CN108158659A - A kind of endoscopic surgery robot arm device - Google Patents
A kind of endoscopic surgery robot arm device Download PDFInfo
- Publication number
- CN108158659A CN108158659A CN201810177155.0A CN201810177155A CN108158659A CN 108158659 A CN108158659 A CN 108158659A CN 201810177155 A CN201810177155 A CN 201810177155A CN 108158659 A CN108158659 A CN 108158659A
- Authority
- CN
- China
- Prior art keywords
- piston
- outer tube
- push rod
- parallel bar
- camera
- 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.)
- Granted
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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0281—Abdominal wall lifters
-
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Endoscopes (AREA)
Abstract
The present invention discloses a kind of endoscopic surgery robot arm device,Including surgical procedure mobile phone structure,Camera,Support frame,Piston,Outer tube,Helix tube,Push rod,Surgical procedure mobile phone structure is installed on outer tube front end,Three support frames are uniformly mounted on outer tube lateral wall,Three support frame tops are all provided with there are one camera,Air pipe interface connects extraneous air compressor,Air pipe interface is connected with helix tube,Helix tube is connected with piston,Piston is an entirety with push rod,Push rod is installed on outer tube,And form prismatic pair with outer tube,Push rod moves in the range of push rod chamber,Piston packing ring is equipped between piston and gas storage chamber interior walls,Under the driving of air compressor,Piston and push rod realization move backward,So as to support frame be driven to open support human body inner tissue by strut,Under the image feedback of camera,Guided operation manipulator mechanism is operated.
Description
Technical field
The present invention relates to medical instrument auxiliary device technical fields, and in particular to be a kind of endoscopic surgery mechanical arm dress
It puts.
Background technology
It is applied to clinical medical operating robot system at present and is mostly based on endoscopic surgery principle, is divided into non-invasive procedures
System and minimally invasive surgery system.Noninvasive surgery system by taking the X2Robotic System in the U.S. as an example, operation tool need to lead to
The human body natural's cavity for crossing long and narrow complexity enters patient's body, and operation difficulty is big.Thus single incision operation is in laparoscope hand
Art, thoracoscopic operation field are gradually approved by more people.
The many research institutions of our times are devoted to research single hole endoscope surgery system and achieve certain progress, such as
M.Piccigallo et al. proposes SPRINT systems, which realizes the torsional bending in joint by the micromachine in mechanical arm
Doctor's arm motion is imitated in movement, realizes the single hole endoscope surgery system of a six degree of freedom.Domestic number of patent application is
201410206379.1 single-port laparoscopic minimally-invasive surgery robot system drives the mechanical brachiocylloosis of line driving by Nitinol
It is flexible to wait movement, complete the multivariant motor performance in space.And Yi Shang endoscopic surgery robot arm device is complicated for operation, vision
Feedback unit and the coordination control of surgical procedure unit are difficult, and can be interfered with each other in limited working space.To solve body hand
The problems such as art space is small, visual area exposure difference, is reduced operating difficulty, is generally worked for laparoscopic surgery using artificial pneumoperitoneum
The expansion in space.Artificial pneumoperitoneum is generally built by being filled with carbon dioxide gas to abdominal cavity, and CO2 pneumoperitonium makes gas
Road pressure increases, and it is dissolved in blood circulation system can lead to hypercapnia.
There are some for solution problem above laparoscopic surgery field and exempt from pneumoperitoneum device.Domestic number of patent application is
201220523802.7 laparoscopic surgery exempts from pneumoperitoneum eyelid retractor, and a plurality of steel bar is penetrated abdominal cavity by body surface notch, adjusts steel
Camber forms support domes, to construct larger surgical procedure space.But it, which penetrates process, needs laparoscope to guide,
It is complicated for operation.If the process of penetrating is dealt with improperly, secondary damage may be caused.It, need to be and in addition to the operative incision of endoscopic surgery
Body both sides increase by two complementary procedure notch being used for through steel bar.Considering for security problems is excluded, it is such to exempt from pneumoperitoneum dress
It puts and is applicable only in laparoscopic surgery, it cannot be general for similary narrow thoracoscopic operation operating environment.Therefore it is badly in need of one
Kind novel endoscopic surgery robot arm device solve the problems, such as presently, there are.
