CN109998685A - A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system - Google Patents
A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system Download PDFInfo
- Publication number
- CN109998685A CN109998685A CN201910245329.7A CN201910245329A CN109998685A CN 109998685 A CN109998685 A CN 109998685A CN 201910245329 A CN201910245329 A CN 201910245329A CN 109998685 A CN109998685 A CN 109998685A
- Authority
- CN
- China
- Prior art keywords
- arm
- arm section
- axis
- duan
- minimally invasive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention discloses a kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system, including pedestal, column and motion arm, pedestal supports and fixes entire assisted minimally invasive surgical operation robot；Uprights vertical is fixed on the pedestal, supports and fix the motion arm of assisted minimally invasive surgical operation robot；The attachment base of motion arm connects a quick union, and endoscope or surgical instrument are installed on quick union, and surgical instrument does " ball shape rotary " movement around " body operation position point of penetration ".It takes four or more single armed to combine collaborative minimally invasive surgical operation robot cooperation to be operated.The column and described arm Duan Yiwei " hollow " structure, " nesting " can be carried out by the rotary joint relative rotation between arm section between the column, the motion arm and the adjacent arm section of the attachment base, thus make motion arm each arm section and attachment base with surgical instrument " nested " on the inside of column.
Description
Technical field
The present invention relates in a kind of micro-wound surgical operation field Medical Devices more particularly to one kind be suitable for thoracic cavity and abdomen
The single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system of the Minimally Invasive Surgery operation of chamber.
Background technique
20th century medical science is known as to the significant contribution of human civilization by the minimally invasive surgery of representative of laparoscopic surgery
One of, Minimally Invasive Surgery operation refer to doctor using elongated surgical instrument by the miniature incision of human body surface be insinuated into vivo into
Row surgical procedure.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time
The advantages that fast, this pain that patient is subjected to greatly reduce；Minimally invasive surgery is widely used in clinical operation thus.It is minimally invasive
Operation can bring many interests for patient, but increase a series of difficulty to the operation of doctor, such as: 1) since body surface is inserted into hole
Limitation, the freedom degree of tool reduces to four, and flexibility substantially reduces；2) the intuition direction phase in instrumentation direction and doctor
Instead, inaccurate coordination；3) shake of doctor's hand may be amplified by elongated surgical instrument；4) visual area is two-dimensional surface imaging,
Lack the feeling in depth；5) lack force feeling.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery behaviour
Make, nonetheless, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.Therefore, micro-
Create surgical field in there is an urgent need to a kind of robot systems to assist doctor that can overcome drawbacks described above, it is easier to completion
Minimally Invasive Surgery operation.Currently, in China market still not autonomous production can directly to use the auxiliary clinically used micro-
Create surgical operation robot system.
Assisted minimally invasive surgical operation robot belongs to precision equipment, assisted minimally invasive surgical operation robot cloth under working condition
The flexibility of office will directly determine the service performance of assisted minimally invasive surgical operation robot, assisted minimally invasive surgical operation robot cloth
Office's mode is to embody the key factor of surgical robot system overall performance level.Assisted minimally invasive surgical operation robot is integrally tied
The stress balance of structure arrangement directly influences the deformation that assisted minimally invasive surgical operation robot is generated by gravity, if auxiliary is micro-
Wound surgical operation robot will lead to assisted minimally invasive surgical operation robot use because the deformation that gravity generates reaches a certain level
Accuracy decline is unfavorable for the long term maintenance maintenance of assisted minimally invasive surgical operation robot and extends assisted minimally invasive surgical operation machine
The service life of people, the stress balance of assisted minimally invasive surgical operation robot integral arrangement is to assisted minimally invasive surgical operation
The service life important in inhibiting of robot.In addition, operating room space is limited, assisted minimally invasive surgical operation under off working state
The space hold amount of robot has a major impact the layout of operating room, the space hold amount of assisted minimally invasive surgical operation robot
Optimization to the layout important in inhibiting of operating room.
