CN108324372B

CN108324372B - Operation assisting robot

Info

Publication number: CN108324372B
Application number: CN201810152853.5A
Authority: CN
Inventors: 何勇; 其他发明人请求不公开姓名
Original assignee: China Ice Medical Technology Co ltd
Current assignee: China Ice Medical Technology Co ltd
Priority date: 2018-02-20
Filing date: 2018-02-20
Publication date: 2021-01-05
Anticipated expiration: 2038-02-20
Also published as: CN108324372A

Abstract

A surgery assistance robot, includes base, removal part, medicine injection part, illumination part, two fixed portions, its characterized in that: the two first sliding blocks of the moving part are respectively and slidably arranged in the two first dovetail grooves, the two semicircular arc grooves are respectively and slidably arranged on forty-six first balls, and the first gear is meshed with the second gear; through two second pneumatic cylinders, the second step motor, four third pneumatic cylinders and third steering wheel cooperations in coordination drive the arm mount and fix to the arm, it injects the medicine for patient to drive the syringe needle through the shrink of fourth pneumatic cylinder, make the machine realize the automation and inject the medicine for patient, provide the illumination of no ghost image for the doctor through thirty first LED lamps and eleven second LED lamps cooperations, make the doctor can not appear because the shadow problem leads to the operation failure, make things convenient for the doctor to perform the operation, the operation success rate has been improved.

Description

Operation assisting robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgery assisting robot.

Background

The doctor needs to inject medicine to the patient in the operation process and a light that can follow the doctor and remove, is the nurse in some operating rooms and injects the medicine to the patient, because can not inject the medicine in time according to the patient condition and cause the operation failure, consequently urgently need a machine that can in time inject the medicine and can provide no ghost image light for patient.

Disclosure of Invention

Aiming at the problems, the invention provides a surgery assisting robot, an arm fixing frame is driven to be fixed on an arm through the cooperative action of two second hydraulic cylinders, a second stepping motor, four third hydraulic cylinders and a third steering engine, a syringe needle is driven to inject medicine into the patient through the contraction of a fourth hydraulic cylinder, the machine automatically injects the medicine into the patient, and illumination without double images is provided for a doctor through the cooperative action of thirty first LED lamps and eleven second LED lamps, so that the doctor cannot fail in surgery due to shadow problems, the surgery assisting robot is convenient for the doctor, and the success rate of the surgery is improved.

The technical scheme adopted by the invention is as follows: a surgery assistance robot, includes base, removal part, medicine injection part, illumination part, two fixed portions, its characterized in that: the two first sliding blocks of the moving part are respectively and slidably arranged in the two first dovetail grooves, the two semicircular arc grooves are respectively and slidably arranged on forty-six first balls, and a first gear of the moving part is meshed with a first rack; the lower surface of a third circular plate of the medicine injection part is fixedly arranged on a motor shaft of a second steering engine, and a first circular groove of the medicine injection part is slidably arranged on ten third balls; the lower surface of a fourth circular plate of the illumination part is fixedly arranged on a motor shaft of the first steering engine, and a second circular ring groove of the illumination part is slidably arranged on ten second balls; the four second sliding blocks of the two fixing parts are respectively arranged in the four second dovetail grooves in a sliding manner, and the two fourth gears are respectively meshed with the two second racks;

the base comprises a bottom plate, two first dovetail grooves, a first rack, forty-six first balls, two fixing plates, four second dovetail grooves and two second racks, wherein the bottom plate is a rectangular plate, two rows of semicircular grooves in linear arrays are formed in the middle of the bottom plate, each row comprises twenty-three grooves, and the forty-six first balls are respectively rotatably installed in the forty-six semicircular grooves; two first dovetail grooves are arranged on the bottom plate and are respectively positioned at the left side and the right side of the two rows of first balls; a first rack is arranged on the bottom plate and positioned on the left sides of the two first dovetail grooves; two fixing plates are arranged below the bottom plate, two second dovetail grooves and two second racks are arranged below the fixing plates, and the second racks are arranged on the outer sides of the two second dovetail grooves;

the moving part comprises a moving part bottom plate, two first sliding blocks, two semicircular grooves, a first circular plate, ten second balls, a first steering engine, a first stepping motor, a first gear, a first telescopic sleeve, a first telescopic rod, a first hydraulic cylinder, a second steering engine, a second circular plate and ten third balls, wherein the moving part bottom plate is a rectangular plate, the two first sliding blocks are arranged on the lower surface of the moving part bottom plate, and the two first sliding blocks are respectively installed in two first dovetail grooves in a sliding mode; two semicircular arc grooves are formed below the moving part bottom plate, and the two semicircular arc grooves are respectively installed on forty-six first balls in a sliding mode; a first circular plate is arranged at the lower position above the moving part, ten semicircular grooves in a circumferential array are arranged on the first circular plate, and ten second balls are rotatably arranged in the ten semicircular grooves respectively; the first steering engine is vertically and upwards placed, and the bottom surface of the first steering engine is fixedly arranged in a groove in the middle of the first circular plate; the first stepping motor is horizontally arranged, the side surface of the first stepping motor is fixedly arranged on the bottom plate of the moving part, the motor shaft of the first stepping motor is fixedly connected with a first gear, and the first gear is meshed with a first rack; the lower part of the first telescopic sleeve is fixedly arranged on the moving part bottom plate and is positioned close to the front part on the moving part bottom plate, and the lower part of the first telescopic rod is slidably arranged in a groove on the first telescopic sleeve; the bottom of the first hydraulic cylinder body is fixedly arranged on a first telescopic sleeve side supporting plate, and the end part of a piston rod of the first hydraulic cylinder body is fixedly connected with the first telescopic sleeve side supporting plate; the lower part of the second round plate is fixedly arranged on the first telescopic rod; the second steering engine is vertically and upwards placed, the side face of the second steering engine is fixedly arranged in a groove on the first telescopic rod, and a motor shaft of the second steering engine penetrates through a round hole in the middle of the second round plate; ten semicircular grooves in a circumferential array are formed in the second circular plate, and ten third balls are rotatably mounted in the ten semicircular grooves respectively;

