CN108420468A - Micro-wound operation robot - Google Patents
Micro-wound operation robot Download PDFInfo
- Publication number
- CN108420468A CN108420468A CN201810196605.0A CN201810196605A CN108420468A CN 108420468 A CN108420468 A CN 108420468A CN 201810196605 A CN201810196605 A CN 201810196605A CN 108420468 A CN108420468 A CN 108420468A
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- Prior art keywords
- driving unit
- driving
- motion arm
- distal end
- instrument
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- 238000001356 surgical procedure Methods 0.000 claims abstract description 9
- 238000010586 diagram Methods 0.000 description 18
- 230000007246 mechanism Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 210000000515 tooth Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000009954 braiding Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B34/37—Master-slave robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
Abstract
The present invention relates to a kind of micro-wound operation robots, including：Master operating station and from operation equipment, master operating station is used to send control command to from operation equipment according to the operation of doctor, with control from operation equipment, is used to respond the control command that master operating station is sent from operation equipment, and operated accordingly, include from operation equipment：Mechanical arm, the actuating unit being set on mechanical arm, the motion arm being set on actuating unit, mechanical arm is used to adjust the position of motion arm, actuating unit is for driving motion arm to execute corresponding operating, motion arm is for stretching into vivo, and execute surgical procedure, motion arm includes end instrument, connection component, first driving unit, end instrument offers helicla flute, and it is rotatably connected with the distal end of connection component, connection component is used to adjust posture and the position of end instrument, the distal end of first driving unit is contained in helicla flute, to drive axial-rotation of the end instrument substantially along the first driving unit.
Description
Technical field
The present invention relates to Minimally Invasive Surgery fields, more particularly to a kind of operating robot.
Background technology
Minimally Invasive Surgery refers to being applied inside body cavity using the modern medical equipments such as laparoscope, thoracoscope and relevant device
A kind of modus operandi of row operation.There are the advantages such as wound is small, pain is light, recovery is fast compared to traditional operation mode Minimally Invasive Surgery.
With the development of science and technology micro-wound operation robot technology is gradually ripe, and it is widely used.Micro-wound operation robot
It generally includes master operating station and from operation equipment, doctor is performed the operation by operating master operating station control from operation equipment accordingly
Operation.Wherein, the motion arm for generally including mechanical arm from operation equipment and being set on mechanical arm, mechanical arm are operated for adjusting
The position of arm, motion arm executes surgical procedure for stretching into vivo, however current motion arm flexibility ratio is poor, enables operation
Robot is restricted in some operations, cannot neatly be operated.
Invention content
Based on this, it is necessary to provide a kind of preferable operating robot of flexibility.
A kind of micro-wound operation robot, including：Master operating station and from operation equipment,
The master operating station is used to send control command from operation equipment to described according to the operation of doctor, described in control
From operation equipment,
It is described to be used to respond the control command that master operating station is sent from operation equipment, and operated accordingly,
It is described to include from operation equipment：Mechanical arm, is set to the power at the actuating unit being set on the mechanical arm
Motion arm in mechanism, the mechanical arm are used to adjust the position of the motion arm, and the actuating unit is for driving the behaviour
To make arm and executes corresponding operating, the motion arm executes surgical procedure for stretching into vivo,
The motion arm includes end instrument, connection component, the first driving unit, and the end instrument offers spiral
Slot, and be rotatably connected with the distal end of the connection component, the connection component is used to adjust posture and the position of the end instrument
It sets, the distal end of first driving unit is contained in the helicla flute, to drive the end instrument substantially along described first
The axial-rotation of driving unit.
First driving unit is partially housed in the end instrument in one of the embodiments,.
The helicla flute is opened on the inner surface of the end instrument in one of the embodiments,.
The distal end of first driving unit extends to institute from the outside of the end instrument in one of the embodiments,
It states in helicla flute, and the axial direction of first driving unit and the rotary shaft parallel interval of the end instrument are arranged.
The helicla flute is opened on the outer surface of the end instrument in one of the embodiments,.
The helicla flute is straight slot in one of the embodiments, and the distal end of first driving unit wears described lead to
Slot, to be contained in the straight slot.
There is sliding block, the sliding block to be contained in described for the distal end of first driving unit in one of the embodiments,
In helicla flute.