In China, the research and development of assisted minimally invasive surgical operation robot are still in infancy, to assisted minimally invasive surgical operation
The research of robot compared with foreign technology there are also biggish gap, therefore, exploitation easy disassembly, adjustment flexibly, accurate positioning,
Rigidity is larger, reasonable stress, layout optimization, convenient transportation, assisted minimally invasive surgical operation robot with long service life are to filling up
Domestic blank promotes related-art technology progress to be of great significance.
Summary of the invention
It is auxiliary under the flexibility and off working state that assisted minimally invasive surgical operation robot is laid out under working condition in order to solve
The balance and components reasonable stress and surgical instrument protectiveness for helping minimally invasive surgical operation robot overall structure stress are asked
The optimization problem of topic and assisted minimally invasive surgical operation robot overall space occupancy, the present invention propose a kind of easy disassembly,
Adjustment is flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, single, double arm cooperation with long service life
Formula assisted minimally invasive surgical operation robot and cooperative inclusion robot system.
First invention purpose of the invention is to provide a kind of single armed assisted minimally invasive surgical operation robot, in order to realize the mesh
, The technical solution adopted by the invention is as follows:
A kind of single armed assisted minimally invasive surgical operation robot, including pedestal, column and motion arm, the pedestal is for branch
Support simultaneously vertical columns and motion arm；Described column one end is vertically installed in the pedestal to rotary joint by the first Z axis
On, it is used to support and fixes the motion arm, the other end passes through the first X axis rotary joint and the motion arm phase
Even；
The motion arm includes arm section one, arm section two, arm section three, arm Duan Si and arm section five；The column and arm section
Be connected between connected, arm Duan Yiyu arm section two by the second X axis rotary joint between one by the first X axis rotary joint,
The arm Duan Eryu arm section three is connected by Z axis to rotation joint；It is rotated between arm Duan Sanyu arm Duan Si by third X axis
Joint is connected, be connected by the 4th X axis rotary joint between arm Duan Siyu arm section five, between arm Duan Wuyu attachment base by the
Two X axis rotary joints are connected；Corresponding surgical instrument is installed on the pedestal or endoscope is flexible.
Further, the single armed assisted minimally invasive surgical operation robot, the axis of the arm section three and arm section five
In parallel, arm Duan Si and by the axis of attachment base and the straight line parallel parallel with the axis of arm Duan Si, four constitute " parallel four
Side shape " structure；Arm section three, arm Duan Si, arm section five and attachment base do the swing of " parallelogram " structure；
Arm section three, arm Duan Si, arm section five and attachment base in " parallelogram " with the axis of arm section three and passing through to connect
Centered on the axis of seat and the opposite point of parallel with the axis of arm Duan Si linear intersections, swing fortune is done around the axis of arm section three
It is dynamic；
" by the axis of the attachment base and straight line parallel with the axis of arm Duan Si " and " the arm section
" intersection point " of three axis " is " rotation fixed point "；
The axis of the operation tool on the attachment base is fixed on by " the rotation fixed point ", and is installed
The operation tool being fixed on the attachment base is " rotation center " progress " before and after parallelogram with " the rotation fixed point "
Swing " and around the axis of the arm section three do " swinging " movement, make operation tool around should " rotation fixed point " make " ball
Shape rotation " movement.
Second goal of the invention of the invention is to provide another single armed assisted minimally invasive surgical operation robot, in order to realize
The purpose, The technical solution adopted by the invention is as follows:
A kind of single armed assisted minimally invasive surgical operation robot, including pedestal, column and motion arm, the pedestal is for branch
Support simultaneously vertical columns and motion arm；Described column one end is vertically installed in the pedestal to rotary joint by the first Z axis
On, it is used to support and fixes the motion arm, the other end is connected with the motion arm；
The motion arm includes arm section one, arm section two, arm section three, arm Duan Si, arm section five, arm section six and arm section seven；Institute
It is connected between the column stated and arm section one by Z-direction telescopic joint；Between the arm Duan Yiyu arm section two by the first Z axis to
Rotation joint is connected, and the arm Duan Eryu arm section three is connected, between arm Duan Sanyu arm Duan Si to rotation joint by the second Z axis
It is connected by third Z axis to rotation joint；
It is connected by the 4th Z axis to rotation joint between the arm Duan Siyu arm section five；
It is connected between the arm Duan Wuyu arm section six by the first X axis rotary joint, the arm Duan Liuyu arm section seven
Between by the second X axis rotary joint be connected；X axis rotary joint phase is passed sequentially through between the arm Duan Qiyu attachment base
Even.
