CN109806011B - Auxiliary operation device - Google Patents
Auxiliary operation device Download PDFInfo
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- CN109806011B CN109806011B CN201910184035.8A CN201910184035A CN109806011B CN 109806011 B CN109806011 B CN 109806011B CN 201910184035 A CN201910184035 A CN 201910184035A CN 109806011 B CN109806011 B CN 109806011B
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- 230000033001 locomotion Effects 0.000 claims abstract description 186
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 81
- 238000006243 chemical reaction Methods 0.000 claims description 71
- 230000001360 synchronised effect Effects 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000002955 isolation Methods 0.000 claims description 20
- 238000001356 surgical procedure Methods 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 238000000926 separation method Methods 0.000 claims description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 230000013011 mating Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000029663 wound healing Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention relates to an auxiliary operation device, which is arranged on a support frame and comprises: a first linear movement assembly which is manually driven to perform linear horizontal displacement in the transverse direction relative to the carrier; the second linear moving assembly is arranged on the first linear moving assembly and is driven by manual operation to perform linear displacement in the vertical direction relative to the bearing frame; the third linear moving assembly is arranged on the second linear moving assembly and is driven by manual operation to perform linear displacement relative to the longitudinal direction of the bearing frame; a first rotating assembly provided on the third linear moving assembly, and manually driven to rotate about a first axis perpendicular to the third linear moving assembly; the second rotating assembly is arranged on the first rotating assembly and is driven by manual operation to rotate around a second axis vertical to the first rotating assembly; a surgical tool end secured to the second rotating assembly. The auxiliary operation device can reduce the risk of polluting a sterile area of the minimally invasive operation.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an auxiliary operation device.
Background
In recent years, medical surgical procedures have been gradually developed toward minimally invasive procedures with smaller wounds, such as spinal pedicle screw endoprosthesis, spinal nail implantation procedures, vertebroplasty, intervertebral disc/foraminiferous surgery, and other orthopedic procedures for pelvis, extremities, etc. Advantages of minimally invasive surgery include small wound healing, less chance of infection and blood loss, etc.
In minimally invasive surgery, more and more auxiliary surgical devices are being used by hospitals to perform surgical procedures. The surgical field of minimally invasive surgery needs to provide a sterile environment, with stringent requirements on the sterility of the auxiliary surgical device. During surgery, the auxiliary surgical device will increase the risk of contaminating the surgical field, as it is manually operated by a person. Thus, there is a need for better auxiliary surgical devices to reduce the risk of contaminating the sterile field.
Disclosure of Invention
The object of the present invention is to provide an auxiliary surgical device which reduces the risk of contaminating the sterile field of minimally invasive surgery.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
an auxiliary surgical device disposed on a carrier, comprising:
a first linear movement assembly which is manually driven to perform linear horizontal displacement in the transverse direction relative to the carrier;
The second linear moving assembly is arranged on the first linear moving assembly and is driven by manual operation to perform linear displacement in the vertical direction relative to the bearing frame;
the third linear moving assembly is arranged on the second linear moving assembly and is driven by manual operation to perform linear displacement relative to the longitudinal direction of the bearing frame;
a first rotating assembly provided on the third linear moving assembly, and manually driven to rotate about a first axis perpendicular to the third linear moving assembly;
the second rotating assembly is arranged on the first rotating assembly and is driven by manual operation to rotate around a second axis vertical to the first rotating assembly;
a surgical tool end secured to the second rotating assembly.
Preferably, the surgical tool end is used as a surgical sterile field and the distance between the surgical tool end and the manually driven field is such that an isolation is formed between the surgical sterile field in which the surgical tool end is located and the manually driven field.
Preferably, the first linear moving assembly has a first rail member and a first sliding member, wherein the first rail member is horizontally arranged on the support frame in a transverse direction, and the first sliding member is arranged on the first rail member and is manually driven to move along the first rail member.
Preferably, the first sliding member is driven by a first manual driving assembly to move along the first track member, the first manual driving assembly comprises a first hand wheel and a first motion conversion mechanism, the first motion conversion mechanism converts the rotation motion of the first hand wheel into the linear motion of the first sliding member,
the distance between the surgical tool end and the first hand wheel satisfies the requirement that an isolation is formed between the surgical sterile area where the surgical tool end is located and the first hand wheel.
Preferably, the first motion conversion mechanism comprises a first screw rod, the first hand wheel is connected to one end of the first screw rod, and the first screw rod is in threaded fit with the first sliding piece.
Preferably, the second linear moving assembly is disposed on the first sliding member, is in linkage relation with the first sliding member, and has a second track member and a second sliding member, wherein the second track member is disposed on the first sliding member in a vertical direction, and the second sliding member is disposed on the second track member and is driven by a hand to move along the second track member.
Preferably, the second sliding member is driven by a second manual driving assembly to move along the second track member, the second manual driving assembly comprises a second hand wheel and a second motion conversion mechanism, the second motion conversion mechanism converts the rotation motion of the second hand wheel into the linear motion of the second sliding member, and the distance between the surgical tool end and the second hand wheel meets the requirement that the surgical sterile area where the surgical tool end is located and the second hand wheel form isolation.
Preferably, the second motion conversion mechanism comprises a second screw rod and a bevel gear, the second hand wheel is connected to one end of the second screw rod through the bevel gear, and the second screw rod is in threaded fit with the second sliding piece.
Preferably, the third linear moving assembly is disposed on the second sliding member, is in linkage relation with the second sliding member, and has a third rail member and a third sliding member, the third sliding member is disposed on the second sliding member, the third rail member is longitudinally and horizontally disposed on the third sliding member, and the third rail member is manually driven to move relative to the third sliding member along a defined direction thereof.
