CN109452974A - A kind of collapsible assisting minimally invasive single hole operating robot - Google Patents
A kind of collapsible assisting minimally invasive single hole operating robot Download PDFInfo
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- CN109452974A CN109452974A CN201811361612.8A CN201811361612A CN109452974A CN 109452974 A CN109452974 A CN 109452974A CN 201811361612 A CN201811361612 A CN 201811361612A CN 109452974 A CN109452974 A CN 109452974A
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- 238000010276 construction Methods 0.000 claims description 23
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 19
- 238000012423 maintenance Methods 0.000 abstract description 14
- 230000007774 longterm Effects 0.000 abstract description 7
- 238000004806 packaging method and process Methods 0.000 abstract description 7
- 238000005457 optimization Methods 0.000 description 12
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 244000144985 peep Species 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000009434 installation Methods 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
- 238000005303 weighing Methods 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
- 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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of collapsible assisting minimally invasive single hole operating robot, including supporting leg, column and motion arm, the supporting leg supports and fixes entire assisting minimally invasive single hole operating robot；The uprights vertical is fixed on the supporting leg, supports and fix the motion arm of assisting minimally invasive single hole operating robot；It is connected between the supporting leg, 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.The rotary joint relative rotation between arm section can be passed through between the supporting leg, column, motion arm and the adjacent arm section of attachment base and carry out " folding ", it occupies little space after each arm section and attachment base and surgical instrument " folding " the formula layout of motion arm, is conducive to long term maintenance maintenance, packaging and the transport of minimally invasive surgery single hole operating robot.
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 assisting minimally invasive single hole operating robot of lower assisting minimally invasive single hole operating robot overall structure stress
The optimization problem of overall space occupancy, the present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity it is larger,
Reasonable stress, layout optimization, convenient transportation, collapsible assisting minimally invasive single hole operating robot-with long service life, it is logical
The topology layout for crossing optimization, makes assisting minimally invasive single hole operating robot motion arm can either be made with best in the operating condition
Angle reach patient's operative site target position, be easily operated, optimize assisting minimally invasive single hole hand
The flexibility that art robot is laid out in working condition can also optimize assisting minimally invasive single hole surgical engine in a non-operative state
The balance of the overall structure stress of device people, is conducive to the length of assisting minimally invasive single hole operating robot using this arragement construction
Phase maintenance, and the service life of assisting minimally invasive single hole operating robot can be extended., proposed by the present invention collapsible
Each arm section and surgical instrument " folding " of assisting minimally invasive single hole operating robot supporting leg and motion arm in a non-operative state
Formula layout occupies little space after folding, limited especially suitable for operation site space, such as steamer, submarine etc., while the structure
Also to the packaging of assisting minimally invasive single hole operating robot and transport bring convenience.
The technical scheme adopted by the invention is that:
A kind of collapsible assisting minimally invasive single hole operating robot, including supporting leg, two columns and motion arm；Described
Two uprights verticals are fixed on the supporting leg, support and fix the operation of assisting minimally invasive single hole operating robot
Arm；The motion arm includes two groups of motion arm group I and one group of motion arm group II；Two groups of motion arm group I are symmetrical arranged, two groups of behaviour
The one end for making arm group I passes through Z axis respectively and is connected to rotary joint I with column, the other end of two groups of motion arm group II by Z axis to
Rotary joint II is connected, and motion arm group II is connected with Z axis to the bottom of rotary joint II, peeps in the motion arm group II realization
The positioning of mirror or surgical instrument in Z-direction and X-direction.
Further, the supporting leg includes two groups, and every group of supporting leg includes two supporting legs, passes through Y at the top of two supporting legs
Axial-rotation joint is connected.
Further, the supporting leg bottom is equipped with movable pulley, for mobile or fixed fold formula assisting minimally invasive
Single hole operating robot.
Further, the motion arm group I includes arm section one and arm section two；It is closed by Z axis to rotation one end of arm section one
Section I is connected with column, and the other end of arm section one is connected to rotary joint III with one end of arm section two by Z axis；Arm section two it is another
One end Z axis is connected to rotary joint II with the arm section two of another motion arm group I.