Third goal of the invention of the invention is to provide one kind and cooperates assembly robot's system, including at least two fronts
The single armed assisted minimally invasive surgical operation robot.
4th goal of the invention of the invention is to provide a kind of both arms assisted minimally invasive surgical operation robot, including pedestal, vertical
Column and motion arm, the pedestal is used to support and vertical columns and motion arm；Described column one end by with the bottom
Seat is fixedly connected, and the other end of column is connected with two mechanical arms respectively by two Y-axis rotary joints；Two mechanical arms
Structure is identical；
Each mechanical arm includes arm section one, arm section two, arm section three, arm Duan Si, arm section five, arm section six and arm section seven；Arm section
Six are connected by the first Z axis to rotary joint arm section seven, pass through the first X axis rotary joint phase between arm Duan Qiyu arm section one
Even, it is connected between arm Duan Yiyu arm section two by the second X axis rotary joint, the arm Duan Eryu arm section three passes through the 2nd Z
Axial rotation joint is connected；Between arm Duan Sanyu arm Duan Si by third X axis rotary joint be connected, arm Duan Siyu arm section five it
Between be connected by the 4th X axis rotary joint, be connected by the second X axis rotary joint between arm Duan Wuyu attachment base；It is described
Pedestal on to be equipped with corresponding surgical instrument or endoscope flexible.
Further, both arms assisted minimally invasive surgical operation robot, the arm section three is parallel with the axis of arm section five, arm
Duan Si and by the axis of attachment base and the straight line parallel parallel with the axis of arm Duan Si, four constitute " parallelogram " knot
Structure；Arm section three, arm Duan Si, arm section five and attachment base do the swing of " parallelogram " structure；
Arm section three, arm Duan Si, arm section five and attachment base in " parallelogram " with the axis of arm section three and passing through to connect
Centered on the axis of seat and the opposite point of parallel with the axis of arm Duan Si linear intersections, swing fortune is done around the axis of arm section three
It is dynamic；
" by the axis of the attachment base and straight line parallel with the axis of arm Duan Si " and " the arm section
" intersection point " of three axis " is " rotation fixed point "；
The axis of the operation tool on the attachment base is fixed on by " the rotation fixed point ", and is installed
The operation tool being fixed on the attachment base is " rotation center " progress " before and after parallelogram with " the rotation fixed point "
Swing " and around the axis of the arm section three do " swinging " movement, make operation tool around should " rotation fixed point " make " ball
Shape rotation " movement.
5th goal of the invention of the invention is to provide a kind of both arms assisted minimally invasive surgical operation robot, including pedestal, vertical
Column and motion arm, the pedestal is used to support and vertical columns and motion arm；Described column one end by with the bottom
Seat is fixedly connected, and column is connected with two mechanical arms respectively；The structure of two mechanical arms is identical；
The motion arm includes arm section one, arm section two, arm section three, arm Duan Si, arm section five, arm section six and arm section seven；Institute
It is connected between the column stated and arm section one by Z-direction telescopic joint；Between the arm Duan Yiyu arm section two by the first Z axis to
Rotation joint is connected, and the arm Duan Eryu arm section three is connected, between arm Duan Sanyu arm Duan Si to rotation joint by the second Z axis
It is connected by third Z axis to rotation joint；
It is connected by the 4th Z axis to rotation joint between the arm Duan Siyu arm section five；
It is connected between the arm Duan Wuyu arm section six by the first X axis rotary joint, the arm Duan Liuyu arm section seven
Between by the second X axis rotary joint be connected；X axis rotary joint phase is passed sequentially through between the arm Duan Qiyu attachment base
Even.
6th goal of the invention of the invention is to provide one kind and cooperates assembly robot's system, including described at least two
Both arms assisted minimally invasive surgical operation robot.