the medicine injection part comprises a third circular plate, a first circular groove, a second hydraulic cylinder bottom plate, two second hydraulic cylinders, an L-shaped plate, two third dovetail grooves, a third rack, a third hydraulic cylinder bottom block, a second stepping motor, a second gear, four third hydraulic cylinders, a third hydraulic cylinder top plate, a third steering engine, an arm fixing frame, a fourth hydraulic cylinder top plate and an injection needle head, wherein the lower surface of the third circular plate is fixedly arranged on a motor shaft of the second steering engine, a first circular groove is arranged below the third circular plate, and the first circular groove is slidably arranged on ten third balls; a second hydraulic cylinder bottom plate is arranged on the third circular plate, the bottoms of the two second hydraulic cylinders are fixedly arranged on the front side of the second hydraulic cylinder bottom plate, and the end parts of piston rods of the two second hydraulic cylinders are fixedly connected with the outer side of the L-shaped plate; two third dovetail grooves are formed in the inner side of the L-shaped plate, and a third rack is arranged on the outer side of the L-shaped plate; the two sliding blocks on the third hydraulic cylinder bottom block are respectively installed in the two third dovetail grooves in a sliding mode; the second stepping motor is vertically and upwards placed, the side of the second stepping motor is fixedly arranged on the upper side of the third hydraulic cylinder bottom block, a motor shaft of the second stepping motor is fixedly connected with a second gear, and the second gear is meshed with a third rack; the four third hydraulic cylinders are in a rectangular array, the bottoms of the cylinder bodies of the four third hydraulic cylinders are respectively and fixedly arranged at four corners below the bottom block of the third hydraulic cylinder, and the end parts of piston rods of the four third hydraulic cylinders are fixedly connected with the inner sides of top plates of the third hydraulic cylinders; the third steering engine is vertically and downwards placed, the side surface of the third steering engine is fixedly arranged in a groove in the middle of a top plate of the third hydraulic cylinder, and a motor shaft of the third steering engine is fixedly connected with the upper surface of the arm fixing frame; the bottom of the cylinder body of the fourth hydraulic cylinder is fixedly arranged on a supporting plate on the side surface of the arm fixing frame, the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with the lower surface of a top plate of the fourth hydraulic cylinder, and the injection needle is fixedly arranged under the top plate of the fourth hydraulic cylinder and is slidably arranged in a round hole on the arm fixing frame;

the lighting part comprises a fourth circular plate, a second circular groove, a fourth circular plate supporting plate, a fourth rack, two fourth dovetail grooves, a sliding sleeve, a third stepping motor, a third gear, a second telescopic sleeve, a second telescopic rod, a fifth hydraulic cylinder, a fixed seat, a fourth steering engine, a rotating plate, a fifth steering engine, a fifth circular plate, a regular pentagonal plate, five sixth steering engines, five rotating shafts, ten sixth hydraulic cylinders, five sixth hydraulic cylinder top plates, five seventh steering engines, five triangular plates, thirty first LED lamps and eleven second LED lamps, wherein the lower surface of the fourth circular plate is fixedly arranged on a motor shaft of the first steering engine; a second circular groove is formed in the lower face of the fourth circular plate and is slidably mounted on the ten second balls; a fourth circular plate supporting plate is arranged on the fourth circular plate, two fourth dovetail grooves are formed in the right side of the fourth circular plate supporting plate, and a fourth rack is arranged on the left side of the fourth circular plate supporting plate; the sliding sleeve is arranged on the outer side of the fourth circular plate supporting plate in a sliding mode, and two sliding blocks in the sliding sleeve are arranged in the two fourth dovetail grooves in a sliding mode respectively; the third stepping motor is horizontally arranged, the side surface of the third stepping motor is fixedly arranged on the outer side of the sliding sleeve, a motor shaft of the third stepping motor is fixedly connected with a third gear, and the third gear is meshed with a fourth rack; the second telescopic sleeve is fixedly arranged on the outer side of the sliding sleeve; the second telescopic rod is slidably arranged in a groove on the outer side of the second telescopic sleeve, and a fixed seat is arranged on the outer side of the second telescopic rod; the bottom of the cylinder body of the fifth hydraulic cylinder is fixedly arranged on a supporting plate on the upper surface of the second telescopic sleeve, and the end part of a piston rod of the fifth hydraulic cylinder is fixedly connected with the supporting plate on the upper surface of the second telescopic sleeve; one end of the rotating plate is rotatably arranged in the fixed seat, and the other end of the rotating plate is fixedly connected with the fifth circular plate; the fifth steering engine is horizontally arranged, the side surface of the fifth steering engine is fixedly arranged in a groove in the middle of the rotating plate, and a motor shaft of the fifth steering engine penetrates through a round hole in the middle of the fifth circular plate and is fixedly connected with the regular pentagonal plate; the five sides of the regular pentagonal panel are respectively provided with a fixed seat, the five rotating shafts are respectively and rotatably arranged in the five fixed seats on the sides of the regular pentagonal panel, the sides of the five sixth steering engines are respectively and fixedly arranged on the five sides of the regular pentagonal panel, and a motor shaft of each sixth steering engine is respectively and fixedly connected with one end of each of the five rotating shafts through a coupling; the ten sixth hydraulic cylinders are divided into five groups, the bottom of each group of hydraulic cylinders is fixedly arranged on a support plate on the side surface of the rotating shaft, and the end parts of piston rods of the hydraulic cylinders are fixedly connected with the side surfaces of top plates of the sixth hydraulic cylinders; the five seventh steering engines are respectively and fixedly installed on the outer sides of the top plates of the six sixth hydraulic cylinders, motor shafts of the five seventh steering engines penetrate through round holes in the middles of the top plates of the sixth hydraulic cylinders and are fixedly connected with triangular plates, the thirty first LED lamps are uniformly divided into five groups, and each group is fixedly installed on the triangular plates in a triangular array; the eleven first LED lamps are fixedly arranged on the inner side of the regular pentagonal panel;

