CN109171973A - A kind of operating robot puncture sheath - Google Patents
A kind of operating robot puncture sheath Download PDFInfo
- Publication number
- CN109171973A CN109171973A CN201811152871.XA CN201811152871A CN109171973A CN 109171973 A CN109171973 A CN 109171973A CN 201811152871 A CN201811152871 A CN 201811152871A CN 109171973 A CN109171973 A CN 109171973A
- Authority
- CN
- China
- Prior art keywords
- piece
- connector
- tube
- operating robot
- puncture sheath
- 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.)
- Pending
Links
- 238000007789 sealing Methods 0.000 claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 10
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 7
- 238000002357 laparoscopic surgery Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 9
- 210000002784 stomach Anatomy 0.000 description 6
- 230000000740 bleeding effect Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000007912 intraperitoneal administration Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 240000002836 Ipomoea tricolor Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000007928 intraperitoneal injection Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 239000013558 reference substance Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B2017/3419—Sealing means between cannula and body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B2017/3445—Cannulas used as instrument channel for multiple instruments
-
- 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 provides a kind of operating robot puncture sheath, including upper tube-like piece, lower tube-like piece and connector, at least one through-hole on upper tube-like piece side wall；Connector is separately connected with upper tube-like piece and lower tube-like piece, and sealing element is equipped in connector.The present invention carries out Mechanical Driven to the movement of endoscope using operating robot puncture sheath, and simplifies operating robot using the three-dimensional rotation ability of cup-and-ball joint, improves the portability and operability of operating robot.Even if operating robot puncture sheath can also help patient that can quickly wipe mirror not extracting endoscope and be placed in abdominal cavity again in the human-aided laparoscopy operation of no machine, operating time and risk are reduced.
Description
Technical field
The present invention relates to a kind of surgical robot systems, and in particular to a kind of operating robot puncture sheath.
Background technique
With the development of science and technology more and more micro-wound surgical operations begin to use operating robot.Leonardo da Vinci's machine at present
Device people is that commercialization and the most successful minimally invasive robot of clinicization, the robot are fixed using open loop parallelogram telecentricity in the world
The shortcomings that position mechanism, realizes parallel four sides mechanism by synchronous steel belt constraint, the mechanism is to need in assembly by device
Find telecentricity anchor point.The shortcomings that passive arm is integrated using the mechanical arm based on mobile platform, this mode is entire mechanical system
Volume of uniting is larger, and needing passive arm tool for the ease of preoperative adjustment, there are four freedom degrees, causes cantilever beam longer, so that robot
Overall stiffness reduces.Consider simultaneously for the patent barrier of Leonardo da Vinci's minimally invasive robot in this respect, and now most of
The driving of Surgical instrument is often to make driving motor be arranged in the top of platform by motor direct-drive in this way, lead
It causes top-heavy, the driving moment in joint is increased, so that mechanical arm system is easy to produce vibration.
Endoscope driving device uses the nut screw kind of drive, but this mode is not easy to manually implemented preoperative adjustment,
Vertically movable device drives nut screw mode to move up and down to realize using motor, and overall volume is bigger.Adjust camera lens
When direction, operating doctor needs to stop all armed arm operations, is switched to and holds handel control system, is adjusted and held jointly with two hands
The position of handel after adjustment, then switches armed arm control system, restarts the operation interrupted.Repeatedly when switching waste
Between, it can not be as neatly controlling lens direction and angle by assistant in conventional laparoscopy operation.Therefore it researches and develops novel minimally invasive
Robotic arm system is of great significance to the development of China minimally invasive robot field.
Novel minimally invasive robot mechanical arm needs novel laparoscope puncture sheath matched.Laparoscope puncture sheath is micro-
It is placed in stomach wall in wound surgical operation, establishes the channel of endoscope and surgical instrument from extraneous disengaging abdominal cavity.Its performance superiority and inferiority is straight
Connect the smoothness that can react operation.Currently, conventional puncture sheath is made of puncture cannula, air valve, block set and seal cap etc..Operation
In the frequent fuzzy camera lens because of blood splashing, endoscope is taken out completely wipe camera lens at this time.But it is frequent when being placed in again
Meet difficulty because being formed after puncture sheath can be pullled by stomach wall at this time into the angle for being unfavorable for merging, need surgical instrument and
Puncture sheath, which is arranged in a line, to be smoothly placed in.Surgical doctor needs both hands to cooperate, and can delay certain time.Several at this time seconds
Bleeding all may threat to life, and patient can't see intraperitoneal bleeding completely.For this purpose, patient can be helped by researching and developing one kind
Mirror and the puncture sheath being placed in again is quickly wiped to be of great significance to the development of the minimally invasive field in China.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of operating robot puncture sheath
With a kind of Chi Jing robot.Even if in the human-aided laparoscopy operation of no machine, operating robot puncture sheath can also be with
It helps patient that can quickly wipe mirror not extracting endoscope and is placed in abdominal cavity again, reduce operating time and risk.