The course of work of the invention is as follows:
In the operating condition, the column can be relative to the pedestal along the column and the pedestal
Between rotary joint in the horizontal direction in rotate to proper angle, the adjacent arm section of the column and the motion arm
Between, between the adjacent arm section of the motion arm, between the attachment base and the adjacent arm section of the motion arm
Angle can be adjusted by the rotary joint relative rotation between arm section to optimize arrangement for greater flexibility, keep attachment base last
Fixed surgical instrument is held more easily to reach the target position of patient's operative site with optimal angle, conducive to the operation of operation
Expansion.
The arm section three is parallel with the axis of arm section five, arm Duan Si and passes through the axis of attachment base and the axis with arm Duan Si
The parallel straight line parallel of line, four constitute " parallelogram " structure；Arm section three, arm Duan Si, arm section five and attachment base do " flat
Row quadrangle " structure is swung；Arm section three, arm Duan Si, arm section five and attachment base are with the axis in " parallelogram " with arm section three
With by the axis of attachment base and centered on point that the linear intersections parallel with the axis of arm Duan Si are opposite, around the axis of arm section three
Line does pendulum motion.
" by the axis of the attachment base and straight line parallel with the axis of arm Duan Si " and " the arm section
" intersection point " of three axis " is " rotation fixed point ".The axis of the operation tool on the attachment base is fixed on by being somebody's turn to do
" rotation fixed point ", and the operation tool being fixed on the attachment base is " rotation center " with " the rotation fixed point "
It carries out " parallelogram swing " and does " swinging " movement around the axis of the arm section three, surround operation tool
" fixed point should be rotated " and do " ball shape rotary " movement.By making " the rotation fixed point " and " point of penetration at body operation position "
" coincidence ", can be by mechanical arm safely positioning operation tool, without applying dangerous active force to human body stomach wall.
Under working condition, four or more single armed can be taken to combine collaborative micro-wound surgical operation according to operation demand
It is robot cooperated to be operated, collaborative minimally invasive surgical operation robot cooperation, which is combined, with four single armeds is operated
For, the single armed combines collaborative minimally invasive surgical operation robot and can be put according to operation demand flexible topology
It sets and is laid out in operating bed side；Can also two be placed on operating bed side, other two is placed on the operating bed other side；It can also be with
Three are placed on operating bed side, another is placed on the operating bed other side.The single armed combines collaborative minimally invasive surgery
Supporting leg on the pedestal of operating robot can be flexible relative to pedestal, and under working condition, the single armed combination cooperation declines
The supporting leg created on the pedestal of surgical operation robot can be in extended state relative to pedestal, to expand bearing area, prevent
Only single armed combines collaborative minimally invasive surgical operation robot and topples over.The single armed combines collaborative minimally invasive surgical operation robot
Pedestal on supporting leg can according to need and stretch suitable length relative to pedestal, the single armed combination is collaborative minimally invasive outer
Attachment device is installed above the supporting leg of the left and right sides on the pedestal of section's operating robot, it is described above the supporting leg
Adjacent pedestal can be attached fixation by attachment device, prevent the single armed being placed adjacent from combining collaborative micro-wound surgical operation
Robot is toppled over.
In a non-operative state, arm Duan Yiwei " hollow " structure of the column and the motion arm, described is vertical
Between column and the adjacent arm section of the motion arm, between the adjacent arm section of the motion arm, the attachment base and
It can be by the rotary joint relative rotation between arm section to along part lengths between the adjacent arm section of the motion arm
The parallel direction of axis carries out " nesting " and places, so that each arm section of motion arm and attachment base be made to stand with surgical instrument " nested "
On the inside of column, the balance and components of assisted minimally invasive surgical operation robot overall structure stress under off working state had both been optimized
Reasonable stress and assisted minimally invasive surgical operation robot overall space occupancy problem be conducive to protect again surgical instrument not by
It breaks impaired and influences to use.