the fixing part comprises a fixing part bottom plate, two second sliding blocks, a fourth stepping motor, a fourth gear, a third telescopic sleeve bottom plate, a third telescopic sleeve, a third telescopic rod, a seventh hydraulic cylinder, an eighth steering engine, a sucker fixing plate and six suckers, wherein the fixing part bottom plate is a rectangular plate, the two second sliding blocks are arranged on the rectangular plate, and the two second sliding blocks are respectively installed in two second dovetail grooves in a sliding mode; the fourth stepping motor is horizontally arranged, the side surface of the fourth stepping motor is fixedly arranged below the bottom plate of the fixed part, the motor shaft of the fourth stepping motor is fixedly connected with a fourth gear, and the fourth gear is meshed with the second rack; a third telescopic sleeve bottom plate is arranged below the fixed part bottom plate, one side of the third telescopic sleeve is fixedly arranged above the third telescopic sleeve bottom plate, and the third telescopic rod is slidably arranged in a groove on the outer side of the third telescopic sleeve bottom plate; the bottom of the cylinder body of the seventh hydraulic cylinder is fixedly arranged on a supporting plate above the third telescopic sleeve, and the end part of a piston rod of the seventh hydraulic cylinder is fixedly connected with the supporting plate above the third telescopic sleeve; the eighth steering engine is horizontally arranged, the side face of the eighth steering engine is fixedly arranged in a groove in the outer side of the third telescopic rod, and a motor shaft of the eighth steering engine is fixedly connected with the inner side of the sucker fixing plate; the six obtained suckers are in two-row array and fixedly arranged on the outer side of the sucker fixing plate.

The invention has the beneficial effects that: through two second pneumatic cylinders, the second step motor, four third pneumatic cylinders and third steering wheel cooperations in coordination drive the arm mount and fix to the arm, it injects the medicine for patient to drive the syringe needle through the shrink of fourth pneumatic cylinder, make the machine realize the automation and inject the medicine for patient, provide the illumination of no ghost image for the doctor through thirty first LED lamps and eleven second LED lamps cooperations, make the doctor can not appear because the shadow problem leads to the operation failure, make things convenient for the doctor to perform the operation, the operation success rate has been improved.

Drawings

Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.

Fig. 4 and 5 are schematic structural views of the base of the present invention.

Fig. 6 and 7 are schematic structural views of the moving part of the present invention.

Fig. 8, 9 and 10 are schematic structural views of a medicine injection part according to the present invention.

Fig. 11 and 12 are schematic structural views of the illumination portion of the present invention.

Fig. 13 is a schematic structural view of the fixing portion of the present invention.

Reference numerals: 1-base, 2-moving part, 3-medicine injection part, 4-lighting part, 5-fixing part, 101-bottom plate, 102-first dovetail groove, 103-first rack, 104-first ball, 105-fixing plate, 106-second dovetail groove, 107-second rack, 201-moving part bottom plate, 202-first slider, 203-semicircular arc groove, 204-first circular plate, 205-second ball, 206-first steering gear, 207-first step motor, 208-first gear, 209-first telescopic sleeve, 210-first telescopic rod, 211-first hydraulic cylinder, 212-second steering gear, 213-second circular plate, 214-third ball, 301-third circular plate, 302-a first circular groove, 303-a second hydraulic cylinder bottom plate, 304-a second hydraulic cylinder, 305-an L-shaped plate, 306-a third dovetail groove, 307-a third rack, 308-a third hydraulic cylinder bottom block, 309-a second stepping motor, 310-a second gear, 311-a third hydraulic cylinder, 312-a third hydraulic cylinder top plate, 313-a third steering engine, 314-an arm fixing frame, 315-a fourth hydraulic cylinder, 316-a fourth hydraulic cylinder top plate, 317-an injection needle, 401-a fourth circular plate, 402-a second circular groove, 403-a fourth circular plate supporting plate, 404-a fourth rack, 405-a fourth dovetail groove, 406-a sliding sleeve, 407-a third stepping motor, 408-a third gear, 409-a second telescopic sleeve, 410-a second telescopic rod, 411-a fifth hydraulic cylinder, 412-a fixed seat, 413-a fourth steering engine, 414-a rotating plate, 415-a fifth steering engine, 416-a fifth circular plate, 417-a regular pentagonal plate, 418-a sixth steering engine, 419-a rotating shaft, 420-a sixth hydraulic cylinder, 421-a sixth hydraulic cylinder top plate, 422-a seventh steering engine and 423-a triangular plate, 424-first LED lamp, 425-second LED lamp, 501-fixed part bottom plate, 502-second slider, 503-fourth stepping motor, 504-fourth gear, 505-third telescopic sleeve bottom plate, 506-third telescopic sleeve, 507-third telescopic rod, 508-seventh hydraulic cylinder, 509-eighth steering engine, 510-sucker fixing plate and 511-sucker.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Embodiments are shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, and fig. 13, and a surgical assistance robot includes a base 1, a moving part 2, a medicine injection part 3, an illumination part 4, and two fixing parts 5, and is characterized in that: the two first sliding blocks 202 of the moving part 2 are respectively and slidably mounted in the two first dovetail grooves 102, the two semicircular arc grooves 203 are respectively and slidably mounted on forty-six first balls 104, and the first gear 208 of the moving part 2 is meshed with the first rack 103; the lower part of a third circular plate 301 of the medicine injection part 3 is fixedly arranged on a motor shaft of a second steering engine 212, and a first circular groove 302 of the medicine injection part 3 is slidably arranged on ten third balls 214; the lower part of a fourth circular plate 401 of the illuminating part 4 is fixedly arranged on a motor shaft of the first steering engine 206, and second circular grooves 402 of the illuminating part 4 are arranged on ten second balls 205 in a sliding manner; the four second sliding blocks 502 of the two fixed parts 5 are respectively slidably mounted in the four second dovetail grooves 106, and the two fourth gears 504 are respectively meshed with the two second racks 107;