Preferably, the third rail member is driven by a third manual driving assembly along a defined direction thereof to slide on the third sliding member so as to generate relative movement with the third sliding member, the third manual driving assembly comprises a third hand wheel and a third motion conversion mechanism, the third motion conversion mechanism converts the rotation motion of the third hand wheel into the relative linear motion of the third rail member and the third sliding member, and the distance between the surgical tool end and the third hand wheel meets the requirement that isolation is formed between a surgical sterile area where the surgical tool end is located and the third hand wheel.
Preferably, the third motion conversion mechanism comprises a third screw rod, the third hand wheel is connected to one end of the third screw rod, and the third screw rod is in threaded fit with the third sliding piece.
Preferably, the first rotating component is disposed on the third track member and is in linkage relation with the third track member, and has a first base and a first rotating member, wherein the first base is fixed on the third track member, and the first rotating member is rotatably disposed on the first base.
Preferably, the first rotating member is driven by a fourth manual driving assembly to rotate vertically relative to the first base, the fourth manual driving assembly includes a fourth hand wheel and a fourth motion conversion mechanism, the fourth motion conversion mechanism converts the rotation motion of the fourth hand wheel into the rotation motion of the first rotating member, and the distance between the surgical tool end and the fourth hand wheel satisfies that an isolation is formed between a surgical sterile area where the surgical tool end is located and the third hand wheel.
Preferably, the fourth motion conversion mechanism comprises a first transmission shaft, a coupler and a worm gear reducer, the fourth hand wheel is connected to one end of the first transmission shaft, the other end of the first transmission shaft is connected with the worm gear reducer through the coupler, and the first rotating piece is connected with an output shaft of the worm gear reducer.
Preferably, the second rotating component is disposed on the first rotating member and is in linkage relation with the first rotating member, and has a second base and a second rotating member, wherein the second base is fixed on the first rotating member, and the second rotating member is rotatably disposed on the second base.
Preferably, the second rotating member is driven by a fifth manual driving assembly to reciprocate relative to the second base, the fifth manual driving assembly includes a fifth hand wheel and a fifth motion conversion mechanism, the fifth motion conversion mechanism converts the rotation motion of the fifth hand wheel into the reciprocation of the second rotating member, and the distance between the surgical tool end and the fifth hand wheel satisfies that an isolation is formed between a surgical sterile area where the surgical tool end is located and the fifth hand wheel.
Preferably, the fifth motion conversion mechanism comprises a first synchronous pulley, a synchronous belt, a second synchronous pulley, a second transmission shaft, a first universal coupling and a second universal coupling, the fifth hand wheel is connected with the first synchronous pulley, the first synchronous pulley is connected with the second synchronous pulley through the synchronous belt, one end of the second transmission shaft is connected with the second synchronous pulley through the first universal coupling, and the second rotating piece is connected with the other end of the second transmission shaft through the second universal coupling.
Preferably, an indexer is further provided between the second rotating member and the second universal joint.
Preferably, the surgical tool end is provided with a lifting sliding component, and the lifting movable component is provided with a positioner.
The invention has the beneficial effects that:
the auxiliary operation device comprises a first linear moving component, a second linear moving component, a third linear moving component, a first rotating component and a second rotating component, wherein the first linear moving component is manually driven to linearly move in the transverse direction relative to the support frame, the second linear moving component is manually driven to linearly move in the vertical direction relative to the support frame, the third linear moving component is manually driven to linearly move in the longitudinal direction relative to the support frame, the first rotating component is manually driven to rotate around a first axis vertical to the third linear moving component, the second rotating component is manually driven to rotate around a second axis vertical to the first rotating component, and an operation tool end of the second linear moving component is fixed on the second rotating component.
Drawings
FIG. 1a is a schematic view of an assisted surgery device according to an embodiment of the present invention;
FIG. 1b is a partial enlarged view of D of FIG. 1 a;
FIG. 2 is a schematic diagram of a first linear motion assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of a second linear motion assembly according to an embodiment of the present invention;
FIG. 4a is a schematic view of an auxiliary surgical device of an embodiment of the present invention in a rotationally locked state;
FIG. 4b is an enlarged schematic view of part A of FIG. 4 a;
FIG. 4c is an enlarged partial schematic view of A1 of FIG. 4 b;
FIG. 5a is a schematic view of an auxiliary surgical device in a rotationally unlocked state according to an embodiment of the present invention;
FIG. 5B is an enlarged schematic view of part B of FIG. 5 a;
FIG. 6 is a schematic diagram of a third linear motion assembly according to an embodiment of the present invention;
FIG. 7a is a schematic view of a first rotating assembly and a second rotating assembly of an embodiment of the present invention;
FIG. 7b is yet another schematic illustration of a first rotating assembly and a second rotating assembly of an embodiment of the present invention;
FIG. 8 is yet another schematic view of an auxiliary surgical device according to an embodiment of the present invention;
FIG. 9a is yet another schematic view of an auxiliary surgical device according to an embodiment of the present invention;
FIG. 9b is an enlarged partial schematic view of C of FIG. 9 a;
FIG. 10a is yet another schematic view of an auxiliary surgical device according to an embodiment of the present invention;
fig. 10b is an enlarged partial schematic view of E of fig. 10 a.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
Example 1
As shown in fig. 1a, this is an auxiliary surgical device that may be provided on a carrier. The support can be made permanently fixed or movable, such as a surgical trolley.
The auxiliary surgical device includes a first linear movement assembly 100.
The first linear motion assembly 100 is manually driven to linearly and horizontally displace in a transverse direction relative to the carrier. By way of example only, the lateral direction of the carrier may be the a-direction shown in fig. 1 a.