The arm section one of the column and the motion arm uses " hollow " structure, increases the column and described
Motion arm arm section one " rigidity " reduce simultaneously the column and the motion arm arm section one " weight ", mention
High " precision " of assisted minimally invasive surgical operation robot.
Under off working state, the single armed combines the supporting leg on the pedestal of collaborative minimally invasive surgical operation robot can be with
It is in contraction state relative to pedestal, is combined on the pedestal of collaborative minimally invasive surgical operation robot with the single armed for reducing described
The space hold amount of supporting leg.
In a non-operative state, between the column and the adjacent arm section of the motion arm, the motion arm
Adjacent arm section between, pass through the rotation between arm section between the attachment base and the adjacent arm section of the motion arm
Joint relative rotation to the optimization layout that " nesting " placement is carried out along the parallel direction of part lengths axis can make entire auxiliary
Each arm section, attachment base and the surgical instrument of the column, motion arm that help minimally invasive surgical operation robot be subjected only to axial tension or
Axial compressive force, and it is not subject to moment of flexure, optimize the whole stress balance and each components of assisted minimally invasive surgical operation robot
Stress, effectively prevent the moment of flexure deformation that assisted minimally invasive surgical operation robot is generated by gravity, avoid auxiliary
Minimally invasive surgical operation robot leads to the appearance of service precision decline problem because of deformation, is conducive to assisting minimally invasive using this
The long term maintenance of operating robot maintains, and can extend the service life of assisted minimally invasive surgical operation robot.Column and behaviour
Each arm section for making arm is laid out with surgical instrument " nested " formula, is conducive to that surgical instrument is protected not broken impaired and influence to use.
The collaborative assisted minimally invasive surgical operation robot of single armed proposed by the present invention occupies little space after folding in a non-operative state, special
The site space that Shi Yongyu not perform the operation is limited, such as steamer, submarine etc., while the structure also gives assisted minimally invasive surgical operation robot
Packaging and transport bring convenience.
The beneficial effects of the present invention are:
The present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization,
Convenient transportation, the collaborative assisted minimally invasive surgical operation robot of single armed with long service life, it can solve external existing minimally invasive
The flexibility and off working state of assisted minimally invasive surgical operation robot layout in the operating condition are deposited in surgical operation robot
The balance and components reasonable stress and surgical instrument of lower assisted minimally invasive surgical operation robot overall structure stress are protected
The optimization problem of property problem and assisted minimally invasive surgical operation robot overall space occupancy.The single armed cooperatively assists simultaneously
Minimally invasive surgical operation robot also improves " precision " of assisted minimally invasive surgical operation robot, avoids assisting minimally invasive hand
Art robot causes service precision to decline problem because of deformation, solves the problems, such as surgical instrument protectiveness, list proposed by the present invention
The collaborative assisted minimally invasive surgical operation robot of arm occupies little space after folding in a non-operative state, and is conducive to minimally invasive outer
Long term maintenance maintenance, packaging and the transport of section's operating robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments in invention, for those of ordinary skill in the art, without any creative labor, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is the schematic front view of 1 working condition of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention.
Fig. 2 is the schematic front view of 1 off working state of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention.
Fig. 3 is the front-view schematic diagram of 1 off working state of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention.
Fig. 4, Fig. 5 are the pedestal branch of 1 off working state of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention
Leg contraction state schematic front view and schematic top plan view.
Fig. 6, Fig. 7 are the pedestal branch of 1 off working state of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention
Leg contraction state front-view schematic diagram and schematic top plan view.
Fig. 8, Fig. 9 are the base support legs of 1 working condition of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention
Unfolded state schematic front view and schematic top plan view.
Figure 10, Figure 11 are the pedestal branch of 1 working condition of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention
Leg unfolded state front-view schematic diagram and schematic top plan view.
Figure 12 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
The bilateral cooperative arrangement schematic front view of 1 working condition of example.
Figure 13 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
The unilateral cooperative arrangement front-view schematic diagram of 1 off working state of example.
Figure 14 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
The unilateral cooperative arrangement schematic top plan view of 1 working condition of example.
Figure 15 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
One front-view schematic diagram of bilateral cooperative arrangement mode of 1 working condition of example.