Invention content
The purpose of the present invention is to provide a kind of endoscopic surgery robot arm devices, and not only action is simple, easy to use, keeps away
Exempt from mutual interference, can also safely and effectively expand internal surgical workspace, patient will not be made hypercarbia occur
Disease will not cause secondary damage to patient.
The technical solution that the present invention takes is：A kind of endoscopic surgery robot arm device including surgical procedure mobile phone structure, is taken the photograph
As head, support frame, strut, upper control arm, preceding parallel bar, rear parallel bar, piston packing, piston, outer tube, helix tube, gas
Interface tube, rod packing, push rod, it is characterised in that：Outer tube shape be cylindrical-shaped structure, inside be divided into two chambers, lean on
Front end is push rod chamber, is air storage chamber close to rear end, partition board is equipped between two chambers, partition board center is equipped with circular hole, pushes away
Three empty windows are laid on the side wall of bar room, piston is installed in air storage chamber, and it is close between gas storage chamber interior walls to be equipped with piston
Seal, piston rear end center are equipped with blow vent, and front end is set there are four blow vent, four blow vents of piston nose and its rear end
One blow vent in internal piston realizes and connects that push rod front end is laid with three strut connecting seats, and putting back-end is consolidated with piston
Entirety is linked as, push rod is installed in the circular hole at partition board center, and rod packing is equipped between circular-hole internal-wall.
Further, the surgical procedure mobile phone structure is mounted on outer tube front end, and support frame is by upper control arm, preceding parallel
Bar, rear parallel bar composition, three support frames are uniformly mounted on outer tube, each support frame four side parallel with outer tube composition
Shape structure, strut form revolute pair and connect with strut connecting seat, preceding parallel bar respectively, preceding parallel bar respectively with outer tube, upper flat
Row bar forms revolute pair connection, and rear parallel bar forms revolute pair and connect with outer tube, upper control arm respectively.
Further, a camera has been respectively mounted on three support frame tops, front end position is leaned on outer tube
Install the camera accommodating groove of corresponding camera.
Further, the outer tube back-end is equipped with air pipe interface, and air pipe interface one end is connected with helix tube rear end, another
End is connected with the air compressor set by outside, and helix tube is installed in air storage chamber, and the blow vent of its front end and piston rear end
Connection, rear end are connected with air pipe interface.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the schematic diagram after support frame opening in the present invention.
Fig. 3 is partial cutaway schematic of the present invention.
Fig. 4 is the partial cutaway schematic of push rod and piston in the present invention.
Drawing reference numeral：1 surgical procedure mobile phone structure, 2 outer tubes, 2.1 air pipe interfaces, 2.2 camera accommodating grooves, 2.3 empty windows,
Parallel bar, 5 upper control arms, 6 cameras, 7 struts, 8 spirals behind parallel bar, 4 before 2.4 partition boards, 2.5 push rod chamber, 2.6 air storage chambers, 3
Pipe, 9.1 push rods, 9.2 pistons, 9.3 blow vents, 9.4 blow vents, 9.5 strut connecting seats, 10 piston packings.