As shown in fig. 2, the first linear moving assembly 100 has a first rail member 110 and a first sliding member 120, wherein the first rail member 110 is horizontally disposed on the carrier in a transverse direction, and wherein the first sliding member 120 is disposed on the first rail member 110 and is manually driven to move along the first rail member 110.
As shown in fig. 1a, the first slider 120 is driven by a first manual driving assembly to move along the first track member 110, where the first manual driving assembly includes a first hand wheel 131 and a first motion conversion mechanism 132, and the first motion conversion mechanism 132 converts the rotational motion of the first hand wheel 131 into the linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first screw rod 1321, the first hand wheel 131 is connected to one end of the first screw rod 1321, and the first screw rod 1321 is in threaded engagement with the first slider 120.
The auxiliary surgical device also includes a second linear motion assembly 200.
The second linear motion assembly 200 is disposed on the first linear motion assembly 100, and is manually driven to perform linear displacement in a vertical direction relative to the carrier. By way of example only, the vertical direction of the carrier may be the b direction shown in fig. 1 a.
The second linear motion assembly 200 is disposed on the first sliding member 120 and is in linkage relation with the first sliding member 120. The second linear motion assembly 200 has a second rail member 210 and a second slider 220, wherein the second rail member 220 is vertically disposed on the first slider 120, and the second slider 220 is disposed on the second rail member 210 and is manually driven to move along the second rail member 210.
As shown in fig. 3, the second slider 220 is driven by the second manual driving assembly to move along the second track member 210. The second manual driving assembly includes a second hand wheel 231 and a second motion conversion mechanism 232, and the second motion conversion mechanism 232 converts the rotational motion of the second hand wheel 231 into the linear motion of the second slider 220. The second motion conversion mechanism 232 includes a second screw (not shown) and a bevel gear, and the second hand wheel 231 is connected to one end of the second screw 2321 through the bevel gear, and the second screw is in threaded engagement with the second slider 220. The number of bevel gears is two, namely a first bevel gear 2322 and a first bevel gear 2323. The first bevel gear 2322 is fixedly connected with the axle of the second hand wheel 221, and is driven to rotate by the second hand wheel 221. The second bevel gear 2323 is fixedly connected to one end of the second screw 2321.
The auxiliary surgical device also includes a third linear movement assembly 300.
The third linear motion assembly 300 is disposed on the second linear motion assembly 200, and is manually driven to perform linear displacement in a longitudinal direction relative to the carrier. By way of example only, the longitudinal direction of the carrier may be the c-direction shown in fig. 1 a.
The third linear motion assembly 300 is disposed on the second slider 220 and is in linkage relationship with the second slider 220.
As shown in fig. 4a and 5a, the third linear motion assembly 300 has a third rail member 310 and a third slider member 320. The third slider 320 is disposed on the second slider 220, the third rail 310 is disposed on the third slider 320 longitudinally and horizontally, and the third rail 310 is manually driven to move relative to the third slider 320 along the defined direction c.
The third rail member 310 is slidably moved in the third slider member 320 along the defined direction c thereof by a third manual driving assembly to generate relative movement with the third slider member 320. The third manual driving assembly includes a third hand wheel 331 and a third motion conversion mechanism 332, and the third motion conversion mechanism 332 converts the rotational motion of the third hand wheel 331 into the relative linear motion of the third rail 310 and the third slider 320.
The third motion conversion mechanism 332 includes a third screw rod 3321, the third hand wheel 331 is connected to one end of the third screw rod 3321, and the third screw rod 3321 is in threaded engagement with the third slider 320.
The auxiliary surgical device also includes a first rotating assembly 400.
The first rotating assembly 400 is disposed on the third linear motion assembly 300 and is manually driven to rotate about a first axis 401 perpendicular to the third linear motion assembly 300. Illustratively, the first rotary assembly 400 is rotatable about a first axis 401 in a direction d.
The first rotating assembly 400 is disposed on the third track member 310 and is in linkage relation with the third track member 310. The first rotating assembly 400 has a first base 410 and a first rotating member 420, wherein the first base 410 is fixed on the third track member 310, and the first rotating member 420 is rotatably disposed on the first base 410.
The first rotating member 420 is driven by a fourth manual driving assembly to vertically rotate relative to the first base 410, the fourth manual driving assembly includes a fourth hand wheel 431 and a fourth motion conversion mechanism 432, and the fourth motion conversion mechanism 432 converts the rotational motion of the fourth hand wheel 431 into the rotational motion of the first rotating member 420.
As shown in fig. 6 and in combination with fig. 1a, the fourth motion conversion mechanism 432 includes a first transmission shaft 4321, a coupling 4322, and a worm gear reducer 4323, the fourth hand wheel 431 is connected to one end of the first transmission shaft 4321, and the other end of the first transmission shaft 4321 is connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to an output shaft of the worm gear reducer 4323.
The auxiliary surgical device also includes a second rotating assembly 500.
The second rotating assembly 500 is disposed on the first rotating assembly 400 and is manually driven to rotate about a second axis 501 perpendicular to the first rotating assembly 400. Illustratively, the second rotating assembly 500 may rotate about a second axis 501 in a direction e.
The second rotating component 500 is disposed on the first rotating member 420 and is in linkage relation with the first rotating member 420.
As shown in fig. 1b, the second rotating assembly 500 has a second base 510 and a second rotating member 520. The second base 510 is fixed to the first rotating member 520, and the second rotating member 520 is rotatably provided to the second base 510.
As shown in fig. 6, in conjunction with fig. 1a and 7b, the second rotating member 520 is driven by a fifth manual driving assembly to reciprocate relative to the second base 510. The fifth manual driving assembly includes a fifth hand wheel 531 and a fifth motion conversion mechanism 532, and the fifth motion conversion mechanism 532 converts the rotational motion of the fifth hand wheel 531 into the reciprocating swing of the second rotating member 520.