First driving unit further includes connecting filament in one of the embodiments, the distal end connection of the connecting filament
Sliding block, to drive sliding block to slide proximally facing movement, the motion arm further includes the return unit being connect with the sliding block, for leading
It is mobile towards distal end to draw the sliding block.
First driving unit further includes the first driving list being connect with connecting filament proximal end in one of the embodiments,
First main body, for drawing the proximally facing movement of sliding block by the connecting filament.
The return unit is spring in one of the embodiments,.
Above-mentioned operating robot, it is last when needing to rotate in surgical procedure since end instrument is rotatable with respect to connection component
When end-apparatus tool, can direct rotational end instrument, keep connection component static, enable the spirit of the operating robot with aforesaid operations arm
Active higher, the scope of application are wider.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of operating robot of the present invention；
Fig. 2 is in operating robot from the partial schematic diagram of operation one embodiment of equipment；
Fig. 3 is in operating robot from the partial schematic diagram of operation one embodiment of equipment；
Fig. 4 is the structural schematic diagram of one embodiment of motion arm from operation equipment；
Fig. 5 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Fig. 6 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Fig. 7 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Fig. 8 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Fig. 9 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Figure 10 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Figure 11 is the partial structural diagram of one embodiment of motion arm from operation equipment；
Figure 12 is the partial structural diagram of one embodiment of motion arm from operation equipment.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that when element is referred to as " being set to " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it can
To be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " water
It is flat ", "left", "right" and similar statement for illustrative purposes only, be not offered as being unique embodiment.Herein
It is interventional medical device field common terminology that used term " distal end ", " proximal end ", which are used as the noun of locality, the noun of locality, wherein
" distal end " indicates that one end far from operator in surgical procedure, " proximal end " indicate to lean on one end of proximal operator in surgical procedure.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant Listed Items.
As shown in Figure 1 to Figure 3, it is respectively the structural schematic diagram of one embodiment of operating robot of the present invention, and from operation
The partial schematic diagram of equipment difference embodiment.
Operating robot include master operating station 1000 and from operation equipment 2000.Wherein, master operating station 1000 is used for basis
The operation of doctor sends control command to from operation equipment 2000, with control from operation equipment 2000, is additionally operable to display from setting
Standby 2000 images obtained.It is used to respond the control command that master operating station 1000 is sent from operation equipment 2000, and carries out corresponding
Operation, and from operation equipment 2000 be additionally operable to obtain internal image.
Specifically, from operation equipment 2000 include mechanical arm 1, be set on mechanical arm 1 actuating unit 2, be set to it is dynamic
Motion arm 3 on force mechanisms 2, and it is arranged the casing 4 of motion arm 3.Mechanical arm 1 is used to adjust the position of motion arm 3；Engine
Structure 2 is for driving motion arm 3 to execute corresponding operating；Motion arm 3 is located at the end instrument of distal end for stretching into vivo by it
20 execute surgical procedure, and/or obtain internal image.Specifically, as shown in Figure 2 and Figure 3, motion arm 3 wears casing 4, end
Instrument 20 stretches out outside casing 4, and drives it to execute operation by actuating unit 2.In Fig. 2, motion arm 3 is located at the area in casing 4
Domain is rigid region；In Fig. 3, it is flexible region that motion arm 3, which is located at the region in casing 4, and casing is with flexible region bends.Other
In embodiment, casing 4 can also be omitted, at this point, being not necessarily to casing.
In one embodiment, motion arm 3 is multiple, be may be contained on the same actuating unit 2, the distal end of multiple motion arms 3
It is stretched into vivo by a notch on human body, so that its end instrument 20 is moved to lesion 3000 and is nearby operated.
Specifically, there are actuating unit multiple power parts, each power part to be correspondingly connected with a motion arm.In other embodiment, power
Mechanism is multiple, a motion arm 3 is arranged on each actuating unit 2, and multiple motion arms stretch into vivo, at this time from a notch
Multiple actuating units 2 can be both set on a mechanical arm 1, can also be set on multiple mechanical arms 1.It needs to illustrate
It is that multiple motion arms 3 can also stretch into vivo from multiple notch, for example, stretching into two motion arms in each notch, for another example, often
A motion arm is stretched into a notch.