Further, the motion arm group II includes arm section three, arm Duan Si, arm section five；One end of arm section three passes through X axis
Rotary joint I is connected with Z axis to the bottom of rotary joint I, and the other end of arm section three passes through X axis rotary joint II and arm Duan Si
One end be connected；The other end of arm Duan Si is connected by X axis rotary joint III with one end of arm section five, arm section five it is another
End is connected to rotary joint IV with attachment base by Z axis；And the attachment base connects a quick union, connects fastly in described
Endoscope or surgical instrument are installed on connector.
Further, the motion arm group II includes arm section six；One end of arm section six passes through Z axis to linear joint and Z axis
It is connected to the bottom of rotary joint I, the other end Z axis of arm section six is connected to rotary joint V with attachment base；And the attachment base
A quick union is connected, endoscope or surgical instrument are installed on the quick union.
Further, between the column and the adjacent arm section of the motion arm, the motion arm is adjacent
Arm section between, can be closed by the rotation between arm section between the attachment base and the adjacent arm section of the motion arm
It saves relative rotation and carries out " foldings ", so that each arm section of motion arm and attachment base and surgical instrument " foldings " formula be made to be laid out, optimize
The balance and assisting minimally invasive list of assisting minimally invasive single hole operating robot overall structure stress under off working state
Hole operating robot overall space occupancy problem.
The course of work of the invention is as follows:
In the operating condition, the supporting leg can be relative to the rotary joint between the column and the supporting leg
Along horizontal axis rotation adjustment motion arm to proper height, between the column and the adjacent arm section of the motion arm,
It can lead between the adjacent arm section of the motion arm, between the attachment base and the adjacent arm section of the motion arm
The rotary joint relative rotation adjustment angle crossed between arm section fixes attachment base end to optimize arrangement for greater flexibility
Surgical instrument more easily with optimal angle reach patient's operative site target position, conducive to operation operation be unfolded.
In a non-operative state, the supporting leg can be closed relative to the rotation between the column and the supporting leg
Section rotates adjustment motion arm to proper height along horizontal axis, the adjacent arm section of the column and the motion arm it
Between, between the adjacent arm section of the motion arm, can between the attachment base and the adjacent arm section of the motion arm
To carry out " folding " by the rotary joint relative rotation between arm section, to make each arm section and attachment base and operation of motion arm
Instrument " folding " formula layout optimizes the flat of assisting minimally invasive single hole operating robot overall structure stress under off working state
Weighing apparatus property and assisting minimally invasive single hole operating robot overall space occupancy problem.Be conducive to assist using this arragement construction micro-
The long term maintenance maintenance of surgery single hole operating robot is created, and the use of assisting minimally invasive single hole operating robot can be extended
Service life.Collapsible assisting minimally invasive single hole operating robot proposed by the present invention supporting leg and motion arm in a non-operative state
Each arm section and surgical instrument " folding " formula layout occupy little space after folding, limited especially suitable for operation site space, such as
Steamer, submarine etc., while the structure also gives the packaging and transport bring convenience of assisting minimally invasive single hole operating robot.
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, collapsible 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 of assisting minimally invasive single hole operating robot overall structure stress and auxiliary under the flexibility and off working state of layout
Help the optimization problem of minimally invasive surgery single hole operating robot overall space occupancy.Collapsible auxiliary proposed by the present invention is minimally invasive
Surgery single hole operating robot in a non-operative state roll over by each arm section and surgical instrument " folding " formula of supporting leg and motion arm layout
Poststack occupies little space, and is conducive to long term maintenance maintenance, packaging and the transport of minimally invasive surgery single hole operating robot.
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 collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic front view of state.
Fig. 2 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic side view of state.
Fig. 3 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic top plan view of state.
Fig. 4 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention is unfolded
The schematic front view of state.
