CN109567944A - A kind of surgical instruments operating device and operating robot - Google Patents
A kind of surgical instruments operating device and operating robot Download PDFInfo
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- CN109567944A CN109567944A CN201811334871.1A CN201811334871A CN109567944A CN 109567944 A CN109567944 A CN 109567944A CN 201811334871 A CN201811334871 A CN 201811334871A CN 109567944 A CN109567944 A CN 109567944A
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- operating device
- motor
- surgical instruments
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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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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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 surgical instruments operating devices, include: fixed cell (1), the fixed cell fixation surgical instrument (5), surgical instrument (5) includes driving unit (501), is deep into the execution unit (503) that human body brain is operated and long-armed (502) between driving unit and execution unit, by the complete surgical procedure of long-armed control execution unit, driving unit is fixed on fixed cell (1) driving unit.
Description
Technical field
The present invention relates to area of medical devices.
Background technique
Operating robot has been used in many operating rooms all over the world.These robots are not real automation machines
Device people, they cannot perform the operation self, but they provide useful mechanization to operation and help.These machines still need
Surgeon is wanted to operate them and input instruction to it.The control method of these operating robots is that long-range control and voice open
It is dynamic.
Existing operating robot is usually that surgery mechanical is connected by operating robot, and operating robot carries out corresponding
Rotation and mobile rotation and movement to control operating robot, but the space that operating robot movement and rotation need is big,
Malfunction, it is difficult to be used in the operation such as neurosurgery of some precisions.
Summary of the invention
The present invention is directed to above-mentioned problem, and the invention discloses a kind of surgical instruments operating device, behaviour disclosed by the invention
Make device connection surgical instrument and robot, can in the case where robot is motionless for surgery mechanical provide two it is rotatably mounted
Degree and an one-movement-freedom-degree fully ensure that the maximum operating space of surgical instrument, and operation precision is high, can satisfy surgery
The operation demand in equal fields.
Operating device of the invention
Include:
Fixed cell, the fixed cell fixation surgical instrument, surgical instrument include having driving unit, being deep into human body brain
The execution unit that is operated and long-armed between driving unit and execution unit, driving unit is held by long-armed control
The complete surgical procedure of row unit, driving unit are fixed on fixed cell, and long-armed axial direction is first direction, fixed cell
It include fixed block, pedestal, sliding bar, fixing seat, screw rod, driving motor, there are three pedestals, and three pedestals are in equilateral triangle point
For cloth on fixed block, sliding bar one end is connected and fixed seat, and the other end connects pedestal, and screw rod is connected with fixing seat with fixed block, drives
Dynamic electric motor driven screw is moved back and forth along a first direction with controlling fixing seat, when fixing seat moves back and forth along a first direction,
Tie point of the sliding bar on pedestal carries out translational motion with respect to pedestal；
Change, fixed cell are connected with change, and fixed cell can be rotated relative to change along second direction under remote control,
Second direction and first direction are vertical；
Fixed frame, change are connected with fixed frame, and change can be rotated relative to fixed frame along third direction under remote control, the
Three directions and second direction are vertical；
Linking arm, linking arm one end and fixed frame are fixed, and the other end is connected with surgical machine human body.
As an improvement, the fixed cell is connected by first rotating shaft with change, first rotating shaft and fixed cell are fixed
Connection, first rotating shaft are connected with first motor, and first motor drives first rotating shaft rotation to drive fixed cell around first turn
Axis rotation, the axial direction of the first rotating shaft are second direction.
As an improvement, change is connected by the second shaft with fixed frame, the second shaft is fixedly connected with change, the second shaft
It is connected with the second motor, the rotation of second the second shaft of motor driven is to drive the relatively fixed frame of change to turn around the second rotor shaft direction
Dynamic, the axial direction of the second shaft is third direction.
As an improvement, the pedestal is equipped with groove (1021), groove side is equipped with sliding groove (1022), slides rod end
Portion is equipped with slide post, and slide post is stuck in sliding groove and can translate along sliding groove to control sliding bar in the connection position of pedestal
It sets；
As an improvement, change is equipped with first motor chamber (202), first motor is intracavitary to be equipped with the first motor.
As an improvement, fixed frame is equipped with the second motor cavity, second motor is equipped in the second motor cavity.