the base 1 comprises a bottom plate 101, two first dovetail grooves 102, a first rack 103, forty-six first balls 104, two fixing plates 105, four second dovetail grooves 106 and two second racks 107, wherein the bottom plate 101 is a rectangular plate, two rows of semicircular grooves in a linear array are formed in the middle of the bottom plate, twenty three grooves are formed in each row, and the forty-six first balls 104 are respectively rotatably installed in the forty-six semicircular grooves; two first dovetail grooves 102 are arranged on the bottom plate 101 and are respectively positioned at the left side and the right side of two rows of first balls 104; a first rack 103 is arranged on the bottom plate 101 and is positioned on the left side of the two first dovetail grooves 102; two fixing plates 105 are arranged below the bottom plate 101, two second dovetail grooves 106 and two second racks 107 are arranged below the fixing plates 105, and the second racks 107 are arranged outside the two second dovetail grooves 106;

the moving part 2 comprises a moving part bottom plate 201, two first sliding blocks 202, two semicircular arc grooves 203, a first circular plate 204, ten second rolling balls 205, a first steering engine 206, a first stepping motor 207, a first gear 208, a first telescopic sleeve 209, a first telescopic rod 210, a first hydraulic cylinder 211, a second steering engine 212, a second circular plate 213 and ten third rolling balls 214, wherein the moving part bottom plate 201 is a rectangular plate, the two first sliding blocks 202 are arranged below the moving part bottom plate, and the two first sliding blocks 202 are respectively installed in two first dovetail grooves 102 in a sliding manner; two semi-arc grooves 203 are arranged below the moving part bottom plate 201, and the two semi-arc grooves 203 are respectively installed on forty-six first balls 104 in a sliding mode; a first circular plate 204 is arranged at the lower position above the moving part 2, ten semicircular grooves in a circumferential array are arranged on the first circular plate 204, and ten second balls 205 are respectively rotatably arranged in the ten semicircular grooves; the first steering engine 206 is vertically and upwards placed, and the bottom surface of the first steering engine is fixedly arranged in a groove in the middle of the first circular plate 204; the first stepping motor 207 is horizontally arranged, the side surface of the first stepping motor is fixedly arranged on the moving part bottom plate 201, the motor shaft of the first stepping motor is fixedly connected with a first gear 208, and the first gear 208 is meshed with the first rack 103; the lower part of the first telescopic sleeve 209 is fixedly arranged on the moving part bottom plate 201 and is positioned at the front part of the upper part of the moving part bottom plate 201, and the lower part of the first telescopic rod 210 is slidably arranged in a groove on the first telescopic sleeve 209; the bottom of the cylinder body of the first hydraulic cylinder 211 is fixedly arranged on a lateral supporting plate of the first telescopic sleeve 209, and the end part of a piston rod of the first hydraulic cylinder is fixedly connected with a lateral supporting plate of the first telescopic rod 210; the lower part of the second circular plate 213 is fixedly arranged on the first telescopic rod 210; the second steering engine 212 is vertically and upwards placed, the side surface of the second steering engine is fixedly arranged in a groove on the first telescopic rod 210, and a motor shaft of the second steering engine passes through a round hole in the middle of the second round plate 213; ten semicircular grooves in a circumferential array are formed in the second circular plate 213, and the ten third balls 214 are rotatably mounted in the ten semicircular grooves respectively;

the medicine injection part 3 comprises a third circular plate 301, a first circular groove 302, a second hydraulic cylinder bottom plate 303, two second hydraulic cylinders 304, an L-shaped plate 305, two third dovetail grooves 306, a third rack 307, a third hydraulic cylinder bottom block 308, a second stepping motor 309, a second gear 310, four third hydraulic cylinders 311, a third hydraulic cylinder top plate 312, a third steering engine 313, an arm fixing frame 314, a fourth hydraulic cylinder 315, a fourth hydraulic cylinder top plate 316 and an injection needle 317, wherein the lower surface of the third circular plate 301 is fixedly arranged on a motor shaft of the second steering engine 212, the first circular groove 302 is arranged below the third circular plate 301, and the first circular groove 302 is slidably arranged on ten third balls 214; a second hydraulic cylinder bottom plate 303 is arranged on the third circular plate 301, the cylinder body bottoms of the two second hydraulic cylinders 304 are fixedly arranged on the front side of the second hydraulic cylinder bottom plate 303, and the end parts of piston rods of the two second hydraulic cylinders are fixedly connected with the outer side of the L-shaped plate 305; two third dovetail grooves 306 are formed in the inner side of the L-shaped plate 305, and a third rack 307 is arranged on the outer side of the L-shaped plate 305; the two sliding blocks on the third hydraulic cylinder bottom block 308 are respectively installed in the two third dovetail grooves 306 in a sliding manner; the second stepping motor 309 is vertically and upwards placed, the side of the second stepping motor is fixedly installed on the upper side of the third hydraulic cylinder bottom block 308, the motor shaft of the second stepping motor is fixedly connected with a second gear 310, and the second gear 310 is meshed with the third rack 307; the four third hydraulic cylinders 311 are in a rectangular array, the bottoms of the cylinder bodies of the four third hydraulic cylinders are respectively and fixedly installed at four corners below the third hydraulic cylinder bottom block 308, and the end parts of piston rods of the four third hydraulic cylinders are fixedly connected with the inner sides of the third hydraulic cylinder top plates 312; the third steering engine 313 is vertically and downwards placed, the side surface of the third steering engine is fixedly arranged in a groove in the middle of the top plate 312 of the third hydraulic cylinder, and a motor shaft of the third steering engine is fixedly connected with the upper surface of the arm fixing frame 314; the bottom of the cylinder body of the fourth hydraulic cylinder 315 is fixedly arranged on a supporting plate on the side surface of the arm fixing frame 314, the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with the lower surface of a top plate 316 of the fourth hydraulic cylinder, and the injection needle 317 is fixedly arranged under the top plate 316 of the fourth hydraulic cylinder and is slidably arranged in a circular hole on the upper surface of the arm fixing frame 314;