Fig. 5 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention is unfolded
The schematic side view of state.
Fig. 6 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention is unfolded
The schematic top plan view of state.
Fig. 7 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention is tightened
The schematic front view of state.
Fig. 8 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention is tightened
The schematic side view of state.
Fig. 9 is that a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention is tightened
The schematic top plan view of state.
Figure 10 is that a kind of embodiment 2 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic front view of state.
Figure 11 is that a kind of embodiment 2 of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention works
The schematic side view of state.
Figure 12 is a kind of 1 part of embodiment of collapsible assisting minimally invasive single hole operating robot arragement construction of the present invention
Enlarged diagram.
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 FIG. 1 to FIG. 9, in order to solve assisting minimally invasive single hole operating robot under working condition be laid out it is flexible
The balance and assisting minimally invasive of assisting minimally invasive single hole operating robot overall structure stress under property and off working state
The optimization problem of single hole operating robot overall space occupancy, the present invention propose a kind of easy disassembly, adjustment flexibly, positioning
Accurately, rigidity is larger, reasonable stress, layout optimization, convenient transportation, collapsible assisting minimally invasive single hole hand with long service life
Art robot arrangement, it makes assisting minimally invasive single hole operating robot can either be in work by the topology layout of optimization
Make the target position for making motion arm reach patient's operative site with optimal angle under state, is easily operated, it is excellent
The flexibility that assisting minimally invasive single hole operating robot is laid out in working condition is changed, can also optimize in a non-operative state
The balance of the overall structure stress of assisting minimally invasive single hole operating robot is conducive to assist minimally invasive using this arragement construction
The long term maintenance of surgery single hole operating robot maintains, and can extend the use longevity of assisting minimally invasive single hole operating robot
Life.Collapsible assisting minimally invasive single hole operating robot proposed by the present invention supporting leg and motion arm in a non-operative state it is each
Arm section and surgical instrument " folding " formula layout occupy little space after folding, limited especially suitable for operation site space, for example take turns
Ship, submarine etc., while the structure also gives the packaging and transport bring convenience of assisting minimally invasive single hole operating robot.
A kind of collapsible assisting minimally invasive single hole operating robot arragement construction, including supporting leg 1, column 2 and motion arm,
1 bottom of supporting leg is equipped with movable pulley 5, is used for mobile or fixed fold formula assisting minimally invasive single hole operating robot,
The supporting leg 1 supports and fixed entire assisting minimally invasive single hole operating robot；The column 2 is perpendicularly fixed at described
Supporting leg 1 on, support and the motion arm of fixed assisting minimally invasive single hole operating robot；The supporting leg 1 can be along institute
The rotary joint 1-2 between supporting leg 1 and the column 2 stated is rotated along horizontal axis.
Motion arm includes two groups of motion arm group I and one group of motion arm group II；Two groups of motion arm group I are symmetrical arranged, two groups of behaviour
The one end for making arm group I passes through Z axis respectively and is connected to rotary joint I with column, the other end of two groups of motion arm group II by Z axis to
Rotary joint II is connected, and motion arm group II is connected with Z axis to the bottom of rotary joint II, peeps in the motion arm group II realization
The positioning of mirror or surgical instrument in Z-direction and X-direction.
Motion arm group I includes horizontally disposed motion arm 3, motion arm 4；Motion arm group II include motion arm 6, motion arm 7,
Motion arm 8；
Specifically, column 2 described in two and respectively between one end of motion arm 3 described in two by Z axis to rotation
Turn joint 2-3 be connected, between motion arm 4 described in motion arm 3 described in two and two by Z axis to rotary joint 3-4 phase
Even, it is connected by Z axis to rotary joint 4-4 between two motion arms 4, the motion arm 4 and the motion arm 6
Between by X axis rotary joint 4-6 be connected (specific connection type is: Z axis extends downwardly one section to rotary joint 4-4, X
The shaft of axial-rotation joint 4-6 is horizontal through Z axis to the bottom of rotary joint 4-4, motion arm 6 and rotary joint 4-6 phase
Even；), be connected by X axis rotary joint 6-7 between the motion arm 6 and the motion arm 7,7 and of motion arm
It is connected between the attachment base 8 by X axis rotary joint 7-8, is led between the motion arm 8 and the attachment base 9
It crosses Z axis to be connected to rotary joint 8-9, and the attachment base 9 connects a quick union, installs on the quick union
Endoscope or surgical instrument.
