CN109498159B - Multi freedom neurosurgery surgical instruments operating means - Google Patents
Multi freedom neurosurgery surgical instruments operating means Download PDFInfo
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- CN109498159B CN109498159B CN201811334815.8A CN201811334815A CN109498159B CN 109498159 B CN109498159 B CN 109498159B CN 201811334815 A CN201811334815 A CN 201811334815A CN 109498159 B CN109498159 B CN 109498159B
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- rotating shaft
- fixing
- sliding
- surgical instrument
- unit
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
Abstract
The invention discloses a multi-degree-of-freedom neurosurgery surgical instrument operating device, which belongs to the field of medical equipment and comprises a surgical instrument and a fixing unit for fixing the surgical instrument, wherein the fixing unit is provided with a robot operating tail end.
Description
Technical Field
The present invention relates to the field of medical devices.
Background
On 11/7/2000, the da vinci surgical system was approved by the U.S. food and drug administration, making it the first robotic system available in the operating room in the united states. The technique used by the da vinci system developed by intutive Surgical corporation allows surgeons to reach Surgical sites that are not visible to the naked eye so that they can work more accurately than traditional Surgical procedures.
The surgical robot comprises a bedside mechanical arm system, wherein the bedside mechanical arm system is an operation part of the surgical robot and mainly has the function of providing support for a mechanical arm and a camera arm. The assistant doctor works at the bedside mechanical arm system in the sterile area, and is responsible for replacing instruments and endoscopes and assisting the main doctor in completing the operation.
In the bedside mechanical arm system, a fixed component for fixing the surgical instrument is included, in the prior systems, the fixation is fixed, the rotation movement of the surgical instrument is realized through the rotation and the movement of the robot, but the space required by the movement and the rotation of the surgical robot is large, the operation is not flexible, and the system is difficult to use in some precise operations such as neurosurgery.
Disclosure of Invention
The invention aims at the problems and discloses a multi-degree-of-freedom neurosurgical operation instrument operation device, which comprises a surgical instrument and a fixing unit for fixing the surgical instrument, wherein the fixing unit is provided with a robot operation tail end and comprises:
the fixed block is arranged at the operation tail end of the robot, and three bases are arranged on the fixed block;
the far end of the sliding rod is connected with the fixing seat ball,
base and base articulated slide bar, the slide bar has threely, and it is articulated with three base respectively, and three base is regular triangle distribution, is equipped with the recess in the base, is equipped with slider and power rod in the recess, and power rod and slider lead screw are connected, and the power rod is rotated further drive slider along power rod axial displacement by power motor drive, and the near-end and the slider of slide bar are articulated, power motor by remote control with the position of control slider, the position change of slider is in order to arouse surgical instruments to change in different positions and angle.
As the improvement, the sliding block is provided with a hinged seat, and one end of the sliding rod is hinged with the sliding block through the hinged seat.
As an improvement, the surgical instrument comprises a driving unit, an execution unit which is deep into the brain of a human body to operate, and a long arm positioned between the driving unit and the execution unit, wherein the axial direction of the long arm is the first direction.
As an improvement, a fixing unit is connected with the rotating ring, the fixing unit can rotate along a second direction relative to the rotating ring under the remote control, and the second direction is any diameter direction of the rotating ring.
As an improvement, the rotating ring is connected with the fixed frame, the rotating ring can rotate along a third direction relative to the fixed frame under remote control, the fixed frame is of an annular structure, the third direction is any diameter direction of the fixed frame, the third direction is perpendicular to the second direction, and the rotating ring and the fixed ring are concentric.
As an improvement, the fixed frame is connected with a connecting arm which is connected with the surgical robot body.