The fifth motion conversion mechanism 532 includes a first synchronous pulley 5321, a synchronous belt 5322, a second synchronous pulley 5323, a second transmission shaft 5324, a first universal joint 5325, and a second universal joint 5326, the fifth hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, one end of the second transmission shaft 5324 is connected to the second synchronous pulley 5323 through the first universal joint 5325, and the second rotating member 420 is connected to the other end of the second transmission shaft 5324 through the second universal joint 5326.
Wherein an indexer is further provided between the second rotating member 420 and the second universal coupling 5326.
The auxiliary surgical device also includes a surgical tool end 600.
The surgical tool end 600 is secured to the second rotating assembly 500.
The surgical tool end 600 is provided with a lifting sliding assembly, and a positioner is arranged on the lifting moving assembly.
As shown in fig. 8, the separation line f is taken as a boundary, the left side f1 thereof is a surgical sterile field, and the right side f2 thereof is a non-surgical sterile field. The surgical tool end 600 serves as a surgical sterile field and the distance between the surgical tool end 600 and the manually driven field is isolated from the surgical sterile field in which the surgical tool end 600 is located and the manually driven field.
In particular, the surgical tool end 600 may be located within the region f2 in the surgically sterile field.
Wherein, the distance between the surgical tool end 600 and the first hand wheel 131 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the first hand wheel 131.
And, the distance between the surgical tool end 600 and the second hand wheel 231 is such that an isolation is formed between the surgical sterile field in which the surgical tool end 600 is located and the second hand wheel 231.
And, the distance between the surgical tool end 600 and the third hand wheel 331 is sufficient to form an isolation between the surgical sterile field where the surgical tool end 600 is located and the third hand wheel 331.
Moreover, the distance between the surgical tool end 600 and the fourth hand wheel 431 is such that an isolation is formed between the third hand wheel 431 and the surgical sterile area where the surgical tool end 600 is located.
Moreover, the distance between the surgical tool end 600 and the fifth hand wheel 531 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the fifth hand wheel 531.
Example two
As shown in fig. 4a and 5a, a mobile device for assisting a surgical device is provided.
The mobile device includes the second linear motion assembly 200 and the third linear motion assembly 300 described in embodiment one.
The second linear moving assembly 200 is manually driven to perform linear displacement in the opposite vertical direction b. The third linear motion assembly 300 is rotatably disposed on the second linear motion assembly 200 and is manually driven to perform linear displacement in the longitudinal direction c.
As shown in fig. 8, the third linear-motion assembly 300 is rotated to be parallel to the second linear-motion assembly 200 in the length direction in the first state. As shown in fig. 4a or fig. 5a, the third linear motion assembly 300 is rotated to be perpendicular to the second linear motion assembly 200 in the length direction in the second state.
The third linear motion assembly 300 has a third rail member 310 and a third slider member 320, the third slider member 320 is rotatably disposed on the third linear motion assembly 300, the third rail member 310 is longitudinally and horizontally disposed on the third slider member 320, and the third rail member 320 is manually driven to move relative to the third slider member 310 along a defined direction thereof. The third slider 320 is rotated in a first state to make the third rail 320 substantially perpendicular to the second linear moving assembly 200 in the length direction, and rotated in a second state to make the third rail 320 substantially parallel to the second linear moving assembly 200 in the length direction.
The second linear moving assembly 200 has a second rail member 210 and a second slider 220, and the second slider 220 is disposed on the second rail member 210 and is manually driven to move along the second rail member 210.
The third slider 320 is rotatably disposed on the second slider 220, and the third slider 320 is locked by a rotation locking mechanism 340 in the first state.
As shown in fig. 1a, the locking mechanism 340 includes a locking groove 341 and a locking pin 342, one of the locking groove 341 and the locking pin 342 is provided on the second sliding member 220, the other of the locking groove 341 and the locking pin 342 is provided on the third sliding member 320, the locking pin 342 is inserted into the locking groove 341 to realize rotational locking, and the locking pin 342 is disengaged from the locking groove 341 to realize rotational unlocking.
The rotation locking mechanism 340 further includes an elastic member 343, and the locking pin 341 is disengaged from the locking groove against the elastic force of the elastic member 343 and is retained in the locking groove 341 by the elastic restoring force of the elastic member 343.
As shown in fig. 4b, 4c and 10a, the rotation locking mechanism 340 further includes an unlocking member 344, and the unlocking member 344 is disposed substantially perpendicular to the movement direction of the locking pin 341. The unlocking piece 344 is provided with a bevel 3441, the locking pin 341 is correspondingly provided with a sliding part 3411, and the motion of the unlocking piece 344 is converted into the motion of the locking pin 341 which is approximately perpendicular to the motion through the cooperation of the bevel 3441 and the sliding part 3411.
The number of the inclined surfaces 3441 is two, a notch 3442 is formed between the two inclined surfaces 3441, and the number of the sliding parts 3411 is correspondingly two. The sliding portions 3411 are disposed on both sides of the locking pin 341 along the length direction, and when the inclined surfaces 3441 are respectively matched with the sliding portions 3411, the locking pin 341 is at least partially accommodated in the notch 3422.
The unlocking member 344 is fixed on the third track member 310 and is in linkage relation with the third track member 310.
The third rail member 310 is slidably moved in the third slider member 320 along a defined direction thereof by a third manual driving assembly to generate a relative movement with the third slider member 320. The third manual driving assembly includes a third hand wheel 331 and a third motion conversion mechanism 332. The third motion conversion mechanism 332 converts the rotational motion of the third hand wheel 331 into a relative linear motion of the third rail 310 along the third slider 320.