The invention also discloses a kind of operating robots, including the operating device and robot body, robot
Ontology controls operating device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the invention of embodiment 1；
Fig. 2 is the positive observation schematic of embodiment 1；
Fig. 3 is 1 fixed cell schematic diagram of embodiment；
Fig. 4 is 1 fixed cell enlarged drawing of embodiment；
Fig. 5 is the connection schematic diagram of embodiment 1 sliding bar and pedestal；
Fig. 6 is the schematic diagram of 1 pedestal of embodiment；
Fig. 7 is the positive observation schematic of 1 present invention of embodiment；
Fig. 8 is the schematic diagram under 1 other end mode of operation of embodiment；
Fig. 9 is 1 driving motor schematic diagram of embodiment；
Figure 10 is 1 sliding bar schematic diagram of embodiment；
Figure 11 is the fixed cell schematic diagram of embodiment 2；
Figure 12 is 2 fixed cell schematic diagram enlarged drawing of embodiment；
Figure 13 is the base schematic diagram of embodiment 2；
Figure 14 is the connection schematic diagram of embodiment 2 sliding bar and sliding block；
Figure 15 is side observation schematic；
Marked in the figure: marked in the figure: 1- fixed cell, 101- fixed block, 102- pedestal, 1021- groove, 1022- sliding groove,
1023- sliding block, 1024- hinged seat, 1025- power rail, 1026- power motor, 103- sliding bar, 1031- slide post, 104- are solid
Reservation, 105- screw rod, 106- driving motor, 2- change, 201- first rotating shaft, 202- first motor chamber, 3- fixed frame, 4- connection
Arm, 5- surgical instrument, 501- driving unit, 502- is long-armed, 503- execution unit.
Specific embodiment
Specific embodiment 1:
As shown in Figure 1, including the invention discloses a kind of surgical instruments operating device: fixed cell 1, change 2, fixed frame 3
With linking arm 4.Fixed cell fixation surgical instrument, and surgical instrument is enabled to move forward and backward, fixed cell is with respect to change
It can rotate, change is rotated relative to fixed frame, and fixed frame is fixed on the machine by linking arm.Above-mentioned design can make machine
Two rotational freedoms and an one-movement-freedom-degree are provided to surgical instrument in the case that human body is motionless, guarantee that surgical instrument has
Complete surgical procedure in enough spaces.
Wherein, fixed cell fixation surgical instrument 5, surgical instrument 5 can be the various tissues that are deep into and complete operation
The instrument of operation, such as electric coagulation forceps, gripper tool, cutting machine.Under normal conditions, the surgical instrument 5 includes driving unit
501, it is deep into execution unit 503 that human body brain is operated and long-armed between driving unit and execution unit
502, execution unit is the component for completing the corresponding surgical functions such as above-mentioned electric coagulation forceps, gripper tool, cutting machine.Driving unit is long-range
Surgical instrument control completes command adapted thereto with control execution unit.Driving unit is fixed on fixed cell 1, fixation of the invention
Unit can be it is various driving unit can be reasonably installed, have a large amount of record in the prior art, for installation side
Formula is identical with the prior art, is not repeating again.
For aspect understanding, in the case where or else changing technical spirit content, long-armed axial direction is the by the present invention
One direction also has corresponding second direction and third direction hereinafter.
Different with the prior art, fixed cell of the invention can be by the movement of fixed cell itself to drive surgical device
Tool moves in a first direction.In a specific embodiment, as shown in Figure 3 and Figure 4, fixed cell includes fixed block
101, pedestal 102, sliding bar 103, fixing seat 104, screw rod 105, driving motor 106, there are three pedestals, and three pedestals are in positive three
Angular to be distributed on fixed block, sliding bar one end is connected and fixed seat 104, and the other end connects pedestal 102, screw rod and fixing seat and consolidates
Determine block connection, driving motor driving screw rod moves back and forth along a first direction to control fixing seat, and fixing seat is along a first direction
When reciprocating motion, tie point of the sliding bar on pedestal carries out translational motion with respect to pedestal.
Fixed cell is connected with change, and fixed cell can be rotated relative to change along second direction under remote control,
Second direction and first direction are vertical；Change is connected with fixed frame, change 2 can under remote control relatively fixed frame along the
The rotation of three directions, third direction and second direction are vertical；In the present invention, change is cricoid structure, and fixed frame is also cyclic annular
Structure, change and fixed ring are concentric, and fixed block is located at the center of change.
Linking arm one end and fixed frame are fixed, and the other end is connected with surgical machine human body.
In a preferred embodiment, the fixed cell 1 is connected by first rotating shaft and change 2, and first turn
Axis is fixedly connected with fixed cell 1, and first rotating shaft is connected with first motor, and first motor driving first rotating shaft rotation is solid to drive
Order member is rotated around first rotating shaft, and the axial direction of the first rotating shaft is second direction.