Further, the motion arm 3 between the column 2 and the motion arm 3, described and the motion arm 4
Between, between two motion arms 4, between the motion arm 4 and the motion arm 6, the motion arm 6 and institute
Between motion arm 7 and the motion arm 8 between the motion arm 7 stated, described, the motion arm 8 and the attachment base 9
Between can be closed by rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-4, rotary joint 4-6, rotation
It saves 6-7, rotary joint 7-8, rotary joint 8-9 relative rotation and carries out " folding ", to make each arm section and attachment base of motion arm
Be laid out with surgical instrument " folding " formula, optimize under off working state assisting minimally invasive single hole operating robot overall structure by
The balance and assisting minimally invasive single hole operating robot overall space occupancy problem of power.
The course of work of the invention is as follows:
In the operating condition, the supporting leg 1 can be relative to the rotation between the column 2 and the supporting leg 1
Joint 1-2 rotates adjustment motion arm to proper height, between the column 2 and the motion arm 3, described along horizontal axis
Motion arm 3 and the motion arm 4 between, between two motion arms 4, the motion arm 4 and the operation
Between motion arm 6 and the motion arm 7 between arm 6, described, between the motion arm 7 and the motion arm 8, institute
The rotary joint 2-3 between arm section, rotary joint 3-4, rotation can be passed through between the motion arm 8 and the attachment base 9 stated
Joint 4-4, rotary joint 4-6, rotary joint 6-7, rotary joint 7-8, rotary joint 8-9 relative rotation adjustment angle are so as to more
Arrangement is neatly optimized, the end fixed surgical instrument of attachment base 8 is made more easily to reach patient's hand with optimal angle
The target position at art position is unfolded conducive to the operation of operation.
In a non-operative state, the supporting leg 1 can be relative to the rotation between the column 2 and the supporting leg 1
Turn joint 1-2 and rotates adjustment motion arm to proper height, between the column 2 and the motion arm 3, institute along horizontal axis
Between the motion arm 3 and the motion arm 4 stated, between two motion arms 4, the motion arm 4 and the behaviour
Make between the motion arm 6 and the motion arm 7 between arm 6, described, between the motion arm 7 and the motion arm 8,
The rotary joint 2-3 between arm section, rotary joint 3-4, rotation can be passed through between the motion arm 8 and the attachment base 9
Turn joint 4-4, rotary joint 4-6, rotary joint 6-7, rotary joint 7-8, rotary joint 8-9 relative rotation and carry out " folding ",
To make each arm section and attachment base and surgical instrument " foldings " formula of motion arm be laid out, optimize assisted under off working state it is minimally invasive
The balance and assisting minimally invasive single hole operating robot overall space of surgery single hole operating robot overall structure stress account for
Dosage problem.Be conducive to the long term maintenance maintenance of assisting minimally invasive single hole operating robot using this arragement construction, and can be with
Extend the service life of assisting minimally invasive single hole operating robot.Collapsible assisting minimally invasive single hole hand proposed by the present invention
Art robot occupies empty in a non-operative state after each arm section and surgical instrument " folding " formula of supporting leg and motion arm layout fold
Between small, such as steamer, submarine etc. limited especially suitable for operation site space, while the structure also gives assisting minimally invasive list
The packaging and transport bring convenience of hole operating robot.