Drawings
FIG. 1 is a schematic structural view of the present invention in example 1;
FIG. 2 is a schematic view of example 1 viewed from the front;
FIG. 3 is a schematic view of a fixing unit according to embodiment 1;
FIG. 4 is an enlarged view of the fixing unit of embodiment 1;
FIG. 5 is a schematic view showing the connection between the slide bar and the base in embodiment 1;
FIG. 6 is a schematic view of a base in embodiment 1;
FIG. 7 is a schematic view of example 1 of the present invention viewed from the front;
FIG. 8 is a schematic view of the other end of the operation of example 1;
FIG. 9 is a schematic view of a driving motor of embodiment 1;
FIG. 10 is a schematic view of a slide bar according to embodiment 1;
FIG. 11 is a schematic view of a fixing unit of embodiment 2;
FIG. 12 is an enlarged view of a fixing unit in accordance with embodiment 2;
FIG. 13 is a schematic view of a base in embodiment 2;
FIG. 14 is a schematic view showing the connection of a slide bar and a slider in accordance with embodiment 2;
FIG. 15 is a schematic view from the side;
the labels in the figure are: the labels in the figure are: 1-fixing unit, 101-fixing block, 102-base, 1021-groove, 1022-sliding groove, 1023-sliding block, 1024-hinged base, 1025-power rod, 1026-power motor, 103-sliding rod, 1031-sliding column, 104-fixing base, 105-screw rod, 106-driving motor, 2-rotating ring, 201-first rotating shaft, 202-first motor cavity, 3-fixing frame, 4-connecting arm, 5-surgical instrument, 501-driving unit, 502-long arm and 503-executing unit. .
Detailed Description
Specific example 1:
as shown in FIG. 1, the present invention discloses a surgical instrument operating device, comprising: a fixed unit 1, a rotating ring 2, a fixed frame 3 and a connecting arm 4. The fixing unit fixes the surgical instrument and can enable the surgical instrument to move back and forth, the fixing unit can rotate relative to the rotating ring, the rotating ring rotates relative to the fixing frame, and the fixing frame is fixed on the machine through the connecting arm. The design can provide two rotational degrees of freedom and one moving degree of freedom for the surgical instrument under the condition that the robot body is not moved, and the surgical instrument is ensured to have enough space to complete the surgical operation.
Wherein, the fixing unit fixes the surgical instrument 5, and the surgical instrument 5 can be various instruments which are deep into human tissues to complete the surgical operation, such as electric coagulation forceps, grasping instruments, cutting instruments and the like. Generally, the surgical instrument 5 includes a driving unit 501, an executing unit 503 extending into the brain of the human body for operation, and a long arm 502 located between the driving unit and the executing unit, wherein the executing unit is a component for performing the corresponding surgical functions of the electrocoagulation forceps, the grasping instrument, the cutting instrument, and the like. The driving unit is controlled by the remote surgical instrument to control the execution unit to complete corresponding instructions. The driving unit is fixed on the fixing unit 1, and the fixing unit of the present invention can be various kinds of reasonably mountable driving units, which are well documented in the prior art, and the mounting manner is the same as the prior art, and is not repeated herein.
For the sake of an easy understanding, the present invention will refer to the axial direction of the long arm as the first direction, and hereinafter, the corresponding second direction and third direction will be described without changing the technical essence.
Unlike the prior art, the fixing unit of the present invention can move the surgical instrument in the first direction by the movement of the fixing unit itself. In a specific embodiment, as shown in fig. 3 and 4, the fixing unit includes a fixing block 101, a base 102, a sliding rod 103, a fixing base 104, a screw 105, and a driving motor 106, the bases are three, the three bases are distributed on the fixing block in a regular triangle, one end of the sliding rod is connected to the fixing base 104, the other end of the sliding rod is connected to the base 102, the screw is connected to the fixing base and the fixing block, the driving motor drives the screw to control the fixing base to reciprocate along a first direction, and when the fixing base reciprocates along the first direction, a connection point of the sliding rod on the base performs translational motion relative to the base.
The fixing unit is connected with the rotating ring, the fixing unit can rotate along a second direction relative to the rotating ring under remote control, and the second direction is vertical to the first direction; the rotating ring is connected with the fixed frame, the rotating ring 2 can rotate along a third direction relative to the fixed frame under remote control, and the third direction is vertical to the second direction; in the invention, the rotating ring is of an annular structure, the fixed frame is also of an annular structure, the rotating ring and the fixed ring are concentric, and the fixed block is positioned at the center of the rotating ring.
One end of the connecting arm is fixed with the fixing frame, and the other end of the connecting arm is connected with the surgical robot body.
In a preferred embodiment, the fixing unit 1 is connected to the rotating ring 2 through a first rotating shaft, the first rotating shaft is fixedly connected to the fixing unit 1, the first rotating shaft is connected to a first motor, the first motor drives the first rotating shaft to rotate so as to drive the fixing unit to rotate around the first rotating shaft, and the axial direction of the first rotating shaft is the second direction.
In a preferred embodiment, the rotating ring 2 is connected to the fixed frame through a second rotating shaft, the second rotating shaft is fixedly connected to the rotating ring, the second rotating shaft is connected to a second motor, the second motor drives the second rotating shaft to rotate so as to drive the rotating ring to rotate around the second rotating shaft relative to the fixed frame, and the axial direction of the second rotating shaft is a third direction.