In a preferred embodiment, change 2 is connected by the second shaft with fixed frame, and the second shaft and change are solid
Fixed connection, the second shaft are connected with the second motor, the rotation of second the second shaft of motor driven with drive the relatively fixed frame of change around
The rotation of the second rotor shaft direction, the axial direction of the second shaft be third direction.
In a preferred embodiment, the pedestal is equipped with groove 1021, and groove side is equipped with sliding groove
1022, sliding boom end is equipped with slide post 1031, and slide post is stuck in sliding groove and can translate along sliding groove to control cunning
Link position of the lever in pedestal；
In a preferred embodiment, change is equipped with first motor chamber 202, and first motor is intracavitary to be equipped with described first
Motor.
In a preferred embodiment, fixed frame is equipped with the second motor cavity, is equipped in the second motor cavity described
Second motor.
The invention also discloses a kind of operating robots, including the operating device and robot body, robot
Ontology controls operating device.
Specific embodiment 2: in embodiment 1, fixing seat is merely able to translate relative to fixed block, and fixing seat can not turn
It is dynamic, and then in the case where fixed block is static, it is unable to control surgical instrument rotation.Therefore on the basis of embodiment, this implementation
Example improves the connection type of fixing seat and fixed block, if Figure 11-14 is 1 difference of embodiment 2 and embodiment
Schematic diagram.
In the improved plan, the distal end of sliding bar and fixing seat ball are connect so that the relatively fixed seat of sliding bar freely turns
It is dynamic.As shown in Figs. 13 and 14, groove 1021 is equipped in pedestal, is equipped with sliding block 1023 and power rail 1025 in groove, power rail and
The connection of sliding block screw rod, power rail further drives sliding block to move axially along power rail by the driving of power motor 1026 rotation, sliding
The proximal end of lever and sliding block are hinged, and the power motor is remotely controlled to control the position of sliding block.
In the state of initial, fixing seat and fixed block are horizontal, and three sliding blocks are identical in the position of groove.In the first feelings
Under condition, in the position of groove identical variation occurs for sliding block, then the position of the relatively fixed block translation of fixing seat and then surgical instrument
Axial translation occurs to meet surgical procedure requirement.At the second kind, if sliding block is not identical movement in groove,
If only one sliding block is mobile, regulation did that relatively fixed block rotates and then controls surgical instrument and occurred to turn this when
It is dynamic.
In the present invention in order to be kept fixed the stabilization of seat, when connection of sliding bar and pedestal, is limited to only be freely rotated
Freedom degree, and in order to meet the rotation demand of fixing seat, the connection type that sliding bar and fixed seating ball connect.And in order to keep sliding
Lever is movable accurate and stablizes, and the position of long-range control sliding block is slided equipped with screw rod
In a preferred scheme, sliding block is equipped with hinged seat 1024, and one end of sliding bar is cut with scissors by hinged seat 1024 and sliding block
It connects.
Specific embodiment 3: a kind of neurosurgical operation instrument connection unit, by 2 institute of specific embodiment 1 or specific embodiment
The surgical instruments operating device composition stated.In another embodiment, a kind of oncology surgical instrument connection unit is disclosed, by
Specific embodiment 1 or surgical instruments operating device as described in example 2 composition.In another embodiment, one kind is disclosed
Gynecologic operating instruments connection unit, the surgical operating instrument connection unit group as described in specific embodiment 1 or specific embodiment 2
At.In another embodiment, a kind of gastrointestinal surgery instrument connection unit is disclosed, by specific embodiment 1 or tool
Body surgical operating instrument connection unit composition as described in example 2.In another embodiment, a kind of liver and gall surgical department is disclosed
Surgical instrument connection unit, the surgical operating instrument connection unit described in specific embodiment 1 or specific embodiment 2 form.
In another embodiment, a kind of percutaneous surgeries instrument connection unit is disclosed, it is by specific embodiment 1 or specifically real
Apply the composition of surgical operating instrument connection unit described in example 2.In another embodiment, a kind of bone surgery set is disclosed
Connection unit, the surgical operating instrument connection unit described in specific embodiment 1 or specific embodiment 2 form.
Claims (9)
1. a kind of surgical instruments operating device, which is characterized in that include:
Fixed cell (1), the fixed cell fixation surgical instrument (5), surgical instrument (5) include driving unit (501),
It is deep into execution unit (503) that human body brain is operated and long-armed between driving unit and execution unit
(502), by the complete surgical procedure of long-armed control execution unit, driving unit is fixed on fixed cell (1) driving unit, long
The axial direction of arm is first direction.