the lighting part 4 comprises a fourth circular plate 401, a second circular groove 402, a fourth circular plate supporting plate 403, a fourth rack 404, two fourth dovetail grooves 405, a sliding sleeve 406, a third stepping motor 407, a third gear 408, a second telescopic sleeve 409, a second telescopic rod 410, a fifth hydraulic cylinder 411, a fixed seat 412, a fourth steering gear 413, a rotating plate 414, a fifth steering gear 415, a fifth circular plate 416, a regular pentagonal plate 417, five sixth steering gears 418, five rotating shafts 419, ten sixth hydraulic cylinders 420, five sixth hydraulic cylinder top plates 421, five seventh steering gears 422, five triangular plates 423, thirty first LED lamps 424 and eleven second LED lamps 425, wherein the lower surface of the fourth circular plate 401 is fixedly mounted on a motor shaft of the first steering gear 206; a second circular groove 402 is arranged below the fourth circular plate 401, and the second circular groove 402 is slidably mounted on the ten second balls 205; a fourth circular plate support plate 403 is arranged on the fourth circular plate 401, two fourth dovetail grooves 405 are arranged on the right side of the fourth circular plate support plate 403, and a fourth rack 404 is arranged on the left side of the fourth circular plate support plate 403; the sliding sleeve 406 is slidably mounted on the outer side of the fourth circular plate supporting plate 403, and two sliding blocks in the sliding sleeve 406 are respectively slidably mounted in two fourth dovetail grooves 405; the third stepping motor 407 is horizontally arranged, the side surface of the third stepping motor is fixedly arranged on the outer side of the sliding sleeve 406, the motor shaft of the third stepping motor is fixedly connected with a third gear 408, and the third gear 408 is meshed with the fourth rack 404; the second telescopic sleeve 409 is fixedly arranged outside the sliding sleeve 406; the second telescopic rod 410 is slidably mounted in a groove on the outer side of the second telescopic sleeve 409, and a fixed seat 412 is arranged on the outer side of the second telescopic rod 410; the bottom of the cylinder body of the fifth hydraulic cylinder 411 is fixedly arranged on a supporting plate on the upper surface of the second telescopic sleeve 409, and the end part of a piston rod of the fifth hydraulic cylinder is fixedly connected with the supporting plate on the upper surface of the second telescopic rod 410; one end of the rotating plate 414 is rotatably installed in the fixing seat 412, and the other end is fixedly connected with the fifth circular plate 416; the fifth steering engine 415 is horizontally arranged, the side surface of the fifth steering engine is fixedly arranged in a groove in the middle of the rotating plate 414, and a motor shaft of the fifth steering engine passes through a round hole in the middle of the fifth circular plate 416 and is fixedly connected with the regular pentagonal plate 417; five side surfaces of the regular pentagonal panel 417 are respectively provided with a fixed seat, five rotating shafts 419 are respectively and rotatably arranged in the five fixed seats on the side surfaces of the regular pentagonal panel 417, side surfaces of five sixth steering engines 418 are respectively and fixedly arranged on the five side surfaces of the regular pentagonal panel 417, and motor shafts of the fifth steering engines are respectively and fixedly connected with one ends of the five rotating shafts 419 through couplings; the ten sixth hydraulic cylinders 420 are divided into five groups, the bottom of each group of cylinders is fixedly arranged on a supporting plate on the side surface of the rotating shaft 419, and the end parts of piston rods of the groups of cylinders are fixedly connected with the side surface of a top plate 421 of the sixth hydraulic cylinder; the five seventh steering engines 422 are respectively and fixedly installed on the outer sides of the six sixth hydraulic cylinder top plates 421, motor shafts of the five seventh steering engines penetrate through circular holes in the middles of the sixth hydraulic cylinder top plates 421 to be fixedly connected with the triangular plates 423, the thirty first LED lamps 424 are equally divided into five groups, and each group is fixedly installed on the triangular plates 423 in a triangular array manner; the eleven first LED lamps 424 are fixedly mounted inside the regular pentagonal panel 417;