Technical solution: in order to solve the above technical problems, the present invention provides a kind of operating robot puncture sheath, it is characterized in that:
It is collectively constituted including upper tube-like piece, lower tube-like piece and connector, at least one through-hole on the upper tube-like piece side wall；The company
Fitting is separately connected with upper tube-like piece and lower tube-like piece, and sealing element is equipped in the connector.
Specifically, the connector is that a diameter is greater than lower tube-like piece outer diameter and expands seat, is had on the connector
The hole being connected with upper tube-like piece lumen and lower tube-like piece lumen.
Specifically, the sealing element is retainer plate and flap valve, and the connector includes upper connector and lower connector, described
Upper connector and lower connector are to be detachably connected.It is preferred that spiral connects.
Specifically, the sealing element is sealing ring or flap valve, and the sealing element is mounted on inside the connector, for tieing up
Hold air-tightness.Upper and lower connector can flexibly replace the sealing element of different model after opening.
Specifically, the upper tube-like piece and/or lower tube-like piece are connect by detachable connection method with connector.It is preferred that spiral shell
Rotation connection.Upper and lower tube-like piece can flexibly replace the connector of different model.
Specifically, the flap valve is made of rubber or silica gel package elastic filament, and the elastic filament is connect with retainer plate.
Specifically, on the lower tube-like piece or lower part of connector is also connected with gas valve.
Specifically, the through-hole is less than the internal diameter of upper tube-like piece perpendicular to the maximum width of tube-like piece long axis direction.
Specifically, the upper limb of the through-hole extends to the upper limb with the tube-like piece.Through-hole is formed on tube-like piece after extending
Notch, more convenient pass through have the ball-type part of driving assembly in ball, nozzle driven member avoided to block.
Specifically, expand pedestal of the upper end connection of the tube-like piece greater diameter than upper tube-like piece outer diameter, the bottom
Seat is for being equipped with obturator.
Specifically, the detachable connection method is to be threadedly coupled or latch connection or grafting.
A kind of cup-and-ball joint Chi Jing robot, it is characterised in that: there is the cup-and-ball joint being made of ball-type part and socket joint,
The socket joint has locating part, has the first driving assembly in the socket joint, first driving assembly is nibbled with ball-type part
It closes；There is through-hole at the center of the ball-type part, and operating robot puncture sheath is worn in the through-hole；Is equipped in the ball-type part
Two driving assemblies, second driving assembly are engaged by side opening with endoscope；The cup-and-ball joint is mounted on pass by spring
It saves in activity box, the joint motion frame couples with fixed bracket.