Specific embodiment
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Fig. 1, Fig. 3, Fig. 4, a kind of endoscopic surgery robot arm device, including surgical procedure mobile phone structure 1, camera
6th, strut 7, upper control arm 5, preceding parallel bar 3, rear parallel bar 4, piston packing 10, piston 9.2, outer tube 2, helix tube 8, tracheae
Interface 2.1, push rod 9.1, it is characterised in that：2 shape of outer tube be cylindrical-shaped structure, inside be divided into two chambers, by front end
It is push rod chamber 2.5, is air storage chamber 2.6 close to rear end, partition board 2.4 is equipped between two chambers, 2.4 center of partition board is equipped with circle
Hole is laid with three empty windows 2.3 on 2.5 side wall of push rod chamber, and piston 9.2 is installed in air storage chamber 2.6, and with air storage chamber 2.6
Piston packing 10 is installed, 9.2 back-end central of piston is equipped with blow vent 9.4, and front end sets that there are four blow vents between inner wall
9.3, four blow vents 9.3 and the blow vent 9.4 of its rear end of 9.2 front end of piston are realized inside piston 9.2 to be connected, and is pushed away
9.1 front end of bar is laid with three strut connecting seats 9.5, and 9.1 rear end of push rod and piston 9.2 are connected as entirety, and push rod 9.1 is installed
In in the circular hole at 2.4 center of partition board, and sealing ring is equipped between circular-hole internal-wall.
As shown in Fig. 2, the surgical procedure mobile phone structure 1 is mounted on 2 front end of outer tube, support frame is by upper control arm 5, preceding
Parallel bar 3, rear parallel bar 4 form, and three support frames are uniformly mounted on outer tube 2, and each support frame is formed with outer tube 2
Parallelogram sturcutre, strut 7 form revolute pair and connect with strut connecting seat 9.5, preceding parallel bar 3 respectively, and preceding parallel bar 3 is distinguished
It forms revolute pair with outer tube 2, upper control arm 5 and connect, rear parallel bar 4 forms revolute pair and connect with outer tube 2, upper control arm 5 respectively.
As shown in Fig. 2, being respectively mounted a camera 6 on three support frame tops, front end is leaned on outer tube 2
Position is equipped with the camera accommodating groove 2.2 of corresponding camera 6.
As shown in figure 3,2 rear end of outer tube is equipped with air pipe interface 2.1,2.1 one end of air pipe interface and 8 rear end of helix tube
It connects, the other end is connected with the air compressor set by outside, and helix tube 8 is set in air storage chamber 2.6, and its front end and blow vent
9.4 connect, and 8 rear end of helix tube is connected with air pipe interface 2.1.
The embodiment of the present invention：
As shown in figure 3, the endoscopic surgery robot arm device (present invention) into during patient's body in collapse shape
State, after reaching surgery location, air compressor is started to work, and compressed air is made to pass through air pipe interface 2.1 and enters helix tube 8, then
By four ventholes 9.3 of 9.2 front end of piston, into air storage chamber 2.6, then the air pressure raising in air storage chamber 2.6, pressure-air
Piston 9.2 and push rod 9.1 is pushed to move backward, and then strut 7, upper control arm 5, preceding parallel bar 3, the rear parallel bar 4 realized
It is dynamic, so as to open three support frames, operative space is provided for surgical procedure mobile phone structure 1 in patient.It is stored up by controlling
The volume of air in gas chamber 2.6 can adjust the working space of surgical procedure mobile phone structure 1 and the field range of camera 6, make doctor
It is raw to obtain ideal visual pattern feedback, so as to smoothly complete surgical procedure.After the completion of operation, support frame collapses, Yi Shengcao
The control present invention makes it exit patient's body.
Claims (4)
1. a kind of endoscopic surgery robot arm device, including surgical procedure mobile phone structure (1), camera (6), strut (7), upper parallel
Bar (5), preceding parallel bar (3), rear parallel bar (4), piston packing (10), piston (9.2), outer tube (2), helix tube (8), tracheae
Interface (2.1), push rod (9.1), it is characterised in that：Outer tube (2) shape be cylindrical-shaped structure, inside be divided into two chambers, lean on
Front end is push rod chamber (2.5), is air storage chamber (2.6) close to rear end, partition board (2.4), partition board are equipped between two chambers
(2.4) center is equipped with circular hole, and three empty windows (2.3) are laid on push rod chamber (2.5) side wall, and piston (9.2) is installed on gas storage
In room (2.6), and piston packing (10) is installed between air storage chamber (2.6) inner wall, piston (9.2) back-end central is equipped with logical
Gas port (9.4), front end are set there are four blow vent (9.3), four blow vents (9.3) of piston (9.2) front end and the one of its rear end
A blow vent (9.4) realizes connection inside piston (9.2), and push rod (9.1) front end is laid with three strut connecting seats
(9.5), push rod (9.1) rear end and piston (9.2) are connected as entirety, and push rod (9.1) is installed on the circular hole at partition board (2.4) center
It is interior, and sealing ring is equipped between circular-hole internal-wall.