In a preferred embodiment, the base is provided with a groove 1021, the side edge of the groove is provided with a sliding groove 1022, the end of the sliding rod is provided with a sliding post 1031, and the sliding post is clamped in the sliding groove and can translate along the sliding groove to control the connecting position of the sliding rod on the base;
in a preferred embodiment, a first motor cavity 202 is provided in the swivel, and the first motor is provided in the first motor cavity.
In a preferred embodiment, the fixing frame is provided with a second motor cavity, and the second motor cavity is internally provided with the second motor.
The invention also discloses a surgical robot, which comprises the operating device and a robot body, wherein the robot body controls the operating device.
Specific example 2: in embodiment 1, the fixing base can only translate relative to the fixing block, and the fixing base cannot rotate, so that the surgical instrument cannot be controlled to rotate under the condition that the fixing block is static. Therefore, on the basis of the embodiment, the present embodiment improves the connection manner between the fixing seat and the fixing block, and fig. 11 to 14 are schematic diagrams of differences between the embodiment 2 and the embodiment 1.
In this modified version, the distal end of the slide bar is ball-engaged with the holder so that the slide bar is free to rotate relative to the holder. As shown in fig. 13 and 14, a groove 1021 is formed in the base, a slide 1023 and a power rod 1025 are formed in the groove, the power rod is connected with a slide screw, the power rod is driven by a power motor 1026 to rotate so as to further drive the slide to move axially along the power rod, the proximal end of the slide rod is hinged with the slide, and the power motor is controlled remotely to control the position of the slide.
In the initial state, the fixed seat and the fixed block are horizontal, and the three sliding blocks are positioned in the same groove. In the first case, the same change occurs in the position of the slider in the groove, and then the fixing base translates relative to the fixing block and the position of the surgical instrument translates axially to meet the surgical operation requirement. In the second case, if the sliders do not move in the grooves in the same manner, if only one slider moves, it is specified that the rotation of the slider relative to the fixed block is performed so as to control the rotation of the surgical instrument.
In the invention, in order to keep the stability of the fixed seat, the connection between the sliding rod and the base is limited to only have free rotation freedom, and in order to meet the rotation requirement of the fixed seat, the connection mode of the sliding rod and the fixed seat ball is adopted. In order to keep the accurate and stable movement of the sliding rod, the position of the sliding rod sliding remote control slide block is provided with a screw rod
In a preferred embodiment, the sliding block is provided with a hinge base 1024, and one end of the sliding rod is hinged to the sliding block through the hinge base 1024.
Specific example 3: a neurosurgical instrument connection unit comprising a surgical instrument handling device as described in embodiment 1 or embodiment 2. In another embodiment, an oncology surgical instrument attachment unit is disclosed that consists of the surgical instrument manipulation device of embodiment 1 or embodiment 2. In another embodiment, a gynecological surgical instrument connection unit is disclosed, which is composed of the surgical instrument connection unit described in embodiment 1 or embodiment 2. In another embodiment, a gastrointestinal surgical instrument connection unit is disclosed, which is composed of the surgical instrument connection unit described in embodiment 1 or embodiment 2. In another embodiment, a hepatobiliary surgical instrument connection unit is disclosed, comprising the surgical instrument connection unit of embodiment 1 or embodiment 2. In another embodiment, a dermatological surgical instrument connection unit is disclosed, consisting of the surgical instrument connection unit of embodiment 1 or embodiment 2. In another embodiment, an orthopedic surgical instrument attachment unit is disclosed, comprising the surgical instrument attachment unit of embodiment 1 or embodiment 2.