It includes upper that the present invention, which provides a kind of operating robot puncture sheath and a kind of Chi Jing robot, operating robot puncture sheath,
Tube-like piece, lower tube-like piece and connector collectively constitute, at least one through-hole on the upper tube-like piece side wall；The connector with
Upper tube-like piece and lower tube-like piece are separately connected, and sealing element is equipped in the connector.Chi Jing robot include by ball-type part and
The cup-and-ball joint of socket joint composition, socket joint is interior to have the first driving assembly engaged with ball-type part, and the center of ball-type part has logical
Hole wears operating robot puncture sheath in through-hole.Second driving assembly is installed, the second driving assembly passes through side opening in ball-type part
It is engaged with endoscope.The present invention carries out Mechanical Driven to the movement of endoscope using operating robot puncture sheath, and utilizes ball-and-socket
The three-dimensional rotation ability in joint simplifies operating robot, improves the portability and operability of operating robot.Even if in nothing
In the laparoscopy operation of robot assisted, operating robot puncture sheath can also help patient can be fast not extracting endoscope
Speed wipes mirror and is placed in abdominal cavity again, reduces operating time and risk.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of operating robot puncture sheath in embodiment one；
Fig. 2 is the connector schematic diagram of internal structure of operating robot puncture sheath in embodiment one；
Fig. 3 is the schematic diagram of operating robot puncture sheath and the assembling of Chi Jing robot in embodiment one；
Fig. 4 is the structural schematic diagram of one Zhong Chi mirror robot of embodiment；
Fig. 5 is the schematic diagram that one Zhong Chi mirror robot of embodiment drives endoscope by puncture sheath side opening；
Fig. 6 is the schematic diagram for wiping camera lens in embodiment two by double-side-hole in puncture sheath；
Fig. 7 is the structural schematic diagram that tube-like piece is threadedly coupled with connector in embodiment three；
Fig. 8 is the schematic diagram of the section structure that tube-like piece is threadedly coupled with connector in embodiment three；
Fig. 9 is the schematic diagram for having driving assembly in double balls to hold the robotically-driven endoscope of mirror in example IV；
Wherein: 1- puncture sheath, 2- connector, 3- support device, 4- Chi Jing robot, 6- endoscope；
The upper tube-like piece of 11-, 12- through-hole, tube-like piece under 13-, 14- breather valve, 15- obturator, 16- pedestal
21- upper connector, connector under 22-, 23- sealing ring, 24- flap valve, the upper threaded socket of 25-, threaded socket under 26-,
27- thread socket
31- joint motion frame, 32- pendulum spring, 33- support rod, 34- support frame, 35- fixed frame
41- ball-type part, 42- ball-type part through-hole, the joint 43- shell, 46- battery, 47- control circuit board；
51- actuator, 52- driving motor, 53- transmission device and circuit board, 54- actuator fixed frame, 55- ball-and-socket driving group
Part, driving assembly in 56- ball；
61- endoscope shank, 62- camera lens, 63- wipe mirror gauze, 64- stomach wall.
Specific embodiment
Embodiment one
Operating robot puncture sheath of the invention is used for laparoscopic surgery, and structure is as shown in Figure 1, main body is two stainless steel production
Tubular tube-like piece, including upper tube-like piece 11, lower tube-like piece 13 and connector 2 collectively constitute, lower 13 outer diameter 13mm of tube-like piece,
Internal diameter 12mm, long 70mm.Upper 11 size of tube-like piece is identical, and in its side wall upper part, there are two symmetrical square through holes 12 for difference, leads to
Hole 12 is 30mm long, wide 10mm, apart from tube-like piece top 30mm.
Connector 2 is the hollow flying saucer shape of stainless steel production, outer diameter 26mm, center maximum gauge 10mm, edge thickness
2mm.There is the hole connecting respectively with upper and lower tube-like piece 13 in center, and the internal diameter in hole is 12mm.When hole and upper and lower tube-like piece 13 dispatch from the factory
It is welded, inside presets the sealing ring of silica gel production.Sealing ring is the round-meshed film in center, and the thickness of film is 3mm,
Diameter 24mm, the diameter of central circular hole are 3mm, and pellosil is fastened on center.
As shown in Fig. 2, the bayonet of obturator 15 is connected on pedestal 16, obturator 15 is prior art, can assist puncturing
Sheath enters abdominal cavity.Connector 2 below sealing element is equipped with gas valve, not exclusively extracts in obturator 15 and closes pellosil
In the state of circular hole, it is used for intraperitoneal injection gas.
In a non-limiting embodiments, the through-hole 12 of upper tube-like piece 11 is 2mm apart from connector 2, can pass through through-hole
12 take out or are placed in different soft sealing elements with surgical clamp, and advantage is can flexible choice different pore size as needed or thickness
The sealing ring of degree.
As shown in figure 3, Chi Jing robot 4 includes the cup-and-ball joint being made of ball-type part 41 and socket joint, pass through spring
It is fixed on joint motion frame.Joint motion frame 31 is supported bar 33 again and support frame 34 is fixed on the fixed frame 35 by operating bed
On.Fixed frame 35 is mounted on the floor of operating room.Other installation forms can also be used, including with cross bar, upright bar and operation
The fixed sliding block composition of edge of bed, is mounted on operating bed, and be mounted on the ceiling above patient in the form of furred ceiling.?