2. a kind of endoscopic surgery robot arm device as described in claim 1, it is characterised in that：Surgical procedure mobile phone structure (1)
Mounted on outer tube (2) front end, support frame is made of upper control arm (5), preceding parallel bar (3), rear parallel bar (4), three supports
Skeleton is uniformly mounted on outer tube (2), and each support frame forms parallelogram sturcutre with outer tube (2), and strut (7) is respectively
With strut connecting seat (9.5), preceding parallel bar (3) form revolute pair connect, preceding parallel bar (3) respectively with outer tube (2), upper control arm
(5) revolute pair connection is formed, rear parallel bar (4) forms revolute pair and connect with outer tube (2), upper control arm (5) respectively.
3. a kind of endoscopic surgery robot arm device as described in claim 1, it is characterised in that：On three support frame tops
A camera (6) has been respectively mounted, has been equipped with the camera accommodating groove of corresponding camera (6) on outer tube (2) close to front position
(2.2)。
4. a kind of endoscopic surgery robot arm device as described in claim 1, it is characterised in that：Outer tube (2) rear end is equipped with gas
Interface tube (2.1), air pipe interface (2.1) one end are connected with helix tube (8) rear end, air compressor of the other end set by with outside
It connects, helix tube (8) is installed in air storage chamber (2.6), and the blow vent (9.4) of its front end and piston (9.2) rear end is connected, spiral shell
Coil (8) rear end is connected with air pipe interface (2.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810177155.0A CN108158659B (en) | 2018-03-04 | 2018-03-04 | Endoscope operation mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810177155.0A CN108158659B (en) | 2018-03-04 | 2018-03-04 | Endoscope operation mechanical arm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108158659A true CN108158659A (en) | 2018-06-15 |
| CN108158659B CN108158659B (en) | 2021-07-02 |
Family
ID=62510796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810177155.0A Expired - Fee Related CN108158659B (en) | 2018-03-04 | 2018-03-04 | Endoscope operation mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108158659B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646107A (en) * | 2019-01-28 | 2019-04-19 | 昆明医科大学第二附属医院 | A kind of laparoscope electric hook device in expansible surgical procedure space |
| CN109674498A (en) * | 2019-01-04 | 2019-04-26 | 中国医学科学院北京协和医院 | A kind of operation spreader tool |
| CN112370172A (en) * | 2020-09-18 | 2021-02-19 | 象山县第一人民医院医疗健康集团 | Mechanical arm for thoracoscope |
| WO2024089379A1 (en) * | 2022-10-27 | 2024-05-02 | Crescent Health Solutions Limited | A device for use in surgery |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2635260A1 (en) * | 1988-08-11 | 1990-02-16 | Crillon Jean Louis | GRIPPING METHOD AND DEVICE, FOR EXAMPLE FOR BIOPSY |
| CN201091604Y (en) * | 2007-11-15 | 2008-07-30 | 郑红凤 | Inflatable expansion forceps |
| CN203400180U (en) * | 2013-08-11 | 2014-01-22 | 孟令军 | Tumor extirpation pincers |
| CN104783889A (en) * | 2015-04-01 | 2015-07-22 | 上海交通大学 | Endoscopic surgery mechanical arm system and visual feedback device thereof |
-
2018
- 2018-03-04 CN CN201810177155.0A patent/CN108158659B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2635260A1 (en) * | 1988-08-11 | 1990-02-16 | Crillon Jean Louis | GRIPPING METHOD AND DEVICE, FOR EXAMPLE FOR BIOPSY |
| CN201091604Y (en) * | 2007-11-15 | 2008-07-30 | 郑红凤 | Inflatable expansion forceps |
| CN203400180U (en) * | 2013-08-11 | 2014-01-22 | 孟令军 | Tumor extirpation pincers |