The present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization,
Convenient transportation, collapsible 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 of assisting minimally invasive single hole operating robot overall structure stress and auxiliary under the flexibility and off working state of layout
Help the optimization problem of minimally invasive surgery single hole operating robot overall space occupancy.Collapsible auxiliary proposed by the present invention is minimally invasive
Surgery single hole operating robot in a non-operative state roll over by each arm section and surgical instrument " folding " formula of supporting leg and motion arm layout
Poststack occupies little space, and is conducive to long term maintenance maintenance, packaging and the transport of minimally invasive surgery single hole operating robot.
A kind of frame-type assisting minimally invasive single hole operating robot arragement construction proposed by the present invention, can be in embodiment
Motion arm 6, motion arm 7, motion arm 8 and rotary joint 4-6, rotary joint 6-7, rotary joint 7-8 are changed on the basis of 1
Motion arm 6 and linear joint 4-6, it is that surgical instrument is operated the function of being positioned that motion arm, which equally may be implemented,.
It is specific as follows:
Embodiment 2
Specific structure is as shown in Figure 10, Figure 11:
On the basis of embodiment 1, by motion arm 6, motion arm 7, motion arm 8 and rotary joint 4-6, rotary joint 6-7,
Rotary joint 7-8 is changed to motion arm 12 and Z axis to linear joint -4-12, the motion arm 12 and the attachment base 9 it
Between be connected by Z axis to rotary joint 12-9, and the attachment base 9 connects a quick union, in the quick union
Upper installation endoscope or surgical instrument.It is that surgical instrument is operated the function positioned that motion arm, which equally may be implemented,
Energy；
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 (6)
1. a kind of collapsible assisting minimally invasive single hole operating robot, it is characterised in that: including supporting leg, two columns and operation
Arm；Two uprights verticals are fixed on the supporting leg, are supported and are fixed assisting minimally invasive single hole surgical machine
The motion arm of people；The motion arm includes two groups of motion arm group I and one group of motion arm group II；Two groups of motion arm group I are symmetrically set
It sets, one end of two groups of motion arm group I passes through Z axis respectively and is connected to rotary joint I with column, the other end of two groups of motion arm group II
It is connected by Z axis to rotary joint II, motion arm group II is connected with Z axis to the bottom of rotary joint II, the motion arm group
II realizes the positioning of endoscope or surgical instrument in Z-direction and X-direction.
2. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the supporting leg
Including two groups, every group of supporting leg includes two supporting legs, and the top of two supporting legs is connected by Y-axis rotary joint.
3. collapsible assisting minimally invasive single hole operating robot arragement construction as described in claim 1, it is characterised in that: institute
The supporting leg bottom stated is equipped with movable pulley, for mobile or fixed fold formula assisting minimally invasive single hole operating robot.
4. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the motion arm
Group I includes arm section one and arm section two；One end of arm section one is connected to rotary joint I with column by Z axis, the other end of arm section one
It is connected to rotary joint III with one end of arm section two by Z axis；The other end Z axis of arm section two is to rotary joint II and another behaviour
The arm section two for making arm group I is connected.
5. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the motion arm
Group II includes arm section three, arm Duan Si, arm section five；One end of arm section three is by X axis rotary joint I and Z axis to rotary joint I's
Bottom is connected, and the other end of arm section three is connected by X axis rotary joint II with one end of arm Duan Si；The other end of arm Duan Si is logical
X axis rotary joint III is crossed to be connected with one end of arm section five, the other end of arm section five by Z axis to rotary joint IV with connect
Seat is connected；And the attachment base connects a quick union, and endoscope or surgical instrument are installed on the quick union.
6. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the motion arm
Group II includes arm section six；One end of arm section six is connected with Z axis to the bottom of rotary joint I by Z axis to linear joint, arm section six
Other end Z axis be connected to rotary joint V with attachment base；And the attachment base connects a quick union, described fast
Endoscope or surgical instrument are installed on connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361612.8A CN109452974A (en) | 2018-11-15 | 2018-11-15 | A kind of collapsible assisting minimally invasive single hole operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361612.8A CN109452974A (en) | 2018-11-15 | 2018-11-15 | A kind of collapsible assisting minimally invasive single hole operating robot |
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| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
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