The stomach wall that inflation gets up is smooth and lacks elasticity, and operating robot puncture sheath can also paste stomach wall strong at this moment
On.But the present invention is not limited to the link models.
Joint motion frame is fixed on above patient, and pedestal 16 is removed in rotation after lower tube-like piece 13 is placed in abdominal cavity, across holding mirror
The ball-type part 41 in 4 center of robot, then endoscope 6 is penetrated into abdominal cavity.
As shown in figure 4, cup-and-ball joint is made of ball-type part 41 and joint shell 43, there is circular open on joint shell 43, is open
Circular diameter is less than 41 diameter of ball-type part.Joint shell 43 is two symmetric parts to being combined into, and ball-type part 41 is positioned in pass after pairing
It saves in shell 43, is clamped jointly by driving assembly 55 outside two fixed orthogonal balls of inside.Actuator 51 has Fixing clamp-seat
It is fixed in joint shell 43.There is ball-type part through-hole 42 at the center of ball-type part 41, interior to be equipped with driving assembly 56 in ball.Driving group in ball
Part 56 is identical with ball 55 structure of outer driving assembly.
Actuator 51 is driven by driving motor 52, and power is reached actuator 51 by transmission device 53.In the present embodiment
Actuator 51 is roller bearing spline structure, is fixed on joint shell 43 by actuator fixed frame 54.Control circuit board 47 receives external
Control signal and the movement for controlling Chi Jing robot 4, battery 46 are that Chi Jing robot 4 provides electric power support.
Shell 43 surface in joint is identified with the position of internal part.In a non-limiting embodiments, joint shell 43 is
Transparent material is made, can be with the position of visible directly internal different components.
As shown in figure 5, tube-like piece passes through the ball-type part 41 in 4 center of Chi Jing robot, endoscope 6 is made to pass through through-hole 12 and ball
Driving assembly 56 is to contact in ball in type part 41, so as to be moved forward and backward by driving.In another non-limiting embodiments
In, the driving direction of driving assembly 56 is vertical with 6 long axis direction of endoscope in ball, and endoscope 6 can be made in sectional type surgical engine
Rotation in device people puncture sheath.There is lubricant in puncture sheath or have limiting device with ball-type part 41, to prevent from rotating together.
The various instruments that operation needs, laparoscopic camera, clamper, suction tube, actuator etc. can be installed
In sectional type operating robot puncture sheath.
Chi Jing robot 4 can drive sectional type operating robot puncture sheath realize 3 freedom degrees, front and rear, left and right, up and down
Or rotation, it is identical as the laparoscopic instrument movement of manpower operation.The control device of Chi Jing robot 4 also has similar structure, area
It is not driving assembly being changed to induction pieces.
Operating robot puncture sheath is used for open surgery in one embodiment, due in open surgery without skin
Drawing limitation, cup-and-ball joint can not need joint support device 3 and directly be coupled with fixed bracket.
The present invention carries out Mechanical Driven to the movement of endoscope 6 using sectional type operating robot puncture sheath, and utilizes ball
The three-dimensional rotation ability in nest joint simplifies Chi Jing robot 4, improves the portability and operability of Chi Jing robot 4.
Embodiment two
As shown in fig. 6, the present embodiment and embodiment one have similar structure, difference is installed in connector 2 in this present embodiment
The flap valve 24 of pintongs does sealing element, and uses in the human-aided laparoscopy operation of no machine.Laparoscope is by holding mirror doctor
Operation.When needing to wipe because of lens blur in operation, it is not necessary to completely take out endoscope 6.As long as by 6 camera lens 62 of endoscope
It extracts to 12 position of through-hole, the meche 63 of wiping is penetrated from through-hole 12, quick wipe camera lens 62.Due to before camera lens 62 at this time
Just there is object in side, can quickly judge camera lens either with or without wiped clean, it is not necessary to find reference substance again as in routine operation.
Still in the duct due to endoscope 6, as long as one hand is pushed forward when being placed in again.And the disengaging of endoscope 6 is worn in routine operation
After sheath of sting, puncture sheath is formed after being pullled by stomach wall into the angle for being unfavorable for merging, needs to line up surgical instrument and puncture sheath
Straight line could be smoothly placed in.Surgical doctor needs both hands to cooperate, and can delay the more time.Bleeding in several at this time seconds all may be used
Energy threat to life, and patient can't see intraperitoneal bleeding completely, increase many operation risks.