The third motion conversion mechanism 332 includes a third screw rod 3321, the third hand wheel 331 is connected to one end of the third screw rod 3321, and the third screw rod 3321 is in threaded engagement with the third slider 320.
The distance between the surgical tool end 600 and the third hand wheel 331 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the third hand wheel 331.
As shown in fig. 4b and 4c, the third slider 320 rotates around a third axis 601 perpendicular to the second slider 220. The third slider 320 is provided with a sixth hand wheel 631, and the third slider 320 and the third rail 310 rotate together about the third axis 601 by a driving force applied to the sixth hand wheel 631.
Wherein the third axis 601 may be parallel or coincident with the center line of the sixth hand wheel 631.
As shown in fig. 9a and 10a, a clutch mechanism 350 is disposed between the second slider 220 and the third slider 320. As shown in fig. 9b and 10b, the clutch mechanism 350 includes a first engaging member 351 and a second engaging member 352, one of the first engaging member 351 and the second engaging member 352 is disposed on the second sliding member 220, and the other of the first engaging member 351 and the second engaging member 352 is disposed on the third sliding member 320. The first mating element 351 and the second mating element 352 are each provided with teeth. As shown in fig. 9a and 9b, in the engaged position, the teeth of the first mating member 351 and the second mating member 352 are received in one another.
As shown in fig. 4b and 4c, the center line of the clutch mechanism 350 is parallel to or coincides with the third axis 601, and is parallel to or coincides with the center line of the sixth hand wheel 631.
Example III
This embodiment provides an assisted surgery device having the mobile device described in embodiment two.
The auxiliary surgical device includes a first linear movement assembly 100.
The first linear motion assembly 100 is manually driven to linearly and horizontally displace in a transverse direction relative to the carrier. By way of example only, the lateral direction of the carrier may be the a-direction shown in fig. 1 a.
The first linear moving assembly 100 has a first rail member 110 and a first slider 120, wherein the first rail member 110 is horizontally disposed on the carrier in a transverse direction, and wherein the first slider 120 is disposed on the first rail member 110 and is manually driven to move along the first rail member 110.
As shown in fig. 2, the first slider 120 is driven by a first manual driving assembly to move along the first track member 110, where the first manual driving assembly includes a first hand wheel 131 and a first motion conversion mechanism 132, and the first motion conversion mechanism 132 converts the rotational motion of the first hand wheel 131 into the linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first screw rod 1321, the first hand wheel 131 is connected to one end of the first screw rod 1321, and the first screw rod 1321 is in threaded engagement with the first slider 120.
The auxiliary surgical device also includes a first rotating assembly 400.
The first rotating assembly 400 is disposed on the third linear motion assembly 300 and is manually driven to rotate about a first axis 401 perpendicular to the third linear motion assembly 300. Illustratively, the first rotary assembly 400 is rotatable about a first axis 401 in a direction d.
The first rotating assembly 400 is disposed on the third track member 310 and is in linkage relation with the third track member 310. The first rotating assembly 400 has a first base 410 and a first rotating member 420, wherein the first base 410 is fixed on the third track member 310, and the first rotating member 420 is rotatably disposed on the first base 410.
The first rotating member 420 is driven by a fourth manual driving assembly to vertically rotate relative to the first base 410, the fourth manual driving assembly includes a fourth hand wheel 431 and a fourth motion conversion mechanism 432, and the fourth motion conversion mechanism 432 converts the rotational motion of the fourth hand wheel 431 into the rotational motion of the first rotating member 420.
As shown in fig. 6 and in combination with fig. 1a, the fourth motion conversion mechanism 432 includes a first transmission shaft 4321, a coupling 4322, and a worm gear reducer 4323, the fourth hand wheel 431 is connected to one end of the first transmission shaft 4321, and the other end of the first transmission shaft 4321 is connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to an output shaft of the worm gear reducer 4323.
The auxiliary surgical device also includes a second rotating assembly 500.
The second rotating assembly 500 is disposed on the first rotating assembly 400 and is manually driven to rotate about a second axis 501 perpendicular to the first rotating assembly 400. Illustratively, the second rotating assembly 500 may rotate about a second axis 501 in a direction e.
The second rotating component 500 is disposed on the first rotating member 420 and is in linkage relation with the first rotating member 420.
As shown in fig. 1b, the second rotating assembly 500 has a second base 510 and a second rotating member 520. The second base 510 is fixed to the first rotating member 520, and the second rotating member 520 is rotatably provided to the second base 510.
As shown in fig. 6, in conjunction with fig. 1a and 7b, the second rotating member 520 is driven by a fifth manual driving assembly to reciprocate relative to the second base 510. The fifth manual driving assembly includes a fifth hand wheel 531 and a fifth motion conversion mechanism 532, and the fifth motion conversion mechanism 532 converts the rotational motion of the fifth hand wheel 531 into the reciprocating swing of the second rotating member 520.
The fifth motion conversion mechanism 532 includes a first synchronous pulley 5321, a synchronous belt 5322, a second synchronous pulley 5323, a second transmission shaft 5324, a first universal joint 5325, and a second universal joint 5326, the fifth hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, one end of the second transmission shaft 5324 is connected to the second synchronous pulley 5323 through the first universal joint 5325, and the second rotating member 420 is connected to the other end of the second transmission shaft 5324 through the second universal joint 5326.
Wherein an indexer is further provided between the second rotating member 420 and the second universal coupling 5326.
The auxiliary surgical device also includes a surgical tool end 600.
The surgical tool end 600 is secured to the second rotating assembly 500.
The surgical tool end 600 is provided with a lifting sliding assembly, and a positioner is arranged on the lifting moving assembly.
Example IV
As shown in fig. 1a, and in combination with fig. 4a, the present embodiment provides a rotary device for use with an assisted surgery device.
The rotation means comprises a first rotation assembly 400.