the fixed part 5 comprises a fixed part bottom plate 501, two second sliding blocks 502, a fourth stepping motor 503, a fourth gear 504, a third telescopic sleeve bottom plate 505, a third telescopic sleeve 506, a third telescopic rod 507, a seventh hydraulic cylinder 508, an eighth steering engine 509, a sucker fixing plate 510 and six suckers 511, wherein the fixed part bottom plate 501 is a rectangular plate, the two second sliding blocks 502 are arranged on the rectangular plate, and the two second sliding blocks 502 are respectively installed in two second dovetail grooves 106 in a sliding manner; the fourth stepping motor 503 is horizontally arranged, the side surface of the fourth stepping motor is fixedly arranged below the bottom plate 501 of the fixed part, the motor shaft of the fourth stepping motor is fixedly connected with a fourth gear 504, and the fourth gear 504 is meshed with the second rack 107; a third telescopic sleeve bottom plate 505 is arranged below the fixed part bottom plate 501, one side of the third telescopic sleeve 506 is fixedly arranged above the third telescopic sleeve bottom plate 505, and the third telescopic rod 507 is slidably arranged in a groove at the outer side of the third telescopic sleeve bottom plate 505; the bottom of the cylinder body of the seventh hydraulic cylinder 508 is fixedly arranged on a support plate above the third telescopic sleeve 506, and the end part of a piston rod of the seventh hydraulic cylinder is fixedly connected with the support plate above the third telescopic rod 507; the eighth steering engine 509 is horizontally arranged, the side surface of the eighth steering engine is fixedly arranged in a groove on the outer side of the third telescopic rod 507, and a motor shaft of the eighth steering engine is fixedly connected with the inner side of the sucker fixing plate 510; the resulting six suction cups 511 are in a two-row array, which is fixedly mounted on the outside of the suction cup fixing plate 510.

The working principle of the invention is as follows: when the device is used, firstly, twelve suckers 511 of two fixing parts 5 are fixedly arranged on one side of an operating table, and then the position of a base 1 is adjusted through the cooperative work of two seventh hydraulic cylinders 508 and two fourth stepping motors 503; next, the first stepping motor 207 of the moving part 2 drives the first gear 208 to further drive the medicine injection part 3 and the illumination part 4 to move to appropriate positions; next, the height and the position of the medicine injection part 3 are adjusted through the cooperative work of the first hydraulic cylinder 211 and the second steering engine 212, the two second hydraulic cylinders 304, the second stepping motor 309, the four third hydraulic cylinders 311 and the third steering engine 313 cooperate to drive the arm fixing frame 314 to be fixed on the arm, and the fourth hydraulic cylinder 315 contracts to drive the injection needle 317 to inject medicine into the patient; meanwhile, the angle of the illuminating part 4 is adjusted through the first steering engine 206, the third gear 408 is driven through the third stepping motor 407 so as to adjust the heights of the first LED lamp 424 and the second LED lamp 425, the angles of the first LED lamp 424 and the second LED lamp 425 are adjusted through the fourth steering engine 413 and the fifth steering engine 415, and thirty first LED lamps 424 and eleven second LED lamps 425 are cooperatively matched through the coordination of five sixth steering engines 418, ten sixth hydraulic cylinders 420 and five seventh steering engines 422 so as to provide ghost-free illumination for doctors.

Claims

1. A surgery assistance robot, includes base (1), mobile part (2), medicine injection part (3), illumination part (4), two fixed part (5), its characterized in that: two first sliding blocks (202) of the moving part (2) are respectively and slidably mounted in two first dovetail grooves (102), two semicircular arc grooves (203) are respectively and slidably mounted on forty-six first rolling balls (104), and a first gear (208) of the moving part (2) is meshed with a first rack (103); the lower part of a third circular plate (301) of the medicine injection part (3) is fixedly arranged on a motor shaft of a second steering engine (212), and a first circular groove (302) of the medicine injection part (3) is slidably arranged on ten third balls (214); the lower part of a fourth circular plate (401) of the illuminating part (4) is fixedly arranged on a motor shaft of a first steering engine (206), and a second circular groove (402) of the illuminating part (4) is arranged on ten second balls (205) in a sliding manner; four second sliding blocks (502) of the two fixing parts (5) are respectively arranged in four second dovetail grooves (106) in a sliding mode, and two fourth gears (504) are respectively meshed with the two second racks (107);

the base (1) comprises a bottom plate (101), two first dovetail grooves (102), a first rack (103), forty-six first balls (104), two fixing plates (105), four second dovetail grooves (106) and two second racks (107), wherein the bottom plate (101) is a rectangular plate, two rows of semicircular grooves in a linear array are formed in the middle of the bottom plate, twenty-three grooves are formed in each row, and the forty-six first balls (104) are respectively rotatably installed in the forty-six semicircular grooves; two first dovetail grooves (102) are arranged on the bottom plate (101) and are respectively positioned at the left side and the right side of the two rows of first balls (104); a first rack (103) is arranged on the bottom plate (101) and is positioned on the left side of the two first dovetail grooves (102); two fixing plates (105) are arranged below the bottom plate (101), two second dovetail grooves (106) and two second racks (107) are arranged below the fixing plates (105), and the second racks (107) are arranged on the outer sides of the two second dovetail grooves (106);