In another non-limiting embodiments, what is worn in puncture sheath 1 is laparoscope gripper clamp, to take out the different of clamping
When object, it is only necessary to foreign matter is got into 12 position of through-hole, can via through holes 12 take foreign matter away.Then quickly it is placed in gripper clamp.
Embodiment three
As shown in Figure 7 and Figure 8, the present embodiment is similar to two structure of embodiment, and difference is that connector 2 divides for 21 He of upper connector
Lower connector 22.Wherein there is a ring of protrusion at 21 edge of upper connector, the belt groove of lower connector 22, has spiral shell on ring and groove
Line simultaneously mutually agrees with, and making to be vertically connected with part 22 can be threadedly coupled, convenient for opening more preferable sealing element.
There are also the upper threaded sockets 25 of tubulose for the bore edges of upper connector 21, can be with the thread socket on upper tube-like piece 11
27 are threadedly coupled.Similarly, there are also the lower threaded sockets 26 of tubulose for the bore edges of lower connector 22, can be with lower tube-like piece 13
It is threadedly coupled.
Embodiment five
As shown in figure 9, the present embodiment is similar to embodiment one, difference is on tube-like piece 11 that there are two through-hole 12, ball-type parts
There is driving assembly 56 in two balls to drive in 41 jointly, increases driving force.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field skill
For art personnel, the invention may be variously modified and varied, in the range of the principle of the invention and technical idea, to these realities
The mode of applying carries out a variety of variations, modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of operating robot puncture sheath, it is characterized in that: including upper tube-like piece, lower tube-like piece and connector, the upper tubulose
At least one through-hole on part side wall；The connector is separately connected with upper tube-like piece and lower tube-like piece, is set in the connector
There is sealing element.
2. operating robot puncture sheath as described in claim 1, it is characterized in that: the connector is that a diameter is greater than lower tubulose
Part outer diameter expands seat, there is the hole being connected with upper tube-like piece lumen and lower tube-like piece lumen on the connector.
3. operating robot puncture sheath as described in claim 1, it is characterized in that: the connector includes upper connector and lower connection
Part, the upper connector and lower connector are to be detachably connected.
4. operating robot puncture sheath as described in claim 1, it is characterized in that: the sealing element is sealing ring or flap valve, it is described
Sealing element is mounted on inside the connector, for maintaining air-tightness.
5. operating robot puncture sheath as described in claim 1, it is characterized in that: the upper tube-like piece and/or lower tube-like piece pass through
Detachable connection method is connect with connector.
6. operating robot puncture sheath as described in claim 1, it is characterized in that: going in ring on the upper tube-like piece symmetrical two
And more than two through-holes.
7. operating robot puncture sheath as claimed in claim 1 or 6, it is characterized in that: the upper limb of the through-hole extend to it is described
The upper limb of tube-like piece forms notch.
8. operating robot puncture sheath as described in claim 1, it is characterized in that: the upper end of the upper tube-like piece is detachably connected one
A diameter is greater than the pedestal that expands of upper tube-like piece outer diameter, and the pedestal is for installing obturator.
9. the operating robot puncture sheath any one of as described in claim 3,5,8, it is characterized in that: described be detachably connected as spiral shell
Line connection or lock connection or grafting.