Claims (1)
1. A multi-degree-of-freedom neurosurgical instrument operation device comprises a surgical instrument (5) and a fixing unit for fixing the surgical instrument, and is characterized in that the fixing unit comprises:
the fixing block (101) is provided with three bases which are distributed in a regular triangle shape;
the number of the sliding rods (103) is three, and the near ends of the sliding rods are respectively connected with the three bases in a sliding manner;
the far end of the sliding rod is connected with the fixing seat ball, and the other end of the fixing seat is fixed with a surgical instrument (5);
the base is provided with a groove (1021), the side edge of the groove is provided with a sliding groove (1022), the end part of the sliding rod is provided with a sliding column (1031), and the sliding column is clamped in the sliding groove and can translate along the sliding groove so as to control the connecting position of the sliding rod on the base;
the screw rod (105) and the driving motor (106) are respectively connected with the fixed seat and the fixed block, the driving motor drives the screw rod to control the fixed seat to reciprocate along the first direction, and when the fixed seat reciprocates along the first direction, the connection point of the sliding rod on the base performs translational motion relative to the base;
the surgical instrument comprises a driving unit (501), an execution unit (503) which extends into the brain of a human body to operate, and a long arm (502) positioned between the driving unit and the execution unit, wherein the axial direction of the long arm is a first direction;
the fixing unit is connected with the rotating ring (2), the fixing unit can rotate along a second direction relative to the rotating ring under remote control, the second direction is any diameter direction of the rotating ring, the fixing unit (1) is connected with the rotating ring (2) through a first rotating shaft, the first rotating shaft is fixedly connected with the fixing unit (1), the first rotating shaft is connected with a first motor, the first motor drives the first rotating shaft to rotate so as to drive the fixing unit to rotate around the first rotating shaft, and the axial direction of the first rotating shaft is the second direction;
the rotating ring (2) is connected with the fixed frame (3), the rotating ring (2) can rotate relative to the fixed frame along a third direction under remote control, the fixed frame is of an annular structure, the third direction is any diameter direction of the fixed frame, the third direction is vertical to the second direction, and the rotating ring and the fixed ring are concentric;
the swivel (2) is connected with the fixing frame through a second rotating shaft, the second rotating shaft is fixedly connected with the swivel, the second rotating shaft is connected with a second motor, the second motor drives the second rotating shaft to rotate so as to drive the swivel to rotate around the direction of the second rotating shaft relative to the fixing frame, and the axial direction of the second rotating shaft is a third direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811334815.8A CN109498159B (en) | 2018-11-10 | 2018-11-10 | Multi freedom neurosurgery surgical instruments operating means |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811334815.8A CN109498159B (en) | 2018-11-10 | 2018-11-10 | Multi freedom neurosurgery surgical instruments operating means |
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| CN109498159A CN109498159A (en) | 2019-03-22 |
| CN109498159B true CN109498159B (en) | 2020-03-03 |
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| CN109567945A (en) * | 2018-11-10 | 2019-04-05 | 谢小姣 | A kind of surgical operating instrument connection unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201693552U (en) * | 2010-06-13 | 2011-01-05 | 汕头大学 | Three-degree-of-rotation-freedom parallel robot |
| CN102631275B (en) * | 2011-12-14 | 2013-10-02 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| US9545288B2 (en) * | 2013-03-14 | 2017-01-17 | Think Surgical, Inc. | Systems and devices for a counter balanced surgical robot |
| CN103971564B (en) * | 2014-05-23 | 2016-02-24 | 北京航空航天大学 | A kind of property of gyroscope apparatus for demonstrating |
| WO2017160177A1 (en) * | 2016-03-15 | 2017-09-21 | Елена Николаевна ФАГЕ | Multiaxial mechatronic surgical manipulator |
| CN206366991U (en) * | 2016-12-09 | 2017-08-01 | 江苏理工学院 | A kind of 3-dof parallel robot device |
| CN106927066B (en) * | 2017-03-20 | 2019-03-26 | 上海航天控制技术研究所 | A kind of five axis position markers |
| CN108670320B (en) * | 2018-04-26 | 2021-01-26 | 微创（上海）医疗机器人有限公司 | Snake-shaped surgical instrument |
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Inventor after: Wang Changqing Inventor after: Du Yanying Inventor after: Other inventors request not to publish their names Inventor before: Request for anonymity |
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Effective date of registration: 20200117 Address after: 277500 601, unit 1, building 8, Cuihu Tiandi villa, Tengzhou City, Zaozhuang City, Shandong Province Applicant after: Wang Changqing Address before: 610000 Group 7 of Xingmin Village, Qitian Town, Mianzhu City, Deyang City, Sichuan Province Applicant before: Xie Xiaojiao |
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Effective date of registration: 20210105 Address after: Room 910, unit 1, building 2 and office 1, Shimao square, Yunlong District, Xuzhou City, Jiangsu Province, 221000 Patentee after: Xuzhou Zhicheng Accounting Service Co.,Ltd. Address before: Room 601, unit 1, building 8, Cuihu Tiandi villa, Tengzhou City, Zaozhuang City, Shandong Province 277500 Patentee before: Wang Changqing |