Figure 16 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
One schematic top plan view of bilateral cooperative arrangement mode of 1 working condition of example.
Figure 17 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
Two front-view schematic diagram of bilateral cooperative arrangement mode of 1 working condition of example.
Figure 18 is the implementation of the corresponding cooperative inclusion robot system of single armed assisted minimally invasive surgical operation robot of the present invention
Two schematic top plan view of bilateral cooperative arrangement mode of 1 working condition of example.
Figure 19 is the 2 structure type schematic front view of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention.Figure
20 be the 1 part arm section mechanism motion principle schematic diagram of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention.
Figure 21 is that the 1 part arm section mechanism partial structurtes of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention are put
Big schematic diagram.Figure 22 is the 2 part arm section mechanism partial structurtes of embodiment of single armed assisted minimally invasive surgical operation robot of the present invention
Enlarged diagram.
Figure 23 is the schematic front view of 3 working condition of embodiment of both arms assisted minimally invasive surgical operation robot of the present invention；
Figure 24 is the main view signal of 3 off working state of embodiment of both arms assisted minimally invasive surgical operation robot of the present invention
Figure；
Figure 25 is the implementation of the corresponding cooperative inclusion robot system of both arms assisted minimally invasive surgical operation robot of the present invention
The bilateral cooperative arrangement schematic front view of 3 working condition of example.
Figure 26 is the implementation of the corresponding cooperative inclusion robot system of both arms assisted minimally invasive surgical operation robot of the present invention
Unilateral one front-view schematic diagram of cooperative arrangement mode of 3 working condition of example.
Figure 27 is the implementation of the corresponding cooperative inclusion robot system of both arms assisted minimally invasive surgical operation robot of the present invention
Unilateral one schematic top plan view of cooperative arrangement mode of 3 working condition of example.
Figure 28 is the implementation of the corresponding cooperative inclusion robot system of both arms assisted minimally invasive surgical operation robot of the present invention
Two front-view schematic diagram of bilateral cooperative arrangement mode of 3 working condition of example.
Figure 29 is the implementation of the corresponding cooperative inclusion robot system of both arms assisted minimally invasive surgical operation robot of the present invention
Two schematic top plan view of bilateral cooperative arrangement mode of 3 working condition of example.
Figure 30 is the main view signal of 4 off working state of embodiment of both arms assisted minimally invasive surgical operation robot of the present invention
Figure；
Figure 31 is the side view signal of 4 off working state of embodiment of both arms assisted minimally invasive surgical operation robot of the present invention
Figure.Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Fig. 1~Figure 18, in order to solve the flexibility that assisted minimally invasive surgical operation robot is laid out under working condition
With the balance of assisted minimally invasive surgical operation robot overall structure stress and components reasonable stress under off working state and
The optimization problem of surgical instrument protectiveness problem and assisted minimally invasive surgical operation robot overall space occupancy, the present invention mention
A kind of easy disassembly, adjustment are flexibly out, accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, service life
The collaborative assisted minimally invasive surgical operation robot of long single armed, it makes assisted minimally invasive surgical operation by the topology layout of optimization
Robot can either coordinate the target position that layout makes motion arm reach patient's operative site with optimal angle in the operating condition
It sets, is easily operated, optimize the flexibility that assisted minimally invasive surgical operation robot cooperates in working condition layout,
Also it can optimize the balance and each zero of the overall structure stress of assisted minimally invasive surgical operation robot in a non-operative state
The stress of component effectively prevents the moment of flexure deformation that assisted minimally invasive surgical operation robot is generated by gravity, avoids
Assisted minimally invasive surgical operation robot leads to the appearance of service precision decline problem because of deformation, is conducive to assist using this minimally invasive
The long term maintenance of surgical operation robot maintains, and can extend the service life of assisted minimally invasive surgical operation robot.Column
And each arm section of motion arm is laid out with surgical instrument " nested " formula, is conducive to that surgical instrument is protected not broken impaired and influence to make
With.Occupied space after the collaborative assisted minimally invasive surgical operation robot of single armed proposed by the present invention folds in a non-operative state
It is small, it is limited especially suitable for operation site space, such as steamer, submarine etc., while the structure also gives assisted minimally invasive surgical operation
The packaging and transport bring convenience of robot.