Further include stamp card from operation equipment 2 in one embodiment, stamp card is fixedly installed for wearing the notch on human body
In incision tract, motion arm is extend into vivo by stabbing card.
As shown in figure 4, it is the structural schematic diagram of one embodiment of motion arm of the present invention.
Motion arm 3 includes：Sequentially connected end instrument 20, connection component 10, connecting rod 90 and driving mechanism 91, wherein
End instrument 20 is for executing surgical procedure, and connecting rod 90 is for wearing casing, and driving mechanism 91 is for being drivingly connected the fortune of component 10
It is dynamic, and then change position and the posture of end instrument 20.In other embodiment, connecting rod 90 can also be omitted, at this time connection component
Directly it is connect with driving mechanism.
As shown in figure 5, it is the partial structural diagram of one embodiment of the invention.
Motion arm 3 includes：End instrument 20, connection component 10 and driving mechanism.Wherein, the distal end of end instrument 20 is used for
Operation is executed, proximal end is rotatably connected with the distal end of connection component 10；Driving mechanism has the first driving unit 30, the first driving single
The distal end of member 30 connects end instrument 20, and end instrument 20 is driven to be rotated relative to connection component 10, so that 20 base of end instrument
This is axially coaxial or parallel with the first driving unit along the axial-rotation of the first driving unit 30, the i.e. rotary shaft of end instrument；
Connection component is the connection component of above-mentioned any one embodiment.
In the present embodiment, the first driving unit 30 wears connection component 10 along the axial direction of connection component 10, and with connection group
Part 10 is flexible.For example, the first driving unit 30 is elastically bendable steel pole；For another example, the first driving unit 30 is multiple steel
Steel pole silk braiding or be entwined.When the first driving unit 30 rotates, end instrument 20 connected to it rotates with.Its
In his embodiment, the first driving unit may be other structures.
As shown in Figure 6 to 8, motion arm 3 further includes drive gear set 40, and driving gear 41 is fixedly installed on the first drive
The distal end of moving cell 30, driven gear 42 drive end instrument 20 to rotate.When the first driving unit 30 rotates, driving master
Moving gear 41 rotates, and then driven gear 42 is driven to rotate, to drive end instrument to rotate.
Specifically, drive gear set 40 is planetary gear mechanism in Fig. 6, the shaft of each gear with the first driving unit 30
Distal end it is parallel, wherein driving gear 41 is sun gear, and driven gear 42 is planetary gear, and gear ring 43 is set to connection group
Gear ring is set on the connection unit 100 of 10 distal end of part or in the connection unit 100 of distal end, i.e. connection unit 100 has tooth
Rim structure.Driven gear 42 is fixedly installed with end instrument 20, so that end instrument 20 is rotated with driven gear 42.This implementation
In example, driven gear 42 is multiple, is symmetrical arranged relative to driving gear 41, and driving gear 41 and the first driving unit 30 are same
Axis.In other embodiment, driven gear may also be only one.
Each gear in Fig. 7 in drive gear set 40 is bevel gear, wherein driving gear 41 and the first driving unit 30
Distal end it is coaxial, the rotary shaft of the first driven gear 42A is vertical with driving gear 41, the rotary shaft of the second driven gear 42B with
Driving gear 41 is parallel or coaxial, and end instrument 20 is fixedly installed on the second driven gear 42B.Specifically, first from
Driving wheel 42A is multiple, and opposite driving gear 41 is symmetrical arranged, and the second driven gear 42B is one, with multiple first driven tooths
42A engagements are taken turns, when driving the first driven gear 42A rotations of driving gear 41, the first driven gear 42A drives the second driven tooth
42B rotations are taken turns, and then end instrument 20 is driven to rotate.In other embodiment, the second driven gear may be multiple, Duo Ge
Two driven gears drive end instrument jointly.