the moving part (2) comprises a moving part bottom plate (201), two first sliding blocks (202), two semicircular arc grooves (203), a first circular plate (204), ten second rolling balls (205), a first steering engine (206), a first stepping motor (207), a first gear (208), a first telescopic sleeve (209), a first telescopic rod (210), a first hydraulic cylinder (211), a second steering engine (212), a second circular plate (213) and ten third rolling balls (214), wherein the moving part bottom plate (201) is a rectangular plate, the two first sliding blocks (202) are arranged below the moving part bottom plate, and the two first sliding blocks (202) are respectively installed in two first dovetail grooves (102) in a sliding mode; two semi-circular arc grooves (203) are arranged below the moving part bottom plate (201), and the two semi-circular arc grooves (203) are respectively installed on forty-six first balls (104) in a sliding mode; a first circular plate (204) is arranged at the lower position on the moving part (2), ten semicircular grooves in a circumferential array are arranged on the first circular plate (204), and ten second balls (205) are respectively rotatably arranged in the ten semicircular grooves; the first steering engine (206) is vertically and upwards placed, and the bottom surface of the first steering engine is fixedly arranged in a groove in the middle of the first circular plate (204); the first stepping motor (207) is horizontally arranged, the side surface of the first stepping motor is fixedly arranged on the moving part bottom plate (201), the motor shaft of the first stepping motor is fixedly connected with a first gear (208), and the first gear (208) is meshed with the first rack (103); the lower surface of the first telescopic sleeve (209) is fixedly arranged on the moving part bottom plate (201) and is positioned on the upper surface of the moving part bottom plate (201) close to the front part, and the lower surface of the first telescopic rod (210) is arranged in a groove on the first telescopic sleeve (209) in a sliding manner; the bottom of the cylinder body of the first hydraulic cylinder (211) is fixedly arranged on a side supporting plate of the first telescopic sleeve (209), and the end part of a piston rod of the first hydraulic cylinder is fixedly connected with the side supporting plate of the first telescopic rod (210); the lower part of the second round plate (213) is fixedly arranged on the upper part of the first telescopic rod (210); the second steering engine (212) is vertically and upwards placed, the side face of the second steering engine is fixedly arranged in a groove on the first telescopic rod (210), and a motor shaft of the second steering engine passes through a round hole in the middle of the second round plate (213); ten semicircular grooves in a circumferential array are formed in the second circular plate (213), and ten third balls (214) are rotatably mounted in the ten semicircular grooves respectively;

the medicine injection part (3) comprises a third circular plate (301), a first circular groove (302), a second hydraulic cylinder bottom plate (303), two second hydraulic cylinders (304), an L-shaped plate (305), two third dovetail grooves (306), a third rack (307), a third hydraulic cylinder bottom block (308), a second stepping motor (309), a second gear (310), four third hydraulic cylinders (311), a third hydraulic cylinder top plate (312), a third steering gear (313), an arm fixing frame (314), a fourth hydraulic cylinder (315), a fourth hydraulic cylinder top plate (316) and an injection needle head (317), the lower part of the third circular plate (301) is fixedly arranged on a motor shaft of the second steering engine (212), a first circular groove (302) is formed in the lower portion of the third circular plate (301), and the first circular groove (302) is slidably mounted on ten third balls (214); a second hydraulic cylinder bottom plate (303) is arranged on the third circular plate (301), the cylinder body bottoms of the two second hydraulic cylinders (304) are fixedly arranged on the front side of the second hydraulic cylinder bottom plate (303), and the end parts of piston rods of the two second hydraulic cylinders are fixedly connected with the outer side of the L-shaped plate (305); two third dovetail grooves (306) are formed in the inner side of the L-shaped plate (305), and a third rack (307) is arranged on the outer side of the L-shaped plate (305); two sliding blocks on the third hydraulic cylinder bottom block (308) are respectively installed in two third dovetail grooves (306) in a sliding mode; the second stepping motor (309) is vertically and upwards placed, the side of the second stepping motor is fixedly installed on the upper side of the third hydraulic cylinder bottom block (308), the motor shaft of the second stepping motor is fixedly connected with a second gear (310), and the second gear (310) is meshed with a third rack (307); the four third hydraulic cylinders (311) are in a rectangular array, the bottoms of the cylinder bodies of the four third hydraulic cylinders are respectively and fixedly arranged at four corners below the third hydraulic cylinder bottom block (308), and the end parts of piston rods of the four third hydraulic cylinders are fixedly connected with the inner sides of the third hydraulic cylinder top plates (312); the third steering engine (313) is vertically and downwards placed, the side surface of the third steering engine is fixedly arranged in a groove in the middle of a third hydraulic cylinder top plate (312), and a motor shaft of the third steering engine is fixedly connected with the upper surface of an arm fixing frame (314); the bottom of the cylinder body of the fourth hydraulic cylinder (315) is fixedly arranged on a supporting plate on the side surface of the arm fixing frame (314), the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with the lower surface of a top plate (316) of the fourth hydraulic cylinder, and the injection needle head (317) is fixedly arranged under the top plate (316) of the fourth hydraulic cylinder and is slidably arranged in a round hole on the upper surface of the arm fixing frame (314);

