjust the installation site of connecting rod 4, it is only necessary to be caught in operating stick in the card slot in axially different direction.
Several single some orientation for being caught in connecting rod 4, connecting rod 4 are easy unstable, are also easily damaged operating stick
Component, in order to solve this problem, in a preferred approach, operation rod includes and button 506) hinged the second drive rod
505, the free end of the second drive rod and the second fixture block is hinged, and the second fixture block fixing end is hinged in operating cavity, and the second fixture block is set
There is clamp, button further controls the card slot that clamp enters central passage, the second fixture block by the free end of the second fixture block of control
It also is connected with the first fixture block by the first drive rod (503), the first fixture block, which is equipped with, to be entered in the card slot card slot of central passage,
There are two being set on same sagittal plane in connecting rod card slot (406).The size of clamp can be less than card slot, can also be with card slot base
This is identical, is combined into principle can stablize to match with card slot.In a preferred approach, using similar with fan-shaped structure, so that
Clamp is more easily inserted into card slot.Two different card slots thus only need an operation that can incite somebody to action in opposite position
Two clamps are caught in card slot, and mutually motor coordination is consistent, and the first drive rod 503 is hinged with two fixture blocks respectively.
When fixture block is caught in card slot, although there is the pressure controller of connecting rod not skid off from card slot, in order to
It is more stable, it is equipped with a device, so that under normal circumstances, strip is caught in card slot, in the case where external force
It can be skidded off from card slot, in order to reach this effect, the part of button 506 is located in the button slot being connected to operating cavity, button
On be cased with the second spring 508 that limit button is moved towards operating cavity, the both ends of second spring respectively with card main 507 and limited block
509 connections, limited block button connect firmly, and button can pass through card column, and card column is mounted block limit.It is this when in use, press
Firmly button, fixture block will be skidded off from card slot, and unclamping can reset again, and stability is high, easy to operate.
The connecting rod can be the rigid connecting rod of an entirety, be also possible to a flexible jointing-rod when simultaneously,
When flexible jointing-rod can not be full flexible, if connection rod pressure is more than to be flexible under certain value, lower than this
It is rigid, will have the effect of splendid under value.If because full flexible, instability problem will be led to, if completely
Rigidity, rigid bring vibration problems can not be reduced.In order to reach this effect.To the improved preferred embodiment of connecting rod
In, connecting rod 4 includes the second connecting rod 402 and the third connecting rod 405 across mounting blocks, the second connecting rod and third connecting rod
Between folder be loaded with the first spring 403, third connecting rod is equipped with portable pillar 404, and the end of portable pillar is equipped with movable head, and second connects
It is equipped with the conduit for placing movable head, movable head is limited to channel floor and controls spring-compressed, and movable head is restricted to be only capable of
It is enough to be moved along the axial direction of the second connecting rod.When the compressing force for giving spring preparatory is F, in the case where not considering gravity, when
Keep axial opposing stationary when the axial force that connecting rod receives is less than F, between second and third connecting rod, when axial force is big
When F, spring can further compress, second and third pitman shaft it is dynamic to relatively light micro-shifting subtract so that connecting rod has
Shake effect.
In order to avoid second and the mutual radial rotating of third connecting rod, can be controlled using kinds of schemes, at one
In preferred embodiment, channel floor and the second connecting rod bottom are equipped with the portable pillar channel for placing portable pillar, and movable head is to put
The conduit section for setting portable pillar is regular hexagon structure.
When in use, be capable of adjustment spring preparatory compressing force will be it is splendid, in order to reach this effect, movable head
Belong to dismountable connection with portable pillar, and can control axial position of the movable head in portable pillar, can such as pass through screw thread
Movable head, can also be fixed in portable pillar by connection by a nut.
In order to reach condition movable head and portable pillar, this conduit must be external connection, so further
In scheme, the second connecting rod is also connected with first connecting rod 401, the company of fixed plate 101 of first connecting rod and fixation surgical instrument
It connects, the second connecting rod passes through the devices such as screw and nut and the connection of the second connecting rod.
It connecting rod this hard and soft and can be separated with design and the design of mounting blocks 501 of the invention in the present invention
It is independently operated, and is shared as mounting blocks can match with the connecting rod of rigidity, hard and soft connecting rod can be conventional mounting structure and use.
If be used cooperatively, will have the effect of it is splendid because card slot is intermittent discrete, the installation site of best fixture block sometimes
Between two adjacent card slots, according to connection rod structure of the invention, by effective solution this problem.
It is used to that a rod structure is fixed on one in the case of medical instrument in connecting rod and mounting blocks of the invention
On platform, in a specific installation embodiment, such as a device in background technique, connecting rod and a fixed plate 101
It connects, the screw rod 103 that one end of fixed plate is connected with a motor 102 and is connected to motor, is cased with nut 201 on screw rod,
Nut is connected with a mounting base 202, which includes the mounting base 3 connecting with robot, and mounting base is equipped with two
A through-hole, mounting base and screw rod are each passed through two through-holes on mounting base, are limited by through-hole, and motor 102 rotates,
Mounting base movement can be controlled to determine, and then it is mobile to control the surgical instrument in mounting base.When the dress using design of the invention
It postpones, enhanced convenience is installed, and mounting distance can be adjusted according to the size and human body of surgical instrument, while reducing machine
Vibration of the people to surgical instrument.
The invention also discloses a kind of Cu alloy materials, are used to prepare component of the invention, especially prepare fixed plate, spiral shell
Bar, mounting base, connecting rod, the copper alloy include 100 parts of copper, 1-5 parts of zinc, 0.1-1 parts of cobalt, gallium 0.1-1 according to mass parts
Part, it is 0.1-1 parts of lanthanum, 0.1-1 parts of cerium, 1-5 parts of selenium, 0.1-1 parts of tin, 0.1-1 parts silver-colored, wherein the step of preparing are as follows: by 99% or more
Vacuum melting furnace is added in high-purity electrolytic copper, and alloying element is added in vacuum fusion, cools down ingot casting later, prepares required material
Material.In a preferred embodiment, using 100 parts, 1 part of zinc, 0.1 part of cobalt, 0.1 part of gallium, 0.1 part of lanthanum, 1 part of cerium, 5 parts of selenium, tin
0.1 part, the bending strength of 0.1 part of silver, the product of prepared alloy material preparation reaches 1400Mpa or more, and hardness reaches
450HV or more, deforms small when receiving external force, can satisfy the requirement of operating robot high precision.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Claims (3)
1. a kind of surgical instrument fixation kit includes the mounting base (3) connecting with robot, set on mounting base there are two
Through-hole further includes having a fixed plate (101), and one end of fixed plate is connected with a motor (102) and is connected to motor
Screw rod (103) is cased with nut (201) on screw rod, and nut is connected with a mounting base (202), and mounting base and screw rod are each passed through
Two through-holes on mounting base, are limited by through-hole, motor (102) rotation, so that it may mounting base movement is controlled, it is fixed
Plate (101) is fixedly connected by connecting rod (4) with mounting base (3), which is characterized in that mounting base (3) is equipped with a company
The channel that extension bar (4) passes through, mounting base side are equipped with a mounting groove (301), and the channel passes through mounting groove (301),
The mounting blocks (501) that can be taken out are equipped in mounting groove (301), the axial directional distribution that connecting rod is located in mounting groove there are 3 pairs
Card slot, mounting blocks centre are equipped with the center trace passed through for connecting rod, and mounting blocks are equipped with an operating cavity, and operating cavity is hinged with behaviour
Make bar assembly, operation rod is connected with button (506), and the part of button control operation bar assembly is deep into positioned at center trace
In the card slot (406) of connecting rod；
First fixture block is connected with the second fixture block by the first drive rod (503), and the first fixture block can enter the card slot of central passage
In, a pair of card slot is equipped in connecting rod on same sagittal plane；
The operation rod includes second drive rod (505) hinged with button (506), the second drive rod and the second fixture block
Free end it is hinged, the second fixture block fixing end is hinged in operating cavity, the second fixture block be equipped with clamp, button by control second card
The free end of block further controls clamp and enters in the card slot of central passage；
Connecting rod (4) includes first connecting rod (401), the second connecting rod (402) and the third connecting rod across mounting blocks
(405), folder is loaded with the first spring (403) between the second connecting rod and third connecting rod, and third connecting rod is equipped with portable pillar
(404), the end of portable pillar is equipped with movable head, and the second connecting rod is equipped with the conduit for placing movable head, and movable head is limited to conduit
Bottom simultaneously controls the first spring-compressed, and movable head is restricted to only move along the axial direction of the second connecting rod；
The part of the button (506) is located in the button slot being connected to operating cavity, and limit button is cased on button towards behaviour
Make the second spring (508) of chamber movement, the both ends of second spring are connect with card column (507) and limited block (509) respectively, limited block
It is connected firmly with button, button can pass through card column, and card column is mounted block limit.
2. surgical instrument fixation kit according to claim 1, which is characterized in that channel floor and the second connecting rod bottom
Equipped with the portable pillar channel for placing portable pillar, movable head and the conduit section for placing portable pillar are regular hexagon structure.
3. surgical instrument fixation kit according to claim 2, which is characterized in that the second connecting rod is also connected with the first company
The fixed plate (101) of extension bar (401), first connecting rod and fixation surgical instrument connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113234.5A CN108113754B (en) | 2018-02-05 | 2018-02-05 | A kind of surgical instrument fixation kit and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113234.5A CN108113754B (en) | 2018-02-05 | 2018-02-05 | A kind of surgical instrument fixation kit and operating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108113754A CN108113754A (en) | 2018-06-05 |
| CN108113754B true CN108113754B (en) | 2019-02-01 |
Family
ID=62233468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810113234.5A Expired - Fee Related CN108113754B (en) | 2018-02-05 | 2018-02-05 | A kind of surgical instrument fixation kit and operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108113754B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201959398U (en) * | 2011-02-25 | 2011-09-07 | 钊文菊 | Vaginal dilator |
| US10292779B2 (en) * | 2015-11-23 | 2019-05-21 | Sina Robotics And Medical Innovators Co. | Adapting manual laparoscopic surgical instruments for robotic telesurgery applications |
| CN106308940B (en) * | 2016-09-12 | 2018-11-02 | 苏州大学 | Quick-change mechanism and method for tail end tool of orthopedic surgery auxiliary robot |
| CN107334539B (en) * | 2017-07-31 | 2021-04-13 | 成都博恩思医学机器人有限公司 | Surgical instrument of surgical robot and surgical robot |
| CN107595394B (en) * | 2017-09-29 | 2024-02-23 | 重庆金山医疗机器人有限公司 | Surgical instrument quick-change mechanism |
-
2018
- 2018-02-05 CN CN201810113234.5A patent/CN108113754B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108113754A (en) | 2018-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107307909B (en) | A kind of intervention robot remote operating system | |
| CN204520822U (en) | A kind of interchangeable cartridge device for surgical stapling device | |
| CN110870793B (en) | Mechanical arm, minimally invasive surgery robot and manufacturing method of robot | |
| CN209136865U (en) | A kind of robot is from end device, operating system | |
| KR101630794B1 (en) | Surgical robot system and active guide unit therewith | |
| CN107949338A (en) | Surgical end effector with mechanical dominance | |
| CN108143496B (en) | A kind of surgical instrument mounting assembly and operating robot | |
| CN108042207B (en) | A kind of surgical instrument connection component and operating robot | |
| EP3175798A1 (en) | Powered endoscopic suturing device | |
| CN108113754B (en) | A kind of surgical instrument fixation kit and operating robot | |
| CN207979770U (en) | A kind of intervention operation robot is from end and its mobile platform | |
| CN108210076B (en) | Surgical instrument positioning component used in a kind of laparoscopic surgery | |
| CN207979771U (en) | A kind of intervention operation robot is from end device and its operating platform | |
| CN114948231A (en) | Double-slider electric lead screw device for single-arm coaxial surgical robot | |
| CN208864468U (en) | The adjustable sighting device of distal end positioned parallel platform | |
| CN107550570B (en) | A kind of intervention operation robot guidewire controller and its control method | |
| CN108175509B (en) | A kind of surgical operation robot operating side mobile device | |
| CN108210077B (en) | Surgical instrument mounting assembly used in a kind of laparoscopic surgery | |
| CN208876727U (en) | Shin bone adjustable tape lock intramedullary nail sighting device | |
| CN208426202U (en) | The multi-direction adjustable fixer in proximal end | |
| CN208864471U (en) | The pre- clamping and positioning device of limit adjustable | |
| CN110897699B (en) | Fixing device of rib bone fracture plate | |
| CN108030552B (en) | A kind of surgical instrument fixing device and operating robot | |
| CN106308864B (en) | The asymmetric annular cutting anastomat of tooth trace | |
| CN118370587B (en) | Pedicle screw locator and auxiliary targeting device |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181211 Address after: Room 1011, 1st floor, Building No. 185, Zhongzhen Road, Jinshan District, Shanghai, 2010 Applicant after: Shanghai Yinyi Technology Co., Ltd. Address before: 610000 South Keyuan Road, Chengdu High-tech Zone, Sichuan Province, 2 Applicant before: Liu Chenbang |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190201 Termination date: 20200205 |