As shown in figure 8, in an embodiment, the second driven gear can also be omitted, at this point, the rotary shaft of end instrument 20 with
The rotary shaft of first driven gear 42A is parallel or coaxial, vertical with the rotary shaft of driving gear 41.Specifically, the first driving is single
Member 30 includes drive rod 31, instrument driving silk 32.Wherein, 31 one end of drive rod is set on driving gear, and other end rotation is set
It is placed on connection component；Instrument drives silk 32 to extend along connection component 10, and distal end is set on drive rod 31, and proximal end is set to
In driving mechanism, to drive the drive rod 31 to rotate, and then driving gear 41 is driven to rotate, for example, instrument driving silk 32 is remote
End is wound on drive rod 31.
As shown in fig. 6, end instrument 20 includes interconnecting piece 21 and two clamping parts 22 being set on interconnecting piece 21,
In, interconnecting piece 21 is connect with the distal end of connection component 10, and clamping part 21 is for executing corresponding operating.In the present embodiment, interconnecting piece
21 are connected by drive gear set 40 with connection component 10.Specifically, interconnecting piece is fixedly connected with driven gear, wherein even
Socket part 21 is disk-like structure, and disk-like structure is equipped with fixed lobe, to be fixedly connected with driven gear.In other embodiment, even
Socket part may be link mechanism, and one end wears driven gear, and the other end is set on clamping part.
Further, motion arm 3 further includes the second driving unit 50, for driving end instrument 20 to open and close.Specifically, the
Two driving units 50 wear connection component 10, and distal end is connected with end instrument 20.In the present embodiment, the first driving unit 30
For hollow structure, there is host cavity, the second driving unit 50 to wear the first driving unit 30, be contained in host cavity, that is, connect
Component 10, the first driving unit 30, the second driving unit 50 are arranged successively.At this point, the proximal end of clamping part 22 offers sliding slot 23,
Two sliding slots are arranged the distal end of the second driving unit, when so that the second driving unit being axially moveable, drive two clamping parts
Closure or openness.
In one embodiment, the first driving unit, the second driving unit are drive rod, and drive rod is with connection component bendable
It is bent.In other embodiment, the second driving unit may be driving silk, and clamping part is equipped with resetting-mechanism at this time, so that driving
Silk resets after driving its closure or openness.
As shown in Figure 9, Figure 10, it is respectively the partial structural diagram of motion arm difference embodiment of the present invention.
Motion arm 3 includes：End instrument 20, connection component 10 and the first driving unit 30.Wherein, end instrument 20 opens up
There is helicla flute 24, and end instrument 20 is rotatably connected with connection component 10；The distal end of first driving unit 30 is contained in helicla flute
In 24, to drive end instrument 20 to rotate, axial-rotation of the end instrument 20 substantially along 30 distal portions of the first driving unit is enabled.
Specifically, when the first driving unit 30 axially movable when, distal end sliding in the helicla flute 24, and drive 20 turns of end instrument
It is dynamic.
End instrument 20 includes interconnecting piece 21 and two clamping parts 22 being set on interconnecting piece.Wherein, interconnecting piece has
Column structure and terminal pad, terminal pad are connect with the distal end of connection component 10, and helicla flute 24 is opened in the column knot of interconnecting piece 21
On structure, rotated so that interconnecting piece is driven by the first driving unit 30；Clamping part 22 is set on interconnecting piece 21, and with interconnecting piece 21
Rotation.
As shown in figure 9, in an embodiment, interconnecting piece 21 is arranged the first driving unit 30, to enable the first driving unit drive
Interconnecting piece rotates.For example, helicla flute 24 is straight slot, so that helicla flute is stretched out in the distal end of the first driving unit 30 out of interconnecting piece 21
24, and be contained in helicla flute 24.For another example, helicla flute is set on the inner surface of interconnecting piece, and the distal end of the first driving unit is received
It is dissolved in helicla flute.
As shown in Figure 10, in an embodiment, the first driving unit 30 is from its rotation of the external drive of end instrument 20.Specifically
, the first driving unit 30 is drive rod, and distal end is out of, the outside of interconnecting piece 21 extends to interconnecting piece helicla flute 24, and the
The axial direction of one driving unit 30 is arranged with the rotary shaft parallel interval of end instrument 20, and helicla flute is set to the outer of interconnecting piece at this time
On surface, or it is straight slot structure.
