CN109431608A - A kind of nested type assisting minimally invasive single hole operating robot - Google Patents
A kind of nested type assisting minimally invasive single hole operating robot Download PDFInfo
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- CN109431608A CN109431608A CN201811361402.9A CN201811361402A CN109431608A CN 109431608 A CN109431608 A CN 109431608A CN 201811361402 A CN201811361402 A CN 201811361402A CN 109431608 A CN109431608 A CN 109431608A
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- 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 abstract description 22
- 238000010276 construction Methods 0.000 claims description 26
- 230000007423 decrease Effects 0.000 claims description 9
- 238000002324 minimally invasive surgery Methods 0.000 description 17
- 238000005457 optimization Methods 0.000 description 16
- 238000012423 maintenance Methods 0.000 description 10
- 230000001771 impaired effect Effects 0.000 description 8
- 230000007774 longterm Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 6
- 230000032258 transport Effects 0.000 description 6
- 238000004806 packaging method and process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of nested type assisting minimally invasive single hole operating robot, including pedestal, column and motion arm, the pedestal supports and fixes entire assisting minimally invasive single hole operating robot；The uprights vertical is fixed on the pedestal, supports and fix the motion arm of assisting minimally invasive single hole operating robot；It is connected between the pedestal, the column, the motion arm and the adjacent arm section of the attachment base by rotary joint or linear joint, and the attachment base connects a quick union, and endoscope or surgical instrument are installed on the quick union.Multiple arm sections of the column and the motion arm are " hollow " structure, " nesting " can be carried out by the rotary joint relative rotation between arm section between the column, the motion arm and the adjacent arm section of the attachment base, thus make motion arm each arm section and attachment base with surgical instrument " nested " on the inside of column.
Description
Technical field
The present invention relates in a kind of minimally invasive surgery single hole field of surgery Medical Devices more particularly to one kind be suitable for thoracic cavity
The minimally invasive surgery single hole operating robot operated with the Minimally Invasive Surgery in abdominal cavity.
Background technique
20th century medical science is known as to the significant contribution of human civilization by the minimally invasive surgery of representative of laparoscopic surgery
One of, Minimally Invasive Surgery operation refer to doctor using elongated surgical instrument by the miniature incision of human body surface be insinuated into vivo into
Row surgical procedure.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time
The advantages that fast, this pain that patient is subjected to greatly reduce；Minimally invasive surgery is widely used in clinical operation thus.It is minimally invasive
Operation can bring many interests for patient, but increase a series of difficulty to the operation of doctor, such as: 1) since body surface is inserted into hole
Limitation, the freedom degree of tool reduces to four, and flexibility substantially reduces；2) the intuition direction phase in instrumentation direction and doctor
Instead, inaccurate coordination；3) shake of doctor's hand may be amplified by elongated surgical instrument；4) visual area is two-dimensional surface imaging,
Lack the feeling in depth；5) lack force feeling.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery behaviour
Make, nonetheless, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.Therefore, micro-
There is an urgent need to a kind of robot systems in wound surgery single hole field of surgery to assist doctor that can overcome drawbacks described above, it is easier to
Complete Minimally Invasive Surgery operation.Currently, in China market still not autonomous production can directly use clinically use it is auxiliary
Help minimally invasive surgery single hole surgical robot system.
Assisting minimally invasive single hole operating robot belongs to precision equipment, and assisting minimally invasive single hole is performed the operation under working condition
The flexibility of robot layout will directly determine the service performance of assisting minimally invasive single hole operating robot, assisting minimally invasive
Single hole operating robot layout type is the key factor for embodying surgical robot system overall performance level.Assisting minimally invasive
The stress balance of single hole operating robot integral arrangement directly influence assisting minimally invasive single hole operating robot because
The deformation that gravity generates, if assisting minimally invasive single hole operating robot because the deformation that gravity generates reaches a certain level, is incited somebody to action
Cause assisting minimally invasive single hole operating robot service precision to decline, is unfavorable for assisting minimally invasive single hole operating robot
Long term maintenance maintenance and the service life for extending assisting minimally invasive single hole operating robot, assisting minimally invasive single hole surgical engine
The stress balance of device people's integral arrangement has important meaning to the service life of assisting minimally invasive single hole operating robot
Justice.In addition, operating room space is limited, the space hold amount opponent of assisting minimally invasive single hole operating robot under off working state
The layout of art room has a major impact, the cloth of the optimization of the space hold amount of assisting minimally invasive single hole operating robot to operating room
Office's important in inhibiting.