As shown in Figure 1, a kind of collaborative assisted minimally invasive surgical operation robot of single armed, including pedestal 1, column 2 and arm section
One 3, arm section 24, arm section 35, arm section 46, arm section 57, attachment base 8, patient 9, operating bed 10, the support of pedestal 1 is simultaneously
The fixed entire collaborative assisted minimally invasive surgical operation robot of single armed；The column 2 is perpendicularly fixed on the pedestal 1,
Its support and fix the arm section 1 of assisted minimally invasive surgical operation robot, arm section 24, arm section 35, arm section 46, arm section 57,
Attachment base 8；The column 2 can be along the rotary joint 1-2 between the column 2 and the pedestal 1 in the horizontal direction
Interior 360 degree rotation；The bottom of pedestal 1 is provided with idler wheel 1-1-1 and support 1-1-2, so that assisted minimally invasive surgical operation machine
People can be moved to corresponding position.
Further, it is connected between the column 2 and the arm section 1 by rotary joint 2-3, the arm section
It is connected between one 3 and the arm section 24 by rotary joint 3-4, is led between the arm section 24 and the arm section 35
Rotary joint 4-5 is crossed to be connected, be connected between arm section 46 described in the arm section 35 by rotary joint 5-6, the arm
It is connected between section 46 and the arm section 57 by rotary joint 6-7, between the arm section 57 and the attachment base 8
It is connected by rotary joint 7-8, and the attachment base 8 connects a quick union, on the quick union in installation
Sight glass or surgical instrument.
Further, the column 2 and the arm section 1 are " hollow " structure, the column 2 and the arm
Section 1, arm section 35, arm section 46, arm section 57, can pass through the rotary joint 2- between arm section between attachment base 8 at arm section 24
3, rotary joint 3-4, rotary joint 4-5, rotary joint 5-6, rotary joint 6-7, rotary joint 7-8 relative rotation carry out " embedding
Set ", to keep the arm section 1, arm section 24, arm section 35, arm section 46, arm section 57, attachment base 8 and surgical instrument " embedding
Set " had both optimized the balance of assisted minimally invasive surgical operation robot overall structure stress under off working state in 2 inside of column
And components reasonable stress and assisted minimally invasive surgical operation robot overall space occupancy problem are conducive to protection operation again
Instrument is not broken impaired and influences to use.
The course of work of the invention is as follows:
In the operating condition, the column 2 can be relative to the pedestal 1 along the column 2 and described
Rotary joint 1-2 between pedestal 1 in the horizontal direction in rotate to proper angle, the column 2 and the arm section 1,
Arm section 24, arm section 46, arm section 57, can pass through rotary joint 2-3 between arm section, rotation between attachment base 8 at arm section 35
Joint 3-4, rotary joint 4-5, rotary joint 5-6, rotary joint 6-7, rotary joint 7-8 relative rotation adjustment angle are so as to more
Arrangement is neatly optimized, the end fixed surgical instrument of attachment base 8 is made more easily to reach patient's hand with optimal angle
The target position at art position is unfolded conducive to the operation of operation.
The arm section 35 is parallel with the axis of arm section 57, arm section 46 and by the axis of attachment base 8 and with arm Duan Si
The parallel straight line parallel of 6 axis, four constitute " parallelogram " structure；Arm section 35, arm section 46, arm section 57 and company
Joint chair 8 does the swing of " parallelogram " structure；Arm section 35, arm section 46, arm section 57 and attachment base 8 are in " parallelogram "
With the axis of arm section 35 and by the axis of attachment base 8 and point that the linear intersections parallel with the axis of arm section 46 are opposite is
Center, the axis around arm section 35 do pendulum motion.