the lighting part (4) comprises a fourth circular plate (401), a second circular groove (402), a fourth circular plate supporting plate (403), a fourth rack (404), two fourth dovetail grooves (405), a sliding sleeve (406), a third step motor (407), a third gear (408), a second telescopic sleeve (409), a second telescopic rod (410), a fifth hydraulic cylinder (411), a fixed seat (412), a fourth steering gear (413), a rotating plate (414), a fifth steering gear (415), a fifth circular plate (416), a regular pentagonal plate (417), five sixth steering gears (418), five rotating shafts (419), ten sixth hydraulic cylinders (420), five sixth hydraulic cylinder top plates (421), five seventh steering gears (422), five triangular plates (423), thirty first LED lamps (424) and eleven second LED lamps (425), the lower part of the fourth circular plate (401) is fixedly arranged on a motor shaft of the first steering engine (206); a second circular groove (402) is formed in the lower portion of the fourth circular plate (401), and the second circular groove (402) is slidably mounted on the ten second balls (205); a fourth circular plate supporting plate (403) is arranged on the fourth circular plate (401), two fourth dovetail grooves (405) are formed in the right side of the fourth circular plate supporting plate (403), and a fourth rack (404) is arranged on the left side of the fourth circular plate supporting plate (403); the sliding sleeve (406) is slidably mounted on the outer side of the fourth circular plate supporting plate (403), and two sliding blocks in the sliding sleeve (406) are respectively slidably mounted in the two fourth dovetail grooves (405); the third stepping motor (407) is horizontally arranged, the side surface of the third stepping motor is fixedly arranged on the outer side of the sliding sleeve (406), the motor shaft of the third stepping motor is fixedly connected with a third gear (408), and the third gear (408) is meshed with the fourth rack (404); the second telescopic sleeve (409) is fixedly arranged on the outer side of the sliding sleeve (406); the second telescopic rod (410) is slidably mounted in a groove on the outer side of the second telescopic sleeve (409), and a fixed seat (412) is arranged on the outer side of the second telescopic rod (410); the bottom of the cylinder body of the fifth hydraulic cylinder (411) is fixedly arranged on a supporting plate on the upper surface of the second telescopic sleeve (409), and the end part of a piston rod of the fifth hydraulic cylinder is fixedly connected with the supporting plate on the upper surface of the second telescopic sleeve (410); one end of the rotating plate (414) is rotatably arranged in the fixed seat (412), and the other end of the rotating plate is fixedly connected with the fifth circular plate (416); the fifth steering engine (415) is horizontally arranged, the side face of the fifth steering engine is fixedly arranged in a groove in the middle of the rotating plate (414), and a motor shaft of the fifth steering engine passes through a round hole in the middle of the fifth circular plate (416) and is fixedly connected with the regular pentagonal plate (417); five side surfaces of the regular pentagonal panel (417) are respectively provided with a fixed seat, five rotating shafts (419) are respectively and rotatably arranged in the five fixed seats on the side surfaces of the regular pentagonal panel (417), the side surfaces of five sixth steering engines (418) are respectively and fixedly arranged on the five side surfaces of the regular pentagonal panel (417), and a motor shaft of each sixth steering engine is respectively and fixedly connected with one end of each of the five rotating shafts (419) through a coupler; the ten sixth hydraulic cylinders (420) are divided into five groups, the bottom of each group of hydraulic cylinders is fixedly arranged on a support plate on the side surface of the rotating shaft (419), and the end parts of piston rods of the groups of hydraulic cylinders are fixedly connected with the side surface of a top plate (421) of the sixth hydraulic cylinder; the five seventh steering engines (422) are respectively and fixedly installed on the outer sides of the six sixth hydraulic cylinder top plates (421), motor shafts of the five seventh steering engines penetrate through round holes in the middles of the sixth hydraulic cylinder top plates (421) and are fixedly connected with the triangular plates (423), the thirty first LED lamps (424) are uniformly divided into five groups, and each group is fixedly installed on the triangular plates (423) in a triangular array manner; the eleven first LED lamps (424) are fixedly arranged on the inner side of the regular pentagonal panel (417);

the fixing part (5) comprises a fixing part bottom plate (501), two second sliding blocks (502), a fourth stepping motor (503), a fourth gear (504), a third telescopic sleeve bottom plate (505), a third telescopic sleeve (506), a third telescopic rod (507), a seventh hydraulic cylinder (508), an eighth steering engine (509), a sucker fixing plate (510) and six suckers (511), wherein the fixing part bottom plate (501) is a rectangular plate, the two second sliding blocks (502) are arranged on the rectangular plate, and the two second sliding blocks (502) are respectively installed in two second dovetail grooves (106) in a sliding manner; the fourth stepping motor (503) is horizontally arranged, the side surface of the fourth stepping motor is fixedly arranged below the bottom plate (501) of the fixed part, the motor shaft of the fourth stepping motor is fixedly connected with a fourth gear (504), and the fourth gear (504) is meshed with the second rack (107); a third telescopic sleeve bottom plate (505) is arranged below the fixed part bottom plate (501), one side of the third telescopic sleeve (506) is fixedly arranged on the third telescopic sleeve bottom plate (505), and the third telescopic rod (507) is slidably arranged in a groove on the outer side of the third telescopic sleeve bottom plate (505); the bottom of the cylinder body of the seventh hydraulic cylinder (508) is fixedly arranged on a supporting plate above the third telescopic sleeve (506), and the end part of a piston rod of the seventh hydraulic cylinder is fixedly connected with the supporting plate above the third telescopic rod (507); the eighth steering engine (509) is horizontally arranged, the side face of the eighth steering engine is fixedly arranged in a groove in the outer side of the third telescopic rod (507), and a motor shaft of the eighth steering engine is fixedly connected with the inner side of the sucker fixing plate (510); the obtained six suckers (511) are in two-row array and fixedly arranged on the outer side of the sucker fixing plate (510);

when in use, the twelve suckers (511) of the two fixing parts (5) are fixedly arranged on one side of the operating table, and the position of the base (1) is adjusted through the cooperative work of the two seventh hydraulic cylinders (508) and the two fourth stepping motors (503); next, a first gear (208) is driven by a first stepping motor (207) of the moving part (2) so as to drive the medicine injection part (3) and the illumination part (4) to move to proper positions; next, the height and the position of the medicine injection part (3) are adjusted through the cooperative work of a first hydraulic cylinder (211) and a second steering engine (212), an arm fixing frame (314) is driven to be fixed on an arm through the cooperative work of two second hydraulic cylinders (304), a second stepping motor (309), four third hydraulic cylinders (311) and a third steering engine (313), and an injection needle head (317) is driven to inject medicine into a patient through the contraction of a fourth hydraulic cylinder (315); meanwhile, the angle of the lighting part (4) is adjusted through the first steering engine (206), the third gear (408) is driven through the third stepping motor (407) to adjust the heights of the first LED lamp (424) and the second LED lamp (425), the angles of the first LED lamp (424) and the second LED lamp (425) are adjusted through the fourth steering engine (413) and the fifth steering engine (415), and thirty first LED lamps (424) and eleven second LED lamps (425) are cooperatively matched through the coordination of five sixth steering engines (418), ten sixth hydraulic cylinders (420) and five seventh steering engines (422) to provide ghost-free lighting for doctors.