Research and development in China, assisting minimally invasive single hole operating robot are still in infancy, to assisting minimally invasive
The research of single hole operating robot compared with foreign technology there are also biggish gap, therefore, exploitation easy disassembly, adjustment flexibly,
Accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, assisting minimally invasive single hole with long service life operation
Robot promotes related-art technology progress to be of great significance to filling the domestic gaps.
Summary of the invention
In order to solve the flexibility and off working state that assisting minimally invasive single hole operating robot is laid out under working condition
The balance and components reasonable stress and surgical instrument of lower assisting minimally invasive single hole operating robot overall structure stress
The optimization problem of protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy, the present invention propose one
Kind of easy disassembly, adjustment are flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, with long service life
Nested type assisting minimally invasive single hole operating robot, it makes assisting minimally invasive single hole perform the operation by the topology layout of optimization
Robot can either make motion arm with the target position of optimal angle arrival patient's operative site in the operating condition, easily
It is operated, optimizes the flexibility that assisting minimally invasive single hole operating robot is laid out in working condition, it also can be
The balance of the overall structure stress of optimization assisting minimally invasive single hole operating robot and each components under off working state
Stress, effectively prevent the moment of flexure deformation that assisting minimally invasive single hole operating robot is generated by gravity, avoid
Assisting minimally invasive single hole operating robot leads to the appearance of service precision decline problem because of deformation, is had using this arragement construction
It is maintained conducive to the long term maintenance of assisting minimally invasive single hole operating robot, and assisting minimally invasive single hole surgical engine can be extended
The service life of device people.Each arm section of column and motion arm is laid out with surgical instrument " nested " formula, is conducive to protect surgical instrument
It is not broken impaired and influences to use.Nested type assisting minimally invasive single hole operating robot proposed by the present invention is in inoperative shape
It occupies little space after being folded under state, it is limited especially suitable for operation site space, such as steamer, submarine etc., while the structure
Packaging and transport bring convenience to assisting minimally invasive single hole operating robot.
The technical scheme adopted by the invention is that:
A kind of nested type assisting minimally invasive single hole operating robot, including pedestal, column and motion arm, the pedestal
It is used to support simultaneously vertical columns and motion arm；Described column one end is perpendicularly fixed on the pedestal, is used to support simultaneously
The fixed motion arm, the other end are connected by rotary joint with the motion arm；The column can be along described
Rotary joint between column and the pedestal in the horizontal direction in 360 degree rotation；The motion arm drives corresponding hand
Art instrument or endoscope stretch or rotation.
Further, the motion arm includes the multiple arm sections being sequentially connected in series and an attachment base, the column and
Between arm section connected to it, between the alternate arm section of the motion arm, between the attachment base and coupled arm section
It is connected by linear joint or linear joint；And the attachment base connects a quick union, connects fastly in described
Endoscope or surgical instrument are installed on head.
Further, the motion arm includes arm section one, arm section two, arm section three and arm Duan Si；The column, arm section
One, arm section two, arm section three pass sequentially through the series connection of X axis rotary joint, and the arm Duan Sanyu arm Duan Si is closed by Z axis to mobile
Section is connected, and the arm Duan Siyu attachment base is connected by Z axis to rotary joint.
Further, the motion arm includes the multiple arm sections being sequentially connected in series and an attachment base, the column and
Pass through rotation between arm section between arm section connected to it, adjacent and between the attachment base and coupled arm section
Turn joint to be connected；And the attachment base connects a quick union, and endoscope or operation are installed on the quick union
Instrument.
Further, the motion arm includes arm section one, arm section two, arm section three, arm Duan Si and arm section five；Described is vertical
Column, arm section one, arm section two, arm section three, arm Duan Si, arm section five pass sequentially through the series connection of X axis rotary joint, the arm Duan Wuyu
It is connected by Z axis to rotary joint between the attachment base.