As shown in fig. 4a, the first rotating assembly 400 has a first base 410 and a first rotating member 420, and the first rotating member 420 is driven by a fourth manual driving assembly (not shown) to vertically rotate relative to the first base 410. The fourth manual drive assembly includes a fourth motion conversion mechanism 432, the fourth motion conversion mechanism 432 converting a first rotational motion to a rotational motion of the first rotational member 420.
As shown in fig. 6 and in combination with fig. 1a, the fourth motion conversion mechanism 432 includes a first transmission shaft 4321, a coupling 4322, and a worm gear reducer 4323, the fourth hand wheel 431 is connected to one end of the first transmission shaft 4321, and the other end of the first transmission shaft 4321 is connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to an output shaft of the worm gear reducer 4323.
In addition, the fourth manual driving assembly may further include a fourth hand wheel 431, and the fourth motion converting mechanism 432 converts a rotational motion of the fourth hand wheel 431 into a rotational motion of the first rotary member 420. In other words, the first rotational movement may be a rotational movement of the fourth hand wheel 431.
The rotation device further comprises a second rotation assembly 500.
As shown in fig. 6, in conjunction with fig. 1a and 7b, the second rotating assembly 500 is disposed on the first rotating member 520 and is in linkage relation with the first rotating member 520. As shown in fig. 1b, the second rotating assembly 500 has a second base 510 and a second rotating member 520, wherein the second base 510 is fixed on the first rotating member 520, and the second rotating member 520 is driven by a fifth manual driving assembly to reciprocate relative to the second base 510. The fifth manual drive assembly includes a fifth motion conversion mechanism 532, the fifth motion conversion mechanism 532 converting the second rotational motion to a reciprocating oscillation of the second rotary member 520.
The fifth motion conversion mechanism 532 includes a first synchronous pulley 5321, a synchronous belt 5322, a second synchronous pulley 5323, a second transmission shaft 5324, a first universal joint 5325, and a second universal joint 5326, the fifth hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, one end of the second transmission shaft 5324 is connected to the second synchronous pulley 5323 through the first universal joint 5325, and the second rotating member 420 is connected to the other end of the second transmission shaft 5324 through the second universal joint 5326.
In addition, the fifth manual driving assembly may further include a fifth hand wheel 531, and the fifth motion converting mechanism 532 converts the rotational motion of the fifth hand wheel 531 into the reciprocating swing motion of the second rotary member 520. In other words, the second rotational movement may be a rotational movement of the fifth hand wheel 531; since the fifth hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 by the synchronous belt 5322, so that the second synchronous pulley 5323 may be rotated by the rotation of the fifth hand wheel 531, and thus the second rotation may also be the rotation of the second synchronous pulley 5323.
As shown in fig. 1a, taking as an example that the second rotational movement may be a rotational movement of the fifth hand wheel 531, the axis 502 of the second rotational movement is parallel to the axis 401 of the rotational movement of the first rotational member 420.
Taking the example that the second rotational movement may be a rotational movement of the second timing pulley 5323, the axis 502 of the second rotational movement is the same as the axis 401 of the rotational movement of the first rotary member 420.
As shown in fig. 7b, the axis of the wheel shaft 5300 of the second timing pulley 5323 coincides with the axis of the output shaft 4300 of the worm gear reducer 4323, and the wheel shaft 5300 of the second timing pulley 5323 passes through the output shaft 4300 of the worm gear reducer 4323.
Example five
This embodiment provides an assisted surgery device comprising the rotation device described in embodiment four.
The auxiliary surgical device also includes a first linear movement assembly 100.
The first linear motion assembly 100 is manually driven to linearly and horizontally displace in a transverse direction relative to the carrier. By way of example only, the lateral direction of the carrier may be the a-direction shown in fig. 1 a.
The first linear moving assembly 100 has a first rail member 110 and a first slider 120, wherein the first rail member 110 is horizontally disposed on the carrier in a transverse direction, and wherein the first slider 120 is disposed on the first rail member 110 and is manually driven to move along the first rail member 110.
As shown in fig. 2, the first slider 120 is driven by a first manual driving assembly to move along the first track member 110, where the first manual driving assembly includes a first hand wheel 131 and a first motion conversion mechanism 132, and the first motion conversion mechanism 132 converts the rotational motion of the first hand wheel 131 into the linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first screw rod 1321, the first hand wheel 131 is connected to one end of the first screw rod 1321, and the first screw rod 1321 is in threaded engagement with the first slider 120.
The auxiliary surgical device also includes a second linear motion assembly 200.
The second linear motion assembly 200 is disposed on the first linear motion assembly 100, and is manually driven to perform linear displacement in a vertical direction relative to the carrier. By way of example only, the vertical direction of the carrier may be the b direction shown in fig. 1 a.
The second linear motion assembly 200 is disposed on the first sliding member 120 and is in linkage relation with the first sliding member 120. The second linear motion assembly 200 has a second rail member 210 and a second slider 220, wherein the second rail member 220 is vertically disposed on the first slider 120, and the second slider 220 is disposed on the second rail member 210 and is manually driven to move along the second rail member 210.
As shown in fig. 3, the second slider 220 is driven by the second manual driving assembly to move along the second track member 210. The second manual driving assembly includes a second hand wheel 231 and a second motion conversion mechanism 232, and the second motion conversion mechanism 232 converts the rotational motion of the second hand wheel 231 into the linear motion of the second slider 220. The second motion conversion mechanism 232 includes a second screw (not shown) and a bevel gear, and the second hand wheel 231 is connected to one end of the second screw 2321 through the bevel gear, and the second screw is in threaded engagement with the second slider 220. The number of bevel gears is two, namely a first bevel gear 2322 and a first bevel gear 2323. The first bevel gear 2322 is fixedly connected with the axle of the second hand wheel 221, and is driven to rotate by the second hand wheel 221. The second bevel gear 2323 is fixedly connected to one end of the second screw 2321.