10. operating robot puncture sheath as described in claim 1, it is characterized in that: the upper tube-like piece and/or lower tube-like piece is interior
Finite place piece on tube wall, the locating part are bar shaped or ring-like projection or groove, and the locating part is for limiting across straight
The surgical instrument of pipe can only retreat along long axis direction or rotate around long axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152871.XA CN109171973A (en) | 2018-09-30 | 2018-09-30 | A kind of operating robot puncture sheath |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152871.XA CN109171973A (en) | 2018-09-30 | 2018-09-30 | A kind of operating robot puncture sheath |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109171973A true CN109171973A (en) | 2019-01-11 |
Family
ID=64908140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811152871.XA Pending CN109171973A (en) | 2018-09-30 | 2018-09-30 | A kind of operating robot puncture sheath |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109171973A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857999A (en) * | 1995-05-05 | 1999-01-12 | Imagyn Medical Technologies, Inc. | Small diameter introducer for laparoscopic instruments |
| CN201814548U (en) * | 2010-09-13 | 2011-05-04 | 中国人民解放军第二军医大学 | Sheath structure of celioscope |
| CN206950200U (en) * | 2017-02-06 | 2018-02-02 | 曹先德 | A kind of percutaneous nephrolithy negative pressure, quick clear stone sheath |
| JP2018061608A (en) * | 2016-10-11 | 2018-04-19 | 京セラオプテック株式会社 | Trocar apparatus with camera |
| CN108451608A (en) * | 2018-05-02 | 2018-08-28 | 中国人民解放军陆军军医大学第附属医院 | Laparoscope intracavitary lens cleaning puncture outfit |
| CN108498170A (en) * | 2018-04-17 | 2018-09-07 | 成都博恩思医学机器人有限公司 | A kind of endoscope connection structure of laparoscopic surgery Chi Jing robots |
| CN209107585U (en) * | 2018-09-30 | 2019-07-16 | 泗洪县正心医疗技术有限公司 | A kind of operating robot puncture sheath |
-
2018
- 2018-09-30 CN CN201811152871.XA patent/CN109171973A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857999A (en) * | 1995-05-05 | 1999-01-12 | Imagyn Medical Technologies, Inc. | Small diameter introducer for laparoscopic instruments |
| CN201814548U (en) * | 2010-09-13 | 2011-05-04 | 中国人民解放军第二军医大学 | Sheath structure of celioscope |
| JP2018061608A (en) * | 2016-10-11 | 2018-04-19 | 京セラオプテック株式会社 | Trocar apparatus with camera |
| CN206950200U (en) * | 2017-02-06 | 2018-02-02 | 曹先德 | A kind of percutaneous nephrolithy negative pressure, quick clear stone sheath |
| CN108498170A (en) * | 2018-04-17 | 2018-09-07 | 成都博恩思医学机器人有限公司 | A kind of endoscope connection structure of laparoscopic surgery Chi Jing robots |
| CN108451608A (en) * | 2018-05-02 | 2018-08-28 | 中国人民解放军陆军军医大学第附属医院 | Laparoscope intracavitary lens cleaning puncture outfit |
| CN209107585U (en) * | 2018-09-30 | 2019-07-16 | 泗洪县正心医疗技术有限公司 | A kind of operating robot puncture sheath |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210059783A1 (en) | Arm device | |
| JP3686947B2 (en) | High-rigid forceps tip structure for active forceps and active forceps including the same | |
| US5609565A (en) | Articulated tool-holding arm | |
| EP0699053A1 (en) | Remote center positioner | |
| CN109223066A (en) | A kind of fixed remote-control integral system of laparoscope | |
| US20230038991A1 (en) | Surgical robot/instrument system | |
| CN113180836B (en) | Input device, main operation device, and surgical robot | |
| CN109171969A (en) | A kind of operating robot based on gimbal suspension | |
| CN209107585U (en) | A kind of operating robot puncture sheath | |
| CN114948231B (en) | Double-slider electric screw device for single-arm coaxial surgical robot | |
| CN109452977A (en) | A kind of laparoscopic surgery robot driven by crossbeam | |
| CN109171983A (en) | A kind of laparoscopic surgery robot having gimbal suspension | |
| WO2006016390A1 (en) | Robotized system for the control and micrometric actuation of an endoscope | |
| CN110811777A (en) | Puncture outfit mirror supporting device | |
| CN109171973A (en) | A kind of operating robot puncture sheath | |
| WO2011024888A1 (en) | Medical manipulator | |
| US20210212779A1 (en) | Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof | |
| CN209450654U (en) | A kind of hysteroscope puncture sheath having side opening | |
| CN110115636B (en) | Stability-increasing anti-shaking surgical instrument | |
| CN109171971A (en) | A kind of hysteroscope puncture sheath having side opening | |
| CN217772507U (en) | Multifunctional aspirator for surgical machine system | |
| CN217938333U (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN109498159B (en) | Multi freedom neurosurgery surgical instruments operating means | |
| CN109171970A (en) | A kind of fixed device of laparoscopic surgery robot | |
| CN213722387U (en) | Laparoscopic surgery robot driven by cross beam |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190111 |