Further, the column and the arm section are hollow structure.
Further, it is L-type that the cross section of the column and the arm section, which is cross sectional shape,.
Further, the cross section of the column and the multiple arm sections being sequentially connected in series gradually decreases, and passes through rotary joint
Form nested structure.
Further, idler wheel is equipped in the bottom of the pedestal.
Further, the multiple arm sections of the column and the motion arm being sequentially connected in series are " hollow " structure, institute
Between the column stated and the adjacent arm section of the motion arm, between the adjacent arm section of the motion arm, the company
It can be carried out by the rotary joint relative rotation between arm section between joint chair and the adjacent arm section of the motion arm " embedding
Set ", thus make motion arm each arm section and attachment base with surgical instrument " nested " on the inside of column, both optimize off working state
The balance and components reasonable stress and auxiliary of lower assisting minimally invasive single hole operating robot overall structure stress are minimally invasive
Surgery single hole operating robot overall space occupancy problem is conducive to that surgical instrument is protected not broken impaired and influence to make again
With.
The course of work of the invention is as follows:
In the operating condition, the column can be relative to the pedestal along the column and the pedestal
Between rotary joint in the horizontal direction in rotate to proper angle, the adjacent arm section of the column and the motion arm
Between, between the adjacent arm section of the motion arm, between the attachment base and the adjacent arm section of the motion arm
Angle can be adjusted by the rotary joint relative rotation between arm section to optimize arrangement for greater flexibility, keep attachment base last
Fixed surgical instrument is held more easily to reach the target position of patient's operative site with optimal angle, conducive to the operation of operation
Expansion.
In a non-operative state, the multiple arm sections of the column and the motion arm being sequentially connected in series are " hollow " knot
Between the adjacent arm section of structure, the column and the motion arm, between the adjacent arm section of the motion arm, it is described
Attachment base and the motion arm adjacent arm section between can pass through the rotary joint relative rotation between arm section to edge
The parallel direction of part lengths axis carries out " nesting " placement, to make each arm section and attachment base and surgical instrument of motion arm
" nesting " both optimizes assisting minimally invasive single hole operating robot overall structure stress under off working state on the inside of column
Balance and components reasonable stress and assisting minimally invasive single hole operating robot overall space occupancy problem are again advantageous
It influences to use in protecting surgical instrument not broken impaired.
The multiple arm sections of the column and the motion arm being sequentially connected in series use " hollow " structure, increase described
Column and the motion arm the multiple arm sections being sequentially connected in series " rigidity " and meanwhile reduce the column and described
" weight " for the multiple arm sections of motion arm being sequentially connected in series, improves " precision " of assisting minimally invasive single hole operating robot.
The section for the multiple arm sections of the column and the motion arm being sequentially connected in series uses " L-type " structure, relatively
In rectangular-shaped arm segment structure, " section " of the multiple arm sections of the column and the motion arm being sequentially connected in series is reduced
Size reduces " weight " for the multiple arm sections of the column and the motion arm being sequentially connected in series simultaneously, improves auxiliary
" precision " of minimally invasive surgery single hole operating robot.
In a non-operative state, between the column and the adjacent arm section of the motion arm, the motion arm
Adjacent arm section between, pass through the rotation between arm section between the attachment base and the adjacent arm section of the motion arm
Joint relative rotation to the optimization layout that " nesting " placement is carried out along the parallel direction of part lengths axis can make entire auxiliary
Each arm section, attachment base and the surgical instrument of the column, motion arm that help minimally invasive surgery single hole operating robot are subjected only to axial drawing
Power or axial compressive force, and be not subject to moment of flexure optimize the whole stress balance of assisting minimally invasive single hole operating robot and every
The stress of a components effectively prevents assisting minimally invasive single hole operating robot because the moment of flexure that gravity generates becomes
Shape, avoiding assisting minimally invasive single hole operating robot leads to the appearance of service precision decline problem because of deformation, using this
Arragement construction is conducive to the long term maintenance maintenance of assisting minimally invasive single hole operating robot, and can extend assisting minimally invasive
The service life of single hole operating robot.Each arm section of column and motion arm is laid out with surgical instrument " nested " formula, is conducive to protect
Shield surgical instrument is not broken impaired and influences to use.Nested type assisting minimally invasive single hole operating robot proposed by the present invention
It occupies little space after folding in a non-operative state, it is limited especially suitable for operation site space, such as steamer, submarine etc., together
When the structure also give assisting minimally invasive single hole operating robot packaging and transport bring convenience.
The beneficial effects of the present invention are:
The present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization,
Convenient transportation, nested type assisting minimally invasive single hole operating robot arragement construction with long service life, it can solve foreign countries
Assisting minimally invasive single hole operating robot in the operating condition is deposited in existing minimally invasive surgery single hole operating robot arragement construction
The balance and zero of assisting minimally invasive single hole operating robot overall structure stress under the flexibility and off working state of layout
Component reasonable stress and surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy
Optimization problem.It is minimally invasive outer to also improve auxiliary for the nested type assisting minimally invasive single hole operating robot arragement construction simultaneously
" precision " of section's single hole operating robot, avoiding assisting minimally invasive single hole operating robot because of deformation leads to service precision
Decline problem solves the problems, such as surgical instrument protectiveness, nested type assisting minimally invasive single hole surgical machine proposed by the present invention
People occupies little space after folding in a non-operative state, and the long term maintenance for being conducive to minimally invasive surgery single hole operating robot is protected
It supports, pack and transports.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments in invention, for those of ordinary skill in the art, without any creative labor, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is that a kind of embodiment 1 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic front view of state.
Fig. 2 is a kind of non-work of embodiment 1 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
Make the schematic front view of state.
Fig. 3 is a kind of non-work of embodiment 1 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
Make the front-view schematic diagram of state.
Fig. 4 is that a kind of embodiment 2 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic front view of state.
Fig. 5 is a kind of non-work of embodiment 2 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
Make the schematic front view of state.
Fig. 6 is a kind of non-work of embodiment 2 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
Make the front-view schematic diagram of state.
Fig. 7 is that a kind of embodiment 3 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic front view of state.
Fig. 8 is a kind of non-work of embodiment 3 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
Make the schematic front view of state.
Fig. 9 is a kind of non-work of embodiment 3 of nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
Make the front-view schematic diagram of state.
Figure 10 is a kind of embodiment 4 of L-type nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
The schematic front view of working condition.
Figure 11 is a kind of embodiment 4 of L-type nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
The schematic front view of off working state.
Figure 12 is a kind of embodiment 4 of L-type nested type assisting minimally invasive single hole operating robot arragement construction of the present invention
The front-view schematic diagram of off working state.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 shows, it is laid out to solve assisting minimally invasive single hole operating robot under working condition
Under flexibility and off working state the balance of assisting minimally invasive single hole operating robot overall structure stress and components by
The optimization of power reasonability and surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy
Property problem, the present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization, fortune
Defeated convenience, nested type assisting minimally invasive single hole operating robot arragement construction with long service life, it passes through the structure of optimization
Layout makes assisting minimally invasive single hole operating robot that motion arm can either be made to reach disease with optimal angle in the operating condition
The target position of people's operative site, is easily operated, and optimizes assisting minimally invasive single hole operating robot in work
The flexibility for making state layout can also optimize the whole knot of assisting minimally invasive single hole operating robot in a non-operative state
The stress of the balance of structure stress and each components, effectively prevent assisting minimally invasive single hole operating robot because
The moment of flexure deformation that gravity generates, avoid assisting minimally invasive single hole operating robot causes service precision decline to be asked because of deformation
The appearance of topic is maintained using the long term maintenance that this arragement construction is conducive to assisting minimally invasive single hole operating robot, and can be with
Extend the service life of assisting minimally invasive single hole operating robot.Each arm section of column and motion arm and surgical instrument " nested "
Formula layout is conducive to that surgical instrument is protected not broken impaired and influence to use.Nested type auxiliary proposed by the present invention is minimally invasive outer
Section's single hole operating robot occupies little space after folding in a non-operative state, limited especially suitable for operation site space, than
Such as steamer, submarine, while the structure also gives the packaging of assisting minimally invasive single hole operating robot and transport bring convenient
Property.
As shown in Figure 1-3, a kind of nested type assisting minimally invasive single hole operating robot arragement construction, including it is pedestal 1, vertical
Column 2 and motion arm 3, motion arm 4, motion arm 5, motion arm 6, attachment base 7, patient 8, operating bed 9, the support of pedestal 1 is simultaneously
Fixed entire assisting minimally invasive single hole operating robot；The column 2 is perpendicularly fixed on the pedestal 1, support
And motion arm 3, motion arm 4, motion arm 5, motion arm 6, the attachment base 7 of fixed assisting minimally invasive single hole operating robot；Institute
The column 2 stated can be along the interior 360 degree of rotations in the horizontal direction of the rotary joint 1-2 between the column 2 and the pedestal 1
Turn；The bottom of pedestal is provided with idler wheel 10, operating robot is allowed to be moved to corresponding position.
Further, it is connected between the column 2 and the motion arm 3 by rotary joint 2-3, the operation
It is connected between arm 3 and the motion arm 4 by rotary joint 3-4, is led between the motion arm 4 and the motion arm 5
Rotary joint 4-5 is crossed to be connected, is connected, described by linear joint 5-6 between the motion arm 5 and the motion arm 6
It is connected between motion arm 6 and the attachment base 7 by rotary joint 6-7, and the attachment base 7 connects one and connects fastly
Head installs endoscope or surgical instrument on the quick union.
Further, the column 2 and the motion arm 3, motion arm 4 are " hollow " structure, 2 He of column
Between motion arm 3 and the motion arm 4 between the motion arm 3, described, the motion arm 4 and the operation
It can be carried out by the rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-5 relative rotation between arm 5 " embedding
Set ", thus make motion arm 3, motion arm 4, motion arm 5, motion arm 6, attachment base 7 with surgical instrument " nested " on the inside of column 2,
Both optimized under off working state the balance of assisting minimally invasive single hole operating robot overall structure stress and components by
Power reasonability and assisting minimally invasive single hole operating robot overall space occupancy problem are conducive to protect surgical instrument not again
It is broken impaired and influences to use.
The course of work of the invention is as follows:
In the operating condition, the column 2 can be relative to the pedestal 1 along the column 2 and described
Rotary joint 1-2 between pedestal 1 in the horizontal direction in rotate to proper angle, the column 2 and the motion arm 3 it
Between, can pass through between the motion arm 3 and the motion arm 4, between the motion arm 4 and the motion arm 5
Rotary joint 2-3, rotary joint 3-4, rotary joint 4-5 relative rotation between arm section adjust angle to carry out for greater flexibility
Preferred arrangement makes the end fixed surgical instrument of attachment base 7 more easily reach the mesh of patient's operative site with optimal angle
Cursor position is unfolded conducive to the operation of operation.
In a non-operative state, the column 2 and the motion arm 3, motion arm 4 are " hollow " structure, described
Between motion arm 3 and the motion arm 4 between column 2 and the motion arm 3, described, the motion arm 4 and described
Motion arm 5 between can be by rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-5 relative rotation extremely
The direction parallel along part lengths axis carries out " nesting " and places, to make motion arm 3, motion arm 4, motion arm 5, motion arm
6, attachment base 7 had both optimized assisting minimally invasive single hole under off working state and had performed the operation with surgical instrument " nested " in 2 inside of column
The balance and components reasonable stress and assisting minimally invasive single hole operating robot of robot overall structure stress are whole
Space hold amount problem is conducive to that surgical instrument is protected not broken impaired and influence to use again.
The column 2 and the motion arm 3, motion arm 4 are " hollow " structure, increase the column 2 and institute
" rigidity " of the motion arm 3, motion arm 4 the stated while " weight for reducing the column 2 and the motion arm 3, motion arm 4
Amount ", improves " precision " of assisting minimally invasive single hole operating robot.