| CN104783889A (en) * | 2015-04-01 | 2015-07-22 | 上海交通大学 | Endoscopic surgery mechanical arm system and visual feedback device thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109674498A (en) * | 2019-01-04 | 2019-04-26 | 中国医学科学院北京协和医院 | A kind of operation spreader tool |
| CN109674498B (en) * | 2019-01-04 | 2023-11-24 | 中国医学科学院北京协和医院 | Surgical opening instrument |
| CN109646107A (en) * | 2019-01-28 | 2019-04-19 | 昆明医科大学第二附属医院 | A kind of laparoscope electric hook device in expansible surgical procedure space |
| CN112370172A (en) * | 2020-09-18 | 2021-02-19 | 象山县第一人民医院医疗健康集团 | Mechanical arm for thoracoscope |
| CN112370172B (en) * | 2020-09-18 | 2022-04-15 | 象山县第一人民医院医疗健康集团 | Mechanical arm for thoracoscope |
| WO2024089379A1 (en) * | 2022-10-27 | 2024-05-02 | Crescent Health Solutions Limited | A device for use in surgery |
| WO2024089391A1 (en) * | 2022-10-27 | 2024-05-02 | Crescent Health Solutions Limited | A device for use in surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108158659B (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108158659A (en) | A kind of endoscopic surgery robot arm device | |
| CN104783889B (en) | ESS mechanical arm system and its visual feedback means | |
| CN102665577B (en) | Surgery device and adnexa | |
| JP4980899B2 (en) | Steerable follow-the-reader device | |
| US20050096502A1 (en) | Robotic surgical device | |
| Degani et al. | Percutaneous intrapericardial interventions using a highly articulated robotic probe | |
| US11950867B2 (en) | Single-arm robotic device with compact joint design and related systems and methods | |
| CN107349014B (en) | Rigid-flexible switchable endoscope type minimally invasive surgery robot | |
| Slade et al. | Design of a soft catheter for low-force and constrained surgery | |
| CN107242886B (en) | Minimally-invasive for laparoscopic surgery positions tool | |
| Lehman et al. | Recent advances in the CoBRASurge robotic manipulator and dexterous miniature in vivo robotics for minimally invasive surgery | |
| CN113413200B (en) | Puncture outfit and endoscope robot | |
| US20100331879A1 (en) | Articulating Surgical Hand Tool | |
| CN102920489B (en) | Gasless minimally invasive surgery auxiliary device | |
| CN115670604A (en) | Puncture instrument, gas-liquid suck-back device and laparoscopic surgery system | |
| CN209644853U (en) | A kind of scope external application device | |
| CN113413201B (en) | Puncture outfit and endoscope robot | |
| CN205626056U (en) | Expanded closed puncture ware | |
| CN212394874U (en) | Endoscope | |
| CN211187374U (en) | Automatic opening object taking bag and object taking bag assembly under laparoscope | |
| Hao et al. | A natural orifice soft robot with novel driven method for minimally invasive surgery (MIS) | |
| CN106308932B (en) | Single-hole surgical robot with rigid and soft body coupling design for surgical first aid | |
| CN113729947B (en) | Abdominal cavity suction device for robot operation | |
| CN217014429U (en) | Femtosecond laser spherical hinge connection structure for myopia operation of ophthalmology | |
| Wang et al. | Mechanical Design and Modeling of a Manipulator Tool for a Compact Multiple-Tool Single Port Laparoscopic Robot Platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lv Hongcai Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210609 Address after: Shibei District People's road 266033 Shandong city of Qingdao province No. 4 Applicant after: TRADITIONAL CHINESE MEDICAL Co. Address before: 300393 Room 502, unit 1, building 40, shuixiyuan, Zhongbei Town, Xiqing District, Tianjin Applicant before: Lian Xuefang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210702 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |