CN108143492A - A kind of operating robot nipper - Google Patents
A kind of operating robot nipper Download PDFInfo
- Publication number
- CN108143492A CN108143492A CN201711324954.8A CN201711324954A CN108143492A CN 108143492 A CN108143492 A CN 108143492A CN 201711324954 A CN201711324954 A CN 201711324954A CN 108143492 A CN108143492 A CN 108143492A
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- Prior art keywords
- nipper
- operating robot
- polymer
- hinged
- arm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- 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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Surgery (AREA)
- Wood Science & Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Materials Engineering (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Organic Chemistry (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Plant Pathology (AREA)
- Materials For Medical Uses (AREA)
Abstract
A kind of operating robot nipper, the nipper include a central shaft 701, and center shaft end is hinged with three gripping arms 702, there are one portable pillars 703 for set on central shaft, portable pillar can be moved above along central shaft, and connecting rod 704 is hinged in portable pillar, and the other end of connecting rod and gripping arm are hinged.
Description
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.
Invention content
It is an object of the invention to：In view of the above problems, a kind of operating robot is provided to include：
Pedestal, the pedestal are fixed or are placed on the ground；
First pivoted arm, first pivoted arm are connected with base rotation, can along vertical direction be rotated with pedestal；
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 move 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；
Third pivoted arm, the third pivoted arm and the second pivoted arm are hinged, and articulated shaft is horizontal direction；
Telescopic arm, the telescopic arm are connected with third pivoted arm, and the telescopic arm can be along the axial direction phase of telescopic arm
It stretches for third 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, increases 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 third pivoted arm is equipped with for the channel of placing telescopic arm, set on third 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 decks, and spring is equipped between deck and third 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, telescopic shaft rotation is driven by motor and then 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 side protecting cover schematic diagram；
Fig. 4 is roll wheel assembly；
Fig. 5 is side protecting cover schematic diagram；
Fig. 6 is shell schematic diagram；
Fig. 7 is shell schematic diagram；
Fig. 8 is inner casing schematic diagram；
Fig. 9 is the schematic diagram of inner body；
Figure 10 is motor schematic diagram；
Figure 11 is frame assembly schematic diagram；
Figure 12 is spud pile schematic diagram；
Figure 13 is seat schematic diagram；
Figure 14 is seat guard bar schematic diagram；
Figure 15 is foot-operated control plane schematic diagram；
Figure 16 operation console schematic diagrames；
Figure 17 is operation console fixed seat schematic diagram；
It is marked in figure：1- pedestals, the first pivoted arms of 2-, 201- telescopic shafts, the second pivoted arms of 3-, 4- third pivoted arms, 401- linking arms, 5-
Telescopic arm, 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 are placed on the ground；
First pivoted arm 2, first pivoted arm and pedestal 1 are rotatablely connected, and can along vertical direction be rotated with pedestal；
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 move 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；
Third pivoted arm 4, the third pivoted arm and the second pivoted arm are hinged, and articulated shaft is horizontal direction；
Telescopic arm 5, the telescopic arm are connected with third pivoted arm, and the telescopic arm can be along the axial direction phase of telescopic arm
It stretches for third 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.
The third pivoted arm is equipped with for the channel of placing telescopic arm, sets that there are one control telescopic arms on third 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, equipped with spring 501 between deck and third 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 drive telescopic shaft rotation by motor 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.
Mixture of the initiator for benzoyl peroxide and cumyl peroxide, molar ratio 1:1.5.It is described
The melting time of step B is 1-5min.
Claims (6)
1. a kind of operating robot nipper, which is characterized in that the nipper includes a central shaft 701, center shaft end hinge
It connects there are three gripping arm 702, there are one portable pillars 703, portable pillar to be moved above along central shaft for set on central shaft, portable pillar
On be hinged with connecting rod 704, the other end of connecting rod and gripping arm are hinged.
2. operating robot nipper according to claim 1, which is characterized in that smeared by electrostatic spinning on nipper surface layer
There is one layer of polymeric antimicrobial coating, the thickness of polymer antimicrobial coating is 10-100 μm.
3. operating robot nipper according to claim 2, which is characterized in that the polymer antimicrobial coating is a kind of
Makrolon multi-monomer grafting polymer, the grafted monomers are included containing phenyl ring or pyridine ring unsaturated silane and propylene
Nitrile monomer.
4. operating robot nipper according to claim 3, which is characterized in that the unsaturated silane monomer is selected from：
Triple phenoxyl vinyl silanes, 3- chloropropyl dimethylvinylsiloxies base silane, triphenyl vinyl silane, 3,5-dimethylphenyl vinyl
Silane, dimethyl (2- pyridyl groups) vinyl silanes.
5. operating robot nipper according to claim 2, which is characterized in that the polymer and grafted monomers raw material
Parts by weight are as follows：100 parts of makrolon, 5-20 parts of unsaturated silane monomer, 5-20 parts of acrylonitrile monemer.
6. operating robot nipper according to claim 3, which is characterized in that the preparation method of the polymer coating
It 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 |
|---|---|---|---|
| CN201711324954.8A CN108143492A (en) | 2017-12-13 | 2017-12-13 | A kind of operating robot nipper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711324954.8A CN108143492A (en) | 2017-12-13 | 2017-12-13 | A kind of operating robot nipper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108143492A true CN108143492A (en) | 2018-06-12 |
Family
ID=62467062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711324954.8A Withdrawn CN108143492A (en) | 2017-12-13 | 2017-12-13 | A kind of operating robot nipper |
Country Status (1)
| Country | Link |
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| CN (1) | CN108143492A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN203619719U (en) * | 2013-12-29 | 2014-06-04 | 周庆民 | Animal gripper |
| CN205148317U (en) * | 2015-10-29 | 2016-04-13 | 余忠林 | Intelligent robot grabbing device |
| CN106473795A (en) * | 2016-09-21 | 2017-03-08 | 东莞市联洲知识产权运营管理有限公司 | A kind of operation Zhong Qu thing robot |
| 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 |
-
2017
- 2017-12-13 CN CN201711324954.8A patent/CN108143492A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN203619719U (en) * | 2013-12-29 | 2014-06-04 | 周庆民 | Animal gripper |
| CN205148317U (en) * | 2015-10-29 | 2016-04-13 | 余忠林 | Intelligent robot grabbing device |
| CN106473795A (en) * | 2016-09-21 | 2017-03-08 | 东莞市联洲知识产权运营管理有限公司 | A kind of operation Zhong Qu thing robot |
| 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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| 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: 20180612 |
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| WW01 | Invention patent application withdrawn after publication |