In a non-operative state, between the column 2 and the motion arm 3, the motion arm 3 and the behaviour
Making can be by the rotary joint 2-3 between arm section, rotation between the motion arm 4 and the motion arm 5 between arm 4, described
Joint 3-4, rotary joint 4-5 relative rotation carry out the optimization cloth that " nesting " is placed to along the parallel direction of part lengths axis
Office can make the column 2 and motion arm 3, motion arm 4, motion arm 5, motion arm of entire assisting minimally invasive single hole operating robot
6, attachment base 7, patient 8, operating bed 9 and surgical instrument are subjected only to axial tension or axial compressive force, and are not subject to moment of flexure, optimization
The whole stress balance of assisting minimally invasive single hole operating robot and the stress of each components, effectively prevent
The moment of flexure deformation that assisting minimally invasive single hole operating robot is generated by gravity, avoids assisting minimally invasive single hole surgical machine
People leads to the appearance of service precision decline problem because of deformation, is conducive to the operation of assisting minimally invasive single hole using this arragement construction
The long term maintenance of robot maintains, and can extend the service life of assisting minimally invasive single hole operating robot.Column and behaviour
Each arm section for making arm is laid out with surgical instrument " nested " formula, is conducive to that surgical instrument is protected not broken impaired and influence to use.
Nested type assisting minimally invasive single hole operating robot proposed by the present invention occupies little space after folding in a non-operative state, special
The site space that Shi Yongyu not perform the operation is limited, such as steamer, submarine etc., while the structure also gives assisting minimally invasive single hole surgical engine
The packaging and transport bring convenience of device people.
The present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization,
Convenient transportation, nested type assisting minimally invasive single hole operating robot arragement construction with long service life, it can solve foreign countries
Assisting minimally invasive single hole operating robot in the operating condition is deposited in existing minimally invasive surgery single hole operating robot arragement construction
The balance and zero of assisting minimally invasive single hole operating robot overall structure stress under the flexibility and off working state of layout
Component reasonable stress and surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy
Optimization problem.It is minimally invasive outer to also improve auxiliary for the nested type assisting minimally invasive single hole operating robot arragement construction simultaneously
" precision " of section's single hole operating robot, avoiding assisting minimally invasive single hole operating robot because of deformation leads to service precision
Decline problem solves the problems, such as surgical instrument protectiveness, and is conducive to the long term maintenance of minimally invasive surgery single hole operating robot
Maintenance, packaging and transport.
A kind of nested type assisting minimally invasive single hole operating robot arragement construction proposed by the present invention, can be in embodiment
Motion arm 5, motion arm 6 and linear joint 5-6 motion arm 5, motion arm 6, motion arm 7 and rotation is changed on the basis of 1 to close
5-6, rotary joint 6--7 are saved, it is that surgical instrument is operated the function of being positioned that motion arm, which equally may be implemented,.Tool
Body is as follows:
Embodiment 2
Specific structure is as shown in Fig. 4, Fig. 5, Fig. 6:
On the basis of embodiment 1, motion arm 5, motion arm 6 and linear joint 5-6 are changed to motion arm 5, motion arm
11, motion arm 6 and rotary joint 5-11, rotary joint 11-6；Section operation is increased between motion arm 5 and motion arm 6
One end of arm 11, motion arm 11 is connected by rotary joint 5-11 with motion arm 5, and the other end of motion arm 11 passes through rotary joint
11-6 is connected with motion arm 6, eliminates the linear joint 5-6 in embodiment 1；Pass through motion arm 5 and motion arm in the present embodiment
11 and rotary joint 11-6 realizes the flexible of motion arm 6.
It is connected between the motion arm 7 and the attachment base 8 by rotary joint 7-8, and the attachment base 8 connects
A quick union is connect, endoscope or surgical instrument are installed on the quick union.It is hand that motion arm, which equally may be implemented,
Art instrument is operated the function of being positioned.
Embodiment 3
For specific structure as shown in Fig. 7, Fig. 8, Fig. 9, the present embodiment is on the basis of embodiment 1, by each arm section
The structure of section design l-shaped；Remaining structure is same as Example 1；Being sequentially connected in series for column and the motion arm is more
The section of a arm section uses " L-type " structure, relative to rectangular-shaped arm segment structure, reduces the column and the operation
" section " size for the multiple arm sections of arm being sequentially connected in series while the successively string for reducing the column and the motion arm
" weight " of multiple arm sections of connection, improves " precision " of assisting minimally invasive single hole operating robot.