In above-described embodiment, the first driving unit 30 is drive rod, and distal end has bending, to be contained in helicla flute,
In other embodiment, the first driving unit may be other structures.As shown in figure 11, in an embodiment, the first driving unit
30 include sequentially connected sliding block 33, connecting filament and the first driving unit main body 35.Wherein, sliding block 33 is contained in helicla flute
In 24, when sliding block 33 is pulled to proximal end by the first driving unit main body 35 in an axial direction, connecting filament tensioning, and driven by sliding block 33
End instrument rotation.At this point, motion arm further includes the return unit 60 being connect with sliding block 33, the main body 35 of the first driving unit will be slided
After block 33 moves proximal end to, need to sliding block 33 mobile to distal end when, return unit 60 keeps sliding block mobile towards distal end.It is multiple in the present embodiment
Position part is spring, and specific spring one end is set on connection component, and one end is set on sliding block, when the proximally facing movement of sliding block
When, spring-compressed.
It should be noted that the first driving unit can also omit the first driving unit main body, at this point, being driven by connecting filament
The proximally facing movement of movable slider.In addition, in other embodiment, connecting filament can also be omitted, sliding block is directly arranged at first at this time
In the main body of driving unit.
Further, motion arm further include for drive end instrument open and close the second driving unit, structure with it is above-mentioned
Each embodiment is identical, no longer repeats herein.It should be noted that in Fig. 9 to embodiment illustrated in fig. 11, the second driving unit is not necessarily to
The first driving unit is worn, is set up in parallel with the first driving unit.
As shown in figure 12, it is the structural schematic diagram of one embodiment of motion arm of the present invention.
Motion arm 3 includes：End instrument 20, connection component 10 and rotation driving silk 70.Wherein, the distal end of connection component 10
It is rotatably connected with end instrument 20；Rotation driving 70 one ends wound of silk is on end instrument 20, one end and for connecting driving machine
Structure, to drive end instrument 20 to be rotated relative to connection component 10.When driving mechanism drives rotation driving silk 70 along connection component 10
Axial movement when, rotation driving silk 70 drive end instrument 20 rotate.For example, axial direction of the end instrument 20 along connection component 10
Rotation.
End instrument 20 includes：Interconnecting piece 21 and clamping part 22, wherein interconnecting piece 21 and the distal end of connection component 22 are revolved
Turn connection, rotation driving silk 70 is wound on interconnecting piece 21；Clamping part 22 is set on interconnecting piece 21, to be revolved with interconnecting piece 21
Turn.Specifically, the side wall of distal end connection unit is equipped with groove, the edge of interconnecting piece 21 is contained in groove, and is slided along groove
It is dynamic, so that interconnecting piece is rotated relative to the connection unit 100.For example, interconnecting piece 21 has terminal pad 21A and is set to terminal pad
On 21A around line piece 21B, the periphery of terminal pad is contained in groove, rotation driving silk 70 be wound in line piece.
Motion arm 3 further includes the static pulley 80 in 10 distal end of opposite connection component.For example, pulley 80 is set to connection component
On the connection unit of 10 distal ends.Wherein, pulley 80 closes on the setting of end instrument 10, and the rotary shaft of pulley 80 and end instrument 10
Rotary shaft it is vertical, i.e., it is vertical with the rotary shaft of interconnecting piece 21 so that along rotation driving silk 70 side of change that connection component extends
To being wound on the interconnecting piece of end instrument.
In the present embodiment, pulley 80 is two, and rotation driving silk is one, and the rotary shaft of two pulleys 80 is parallel, rotation
The both ends of silk 70 are driven to pass through two pulleys 80 respectively, to drive the interconnecting piece 21 of end instrument 20 positive or anti-along its rotary shaft
To rotation.In other embodiment, driving silk may be two, and two equal one end of driving silk are set in driving mechanism, another
End is fixedly installed on the instrument of end, and two driving silks pass through corresponding pulley in two pulleys respectively.
In other embodiment, pulley may be other quantity；Or pulley can also be omitted, end device is extended at this time
The rotation driving silk of tool is directly wound on interconnecting piece.