2. surgical instruments operating device according to claim 1, which is characterized in that fixed cell includes fixed block
(101), pedestal (102), sliding bar (103), fixing seat (104), screw rod (105), driving motor (106), there are three pedestals, and three
A pedestal is distributed on fixed block in equilateral triangle, and sliding bar one end is connected and fixed seat (104), and the other end connects pedestal (102),
Screw rod is connected with fixing seat with fixed block, and driving motor driving screw rod is moved back and forth along a first direction with controlling fixing seat, Gu
When reservation moves back and forth along a first direction, tie point of the sliding bar on pedestal carries out translational motion with respect to pedestal.
3. surgical instruments operating device according to claim 2, which is characterized in that surgical instruments operating device further include:
Change (2), fixed cell is connected with change, and fixed cell can turn with respect to change along second direction under remote control
Dynamic, second direction and first direction are vertical；
Fixed frame (3), change is connected with fixed frame, and change (2) can fix frame along third direction relatively under remote control
Rotation, third direction and second direction are vertical, and fixed frame is cyclic structure, and change and fixed ring are concentric；
Linking arm (4), linking arm one end and fixed frame are fixed, and the other end is connected with surgical machine human body.
4. surgical instruments operating device according to claim 3, which is characterized in that the fixed cell (1) passes through the
One shaft and change (2) connection, first rotating shaft is fixedly connected with fixed cell (1), and first rotating shaft is connected with first motor, and first
To drive fixed cell to rotate around first rotating shaft, the axial direction of the first rotating shaft is the rotation of motor driven first rotating shaft
Second direction.
5. surgical instruments operating device according to claim 4, which is characterized in that change (2) is by the second shaft and admittedly
Determine frame connection, the second shaft is fixedly connected with change, and the second shaft is connected with the second motor, and second the second shaft of motor driven turns
It moves to drive change to rotate relative to fixed frame around the second rotor shaft direction, the axial direction of the second shaft is third direction.
6. surgical instruments operating device according to claim 5, which is characterized in that the pedestal is equipped with groove
(1021), groove side is equipped with sliding groove (1022), and sliding boom end is equipped with slide post (1031), and slide post is stuck in sliding groove
And it can translate along sliding groove to control sliding bar in the link position of pedestal.
7. surgical instruments operating device according to claim 1-5, which is characterized in that change is equipped with the first electricity
Machine cavity (202), first motor is intracavitary to be equipped with the first motor.
8. surgical instruments operating device according to claim 5, fixed frame is equipped with the second motor cavity, in the second motor cavity
Equipped with second motor.
9. a kind of operating robot, which is characterized in that including operating device described in any one of claims 1-6 and robot
Ontology, robot body control operating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811334871.1A CN109567944A (en) | 2018-11-10 | 2018-11-10 | A kind of surgical instruments operating device and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811334871.1A CN109567944A (en) | 2018-11-10 | 2018-11-10 | A kind of surgical instruments operating device and operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109567944A true CN109567944A (en) | 2019-04-05 |
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ID=65922014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811334871.1A Withdrawn CN109567944A (en) | 2018-11-10 | 2018-11-10 | A kind of surgical instruments operating device and operating robot |
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| Country | Link |
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| CN (1) | CN109567944A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110575258A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | medical surgical instrument and surgical robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| CN105250025A (en) * | 2015-11-25 | 2016-01-20 | 吉林大学 | End effector assisting in clamping endoscope in minimally invasive surgery |
| US20170333057A1 (en) * | 2014-01-15 | 2017-11-23 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
| CN107981932A (en) * | 2018-01-02 | 2018-05-04 | 廖容 | A kind of urological surgery robot arm |
| CN108670320A (en) * | 2018-04-26 | 2018-10-19 | 微创（上海）医疗机器人有限公司 | Snakelike surgical instrument |
-
2018
- 2018-11-10 CN CN201811334871.1A patent/CN109567944A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| US20170333057A1 (en) * | 2014-01-15 | 2017-11-23 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
| CN105250025A (en) * | 2015-11-25 | 2016-01-20 | 吉林大学 | End effector assisting in clamping endoscope in minimally invasive surgery |
| CN107981932A (en) * | 2018-01-02 | 2018-05-04 | 廖容 | A kind of urological surgery robot arm |
| CN108670320A (en) * | 2018-04-26 | 2018-10-19 | 微创（上海）医疗机器人有限公司 | Snakelike surgical instrument |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110575258A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | medical surgical instrument and surgical robot |
| CN110575258B (en) * | 2019-10-21 | 2022-04-22 | 重庆师范大学 | Medical surgical instrument and surgical robot |
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Application publication date: 20190405 |