Embodiment 4
As shown in figs. 10,11 and 12, the present embodiment is on the basis of embodiment 2, by each arm section to specific structure
Section design l-shaped structure；Remaining structure is same as Example 2；Column and the motion arm are sequentially connected in series
The section of multiple arm sections uses " L-type " structure, relative to rectangular-shaped arm segment structure, reduces the column and the behaviour
Make " section " size for the multiple arm sections of arm being sequentially connected in series while reducing the column and the motion arm successively
" weight " of concatenated multiple arm sections, improves " precision " of assisting minimally invasive single hole operating robot.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
In mind and principle, any modification, equivalent replacement, improvement and so on should be included within the scope of the present invention.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of nested type assisting minimally invasive single hole operating robot, it is characterised in that: including pedestal, column and motion arm,
The pedestal is used to support and vertical columns and motion arm；Described column one end is perpendicularly fixed on the pedestal,
It is used to support and fixes the motion arm, the other end is connected by rotary joint with the motion arm；The column energy
Along the rotary joint between the column and the pedestal in the horizontal direction in 360 degree rotation；The motion arm drives
It moves corresponding surgical instrument or endoscope stretches or rotation.
2. nested type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that:
The motion arm includes the multiple arm sections being sequentially connected in series and an attachment base, the column and arm section connected to it
Between, between the alternate arm section of the motion arm, between the attachment base and coupled arm section pass through linear joint
Or linear joint is connected；And the attachment base connects a quick union, installs endoscope on the quick union
Or surgical instrument.
3. L-type nested type assisting minimally invasive single hole operating robot as claimed in claim 2, it is characterised in that: described
Motion arm includes arm section one, arm section two, arm section three and arm Duan Si；The column, arm section one, arm section two, arm section three are successively led to
The series connection of X axis rotary joint is crossed, the arm Duan Sanyu arm Duan Si is connected by Z axis to linear joint, the arm Duan Siyu
Attachment base is connected by Z axis to rotary joint.
4. nested type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the operation
Arm includes the multiple arm sections being sequentially connected in series and an attachment base, between the column and arm section connected to it, adjacent arm
It is connected by rotary joint between section and between the attachment base and coupled arm section；And the attachment base connects
A quick union is connect, endoscope or surgical instrument are installed on the quick union.
5. the L-type nested type assisting minimally invasive single hole operating robot arragement construction as described in claim 4 is any, feature
Be: the motion arm includes arm section one, arm section two, arm section three, arm Duan Si and arm section five；The column, arm section one, arm
Section two, arm section three, arm Duan Si, arm section five pass sequentially through the series connection of X axis rotary joint, attachment base described in the arm Duan Wuyu
Between by Z axis to rotary joint be connected.
6. the nested type assisting minimally invasive single hole operating robot as described in claim 2-5 is any, it is characterised in that: described
Column and the arm section be hollow structure.
7. the nested type assisting minimally invasive single hole operating robot as described in claim 2-5 is any, it is characterised in that: described
Column and the cross section of the arm section be cross sectional shape be L-type.
8. the nested type assisting minimally invasive single hole operating robot as described in claim 2-5 is any, it is characterised in that: described
Column and the cross section of multiple arm sections that is sequentially connected in series gradually decrease, nested structure is formed by rotary joint.
9. nested type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: at the bottom
The bottom of seat is equipped with idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361402.9A CN109431608A (en) | 2018-11-15 | 2018-11-15 | A kind of nested type assisting minimally invasive single hole operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361402.9A CN109431608A (en) | 2018-11-15 | 2018-11-15 | A kind of nested type assisting minimally invasive single hole operating robot |
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| CN109431608A true CN109431608A (en) | 2019-03-08 |
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| CN201811361402.9A Pending CN109431608A (en) | 2018-11-15 | 2018-11-15 | A kind of nested type assisting minimally invasive single hole operating robot |
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