The auxiliary surgical device also includes a third linear movement assembly 300.
The third linear motion assembly 300 is disposed on the second linear motion assembly 200, and is manually driven to perform linear displacement in a longitudinal direction relative to the carrier. By way of example only, the longitudinal direction of the carrier may be the c-direction shown in fig. 1 a.
The third linear motion assembly 300 is disposed on the second slider 220 and is in linkage relationship with the second slider 220.
As shown in fig. 4a and 5a, the third linear motion assembly 300 has a third rail member 310 and a third slider member 320. The third slider 320 is disposed on the second slider 220, the third rail 310 is disposed on the third slider 320 longitudinally and horizontally, and the third rail 310 is manually driven to move relative to the third slider 320 along the defined direction c.
The third rail member 310 is slidably moved in the third slider member 320 along the defined direction c thereof by a third manual driving assembly to generate relative movement with the third slider member 320. The third manual driving assembly includes a third hand wheel 331 and a third motion conversion mechanism 332, and the third motion conversion mechanism 332 converts the rotational motion of the third hand wheel 331 into the relative linear motion of the third rail 310 and the third slider 320.
The third motion conversion mechanism 332 includes a third screw rod 3321, the third hand wheel 331 is connected to one end of the third screw rod 3321, and the third screw rod 3321 is in threaded engagement with the third slider 320.
The auxiliary surgical device also includes a surgical tool end 600.
The surgical tool end 600 is secured to the second rotating assembly 500.
The surgical tool end 600 is provided with a lifting sliding assembly, and a positioner is arranged on the lifting moving assembly.
As shown in fig. 8, the separation line f is taken as a boundary, the left side f1 thereof is a surgical sterile field, and the right side f2 thereof is a non-surgical sterile field. The surgical tool end 600 serves as a surgical sterile field and the distance between the surgical tool end 600 and the manually driven field is isolated from the surgical sterile field in which the surgical tool end 600 is located and the manually driven field.
In particular, the surgical tool end 600 may be located within the region f2 in the surgically sterile field.
Wherein, the distance between the surgical tool end 600 and the first hand wheel 131 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the first hand wheel 131.
And, the distance between the surgical tool end 600 and the second hand wheel 231 is such that an isolation is formed between the surgical sterile field in which the surgical tool end 600 is located and the second hand wheel 231.
And, the distance between the surgical tool end 600 and the third hand wheel 331 is sufficient to form an isolation between the surgical sterile field where the surgical tool end 600 is located and the third hand wheel 331.
Moreover, the distance between the surgical tool end 600 and the fourth hand wheel 431 is such that an isolation is formed between the third hand wheel 431 and the surgical sterile area where the surgical tool end 600 is located.
Moreover, the distance between the surgical tool end 600 and the fifth hand wheel 531 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the fifth hand wheel 531.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. An auxiliary surgical device provided on a carrier, comprising:
a first linear movement assembly which is manually driven to perform linear horizontal displacement in the transverse direction relative to the carrier;
the second linear moving assembly is arranged on the first linear moving assembly and is driven by manual operation to perform linear displacement in the vertical direction relative to the bearing frame;
The third linear moving assembly is arranged on the second linear moving assembly and is driven by manual operation to perform linear displacement relative to the longitudinal direction of the bearing frame;
a first rotating assembly provided on the third linear moving assembly, and manually driven to rotate about a first axis perpendicular to the third linear moving assembly;
the second rotating assembly is arranged on the first rotating assembly and is driven by manual operation to rotate around a second axis vertical to the first rotating assembly;
a surgical tool end secured to the second rotating assembly;
the first rotating component is provided with a first base and a first rotating piece, the first rotating piece is driven by a fourth manual driving component to vertically rotate relative to the first base, the fourth manual driving component comprises a fourth hand wheel and a fourth motion conversion mechanism, the fourth motion conversion mechanism converts the rotation motion of the fourth hand wheel into the rotation motion of the first rotating piece, and the distance between the surgical tool end and the fourth hand wheel meets the requirement that an isolation is formed between a surgical sterile area where the surgical tool end is positioned and the third hand wheel;
the fourth motion conversion mechanism comprises a first transmission shaft, a coupler and a worm gear reducer, the fourth hand wheel is connected to one end of the first transmission shaft, the other end of the first transmission shaft is connected with the worm gear reducer through the coupler, and the first rotating piece is connected with an output shaft of the worm gear reducer;
The second rotating component is arranged on the first rotating component and is in linkage relation with the first rotating component, and is provided with a second base and a second rotating component, wherein the second base is fixed on the first rotating component, and the second rotating component is rotatably arranged on the second base;
the second rotating piece is driven by a fifth manual driving assembly to do reciprocating swing relative to the second base, the fifth manual driving assembly comprises a fifth hand wheel and a fifth motion conversion mechanism, the fifth motion conversion mechanism converts the rotating motion of the fifth hand wheel into the reciprocating swing of the second rotating piece, and the distance between the surgical tool end and the fifth hand wheel meets the requirement that the surgical sterile area where the surgical tool end is positioned and the fifth hand wheel form isolation;
the fifth motion conversion mechanism comprises a first synchronous belt pulley, a synchronous belt, a second synchronous belt pulley, a second transmission shaft, a first universal coupling and a second universal coupling, wherein the fifth hand wheel is connected with the first synchronous belt pulley, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, one end of the second transmission shaft is connected with the second synchronous belt pulley through the first universal coupling, and the second rotating piece is connected with the other end of the second transmission shaft through the second universal coupling;
The surgical tool end serves as a surgical sterile field and the distance between the surgical tool end and the manually driven field is such that an isolation is formed between the surgical sterile field in which the surgical tool end is located and the manually driven field.