In one embodiment, motion arm further includes the second driving unit for driving end instrument 20 to execute operation, remote
End is connected with end instrument, and the second driving unit wears connection component.Wherein, the second driving unit and foregoing embodiments
In the second structure of driving unit it is similar, no longer repeat herein.It is twined it should be noted that the second driving unit wears end instrument
Around the region of rotation driving silk, that is, wear interconnecting piece.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of micro-wound operation robot, which is characterized in that including：Master operating station and from operation equipment,
The master operating station is used to send control command from operation equipment to described according to the operation of doctor, described from behaviour to control
Make equipment,
It is described to be used to respond the control command that master operating station is sent from operation equipment, and operated accordingly,
It is described to include from operation equipment：Mechanical arm, is set to the actuating unit at the actuating unit being set on the mechanical arm
On motion arm, the mechanical arm is used to adjust the position of the motion arm, and the actuating unit is for driving the motion arm
Corresponding operating is executed, the motion arm executes surgical procedure for stretching into vivo,
The motion arm includes end instrument, connection component, the first driving unit, and the end instrument offers helicla flute, and
It is rotatably connected with the distal end of the connection component, the connection component is used to adjust posture and the position of the end instrument, institute
The distal end for stating the first driving unit is contained in the helicla flute, to drive the end instrument substantially along the first driving list
The axial-rotation of member.
2. operating robot according to claim 1, which is characterized in that first driving unit is partially housed in described
In the instrument of end.
3. operating robot according to claim 2, which is characterized in that the helicla flute is opened in the end instrument
On inner surface.
4. operating robot according to claim 1, which is characterized in that the distal end of first driving unit is from the end
The outside of end-apparatus tool extends in the helicla flute, and the rotary shaft of the axial direction of first driving unit and the end instrument
Parallel interval is arranged.
5. operating robot according to claim 2, which is characterized in that the helicla flute is opened in the end instrument
On outer surface.
6. operating robot according to claim 1, which is characterized in that the helicla flute is straight slot, first driving
The distal end of unit wears the straight slot, to be contained in the straight slot.
7. operating robot according to claim 1, which is characterized in that the distal end of first driving unit, which has, to be slided
Block, the sliding block are contained in the helicla flute.
8. operating robot according to claim 7, which is characterized in that first driving unit further includes connecting filament,
The distal end connection sliding block of the connecting filament, to drive sliding block to slide proximally facing movement, the motion arm further includes and the cunning
The return unit of block connection, it is mobile towards distal end for drawing the sliding block.
9. operating robot according to claim 8, which is characterized in that first driving unit further includes and connecting filament
First driving unit main body of proximal end connection, for drawing the proximally facing movement of sliding block by the connecting filament.
10. operating robot according to claim 9, which is characterized in that the return unit is spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810196605.0A CN108420468A (en) | 2018-03-09 | 2018-03-09 | Micro-wound operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810196605.0A CN108420468A (en) | 2018-03-09 | 2018-03-09 | Micro-wound operation robot |
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| CN108420468A true CN108420468A (en) | 2018-08-21 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109222861A (en) * | 2018-09-20 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Endoscope, motion arm, from operation equipment and operating robot |
| CN109330689A (en) * | 2018-07-31 | 2019-02-15 | 深圳市精锋医疗科技有限公司 | Adjustable motion arm from operation apparatus assembly and operating robot |
| WO2020125733A1 (en) * | 2018-12-20 | 2020-06-25 | 深圳市精锋医疗科技有限公司 | Connecting assembly, operating arm, slave operating device, and surgical robot |
| CN112826592A (en) * | 2020-12-31 | 2021-05-25 | 武汉联影智融医疗科技有限公司 | End effector, end effector decoupling control method and minimally invasive surgical instrument |
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| CN112826592A (en) * | 2020-12-31 | 2021-05-25 | 武汉联影智融医疗科技有限公司 | End effector, end effector decoupling control method and minimally invasive surgical instrument |
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Address after: 518000 Guangdong Province Longgang District Yuanshan Street Heao Community Longgang Avenue 8288 Dayun Software Town 39 301 Applicant after: Shenzhen Jingfeng Medical Technology Co., Ltd. Address before: 518172 Block 404, Building 2, Tianan Digital Innovation Park, Longgang District, Shenzhen City, Guangdong Province, 441 Huangge Road, Longcheng Street Applicant before: Shenzhen Jingfeng Medical Technology Co., Ltd. |
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