2. The assisted surgery device according to claim 1, wherein:
the first linear moving assembly is provided with a first track piece and a first sliding piece, wherein the first track piece is transversely and horizontally arranged on the bearing frame, and the first sliding piece is arranged on the first track piece and is driven by manual operation to move along the first track piece.
3. The assisted surgery device according to claim 2, wherein:
the first sliding piece is driven by the first manual driving assembly to move along the first track piece, the first manual driving assembly comprises a first hand wheel and a first motion conversion mechanism, the first motion conversion mechanism converts the rotation motion of the first hand wheel into the linear motion of the first sliding piece, and the distance between the surgical tool end and the first hand wheel meets the requirement that the surgical sterile area where the surgical tool end is located is isolated from the first hand wheel.
4. The assisted surgery device according to claim 3, wherein the first motion conversion mechanism comprises a first lead screw, the first hand wheel being connected to one end of the first lead screw, the first lead screw being threadedly engaged with the first slider.
5. The assisted surgery device according to claim 2, wherein:
the second linear moving assembly is arranged on the first sliding piece, is in linkage relation with the first sliding piece, and is provided with a second track piece and a second sliding piece, the second track piece is vertically arranged on the first sliding piece, and the second sliding piece is arranged on the second track piece and is driven by manual force to move along the second track piece.
6. The assisted surgery device according to claim 5, wherein:
the second sliding piece is driven by the second manual driving assembly to move along the second track piece, the second manual driving assembly comprises a second hand wheel and a second motion conversion mechanism, the second motion conversion mechanism converts the rotation motion of the second hand wheel into the linear motion of the second sliding piece, and the distance between the surgical tool end and the second hand wheel meets the requirement that the surgical sterile area where the surgical tool end is located is isolated from the second hand wheel.
7. The assisted surgery device according to claim 6, wherein the second motion conversion mechanism includes a second lead screw and a bevel gear, the second hand wheel being connected to one end of the second lead screw by the bevel gear, the second lead screw being threadedly engaged with the second slider.
8. The assisted surgery device according to claim 5, wherein:
the third linear moving assembly is arranged on the second sliding piece, is in linkage relation with the second sliding piece, and is provided with a third track piece and a third sliding piece, the third sliding piece is arranged on the second sliding piece, the third track piece is longitudinally and horizontally arranged on the third sliding piece, and the third track piece is manually driven to move relative to the third sliding piece along the limited direction.
9. The assisted surgery device according to claim 8, wherein:
the third rail piece is driven by a third manual driving assembly along the limited direction of the third rail piece to slide on the third sliding piece so as to generate relative movement with the third sliding piece, the third manual driving assembly comprises a third hand wheel and a third motion conversion mechanism, the third motion conversion mechanism converts the rotation motion of the third hand wheel into the relative linear motion of the third rail piece and the third sliding piece, and the distance between the surgical tool end and the third hand wheel meets the requirement that the separation is formed between a surgical sterile area where the surgical tool end is positioned and the third hand wheel.
10. The assisted surgery device according to claim 9, wherein the third motion transfer mechanism comprises a third lead screw, the third hand wheel being connected to one end of the third lead screw, the third lead screw being threadedly engaged with the third slider.
11. The assisted surgery device according to claim 8, wherein:
the first rotating assembly is arranged on the third track piece and is in linkage relation with the third track piece, and is provided with a first base and a first rotating piece, wherein the first base is fixed on the third track piece, and the first rotating piece is rotatably arranged on the first base.
12. The assisted surgery device according to claim 11, wherein an indexer is further provided between the second rotating member and the second universal coupling.
13. The assisted surgery device according to any one of claims 1 to 12 wherein the surgical tool end is provided with a lift slide assembly on which a locator is provided.
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| CN201811059258 | 2018-09-12 | ||
| CN2018110592583 | 2018-09-12 |
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| CN109806011B true CN109806011B (en) | 2024-01-12 |
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| CN201920319179.5U Active CN210384059U (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201910184035.8A Active CN109806011B (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201920337118.1U Active CN210384069U (en) | 2018-09-12 | 2019-03-18 | Rotation device for auxiliary operation device and auxiliary operation device |
| CN201910201060.2A Pending CN109771056A (en) | 2018-09-12 | 2019-03-18 | For assisting the mobile device and auxiliary operation device of operation device |
| CN201910201059.XA Active CN109771060B (en) | 2018-09-12 | 2019-03-18 | Rotary device for auxiliary operation device and auxiliary operation device |
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| CN201910201060.2A Pending CN109771056A (en) | 2018-09-12 | 2019-03-18 | For assisting the mobile device and auxiliary operation device of operation device |
| CN201910201059.XA Active CN109771060B (en) | 2018-09-12 | 2019-03-18 | Rotary device for auxiliary operation device and auxiliary operation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210384059U (en) * | 2018-09-12 | 2020-04-24 | 苏州铸正机器人有限公司 | Auxiliary operation device |
| CN111035452B (en) * | 2019-12-27 | 2021-07-02 | 苏州微创畅行机器人有限公司 | Positioning tool, mechanical arm system, surgical system and registration method |
| CN113288441A (en) * | 2021-05-13 | 2021-08-24 | 北京铸正机器人有限公司 | Active and passive moving device for auxiliary operation |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109771060A (en) | 2019-05-21 |
| CN210384069U (en) | 2020-04-24 |
| CN109806011A (en) | 2019-05-28 |
| CN210384059U (en) | 2020-04-24 |
| CN109771060B (en) | 2024-01-12 |
| CN109771056A (en) | 2019-05-21 |
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