" by the axis of the attachment base 8 and straight line parallel with the axis of the arm section 46 " and " arm
" intersection point " of 35 axis of section " is " rotation fixed point ".The axis for being fixed on the operation tool on the attachment base 8 is logical
It crosses " the rotation fixed point ", and the operation tool being fixed on the attachment base 8 is " rotation with " the rotation fixed point "
" center " carries out " parallelogram swing " and does " swinging " movement around the axis of the arm section 35, makes work of performing the operation
Tool does " ball shape rotary " movement around " rotation fixed point " is somebody's turn to do.By making " rotation fixed point " and " body operation position is cut
Access point " " coincidence ", can be by mechanical arm safely positioning operation tool, without applying dangerous active force to human body stomach wall.
Under working condition, four or more single armed can be taken to combine collaborative micro-wound surgical operation according to operation demand
It is robot cooperated to be operated, such as Fig. 8~Figure 14, collaborative minimally invasive surgical operation robot cooperation is combined with four single armeds
For being operated, the single armed combines collaborative minimally invasive surgical operation robot can be according to the operation flexible cloth of demand
Office can be both placed in operating bed side layout；Can also two be placed on operating bed side, it is another that other two is placed on operating bed
Side；It can also be placed on operating bed side with three, another is placed on the operating bed other side.The single armed combines cooperation
Supporting leg 1-1-3 on the pedestal 1 of formula minimally invasive surgical operation robot can be flexible relative to pedestal 1, under working condition, such as Fig. 6
~Fig. 7, the single armed combines the supporting leg 1-1-3 on the pedestal 1 of collaborative minimally invasive surgical operation robot can be the bottom of relative to
Seat 1 is in extended state, to expand bearing area, prevents single armed from combining collaborative minimally invasive surgical operation robot and topples over.Institute
The single armed stated combines the supporting leg 1-1-3 on the pedestal 1 of collaborative minimally invasive surgical operation robot and can according to need the bottom of relative to
The 1 suitable length of stretching, extension of seat, the single armed combine the left and right sides on the pedestal 1 of collaborative minimally invasive surgical operation robot
Attachment device 1-1-3-1, the attachment device 1-1-3-1 above the supporting leg 1-1-3 are installed above supporting leg 1-1-3
Adjacent pedestal 1 can be attached fixation, prevent the single armed being placed adjacent from combining collaborative minimally invasive surgical operation robot
Topple over.
In a non-operative state, the column 2 and the arm section 1 are " hollow " structure, the column 2 and institute
The arm section 1 stated, arm section 24, arm section 35, arm section 46, arm section 57, can be by the rotation between arm section between attachment base 8
Joint 2-3, rotary joint 3-4, rotary joint 4-5, rotary joint 5-6, rotary joint 6-7, rotary joint 7-8 relative rotation are extremely
Carry out " nesting " placement along the parallel direction of part lengths axis, thus make the arm section 1, arm section 24, arm section 35,
Arm section 46, arm section 57, attachment base 8 and surgical instrument " nested " in the inside of column 2, both optimized assisted under off working state it is micro-
The balance and components reasonable stress and assisted minimally invasive surgical operation machine of wound surgical operation robot overall structure stress
People's overall space occupancy problem is conducive to that surgical instrument is protected not broken impaired and influence to use again.
The column 2 and the arm section 1 are " hollow " structure, increase the column 2 and the arm section
One 3 " rigidity " reduces " weight " of the column 2 and the arm section 1 simultaneously, improves assisting minimally invasive hand
" precision " of art robot.
Under off working state, such as Fig. 4~Fig. 5, the single armed combines the pedestal 1 of collaborative minimally invasive surgical operation robot
On supporting leg 1-1-3 can be in contraction state relative to pedestal 1, combine collaborative minimally invasive surgery hand to reduce the single armed
The space hold amount of supporting leg 1-1-3 on the pedestal 1 of art robot.
In a non-operative state, the column 2 and the arm section 1, arm section 24, arm section 35, arm section 46, arm
It can be closed by the rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-5, rotation between section 57, attachment base 8
Section 5-6, rotary joint 6-7, rotary joint 7-8 relative rotation are put to along the parallel direction progress " nesting " of part lengths axis
Set optimization layout can make entire assisted minimally invasive surgical operation robot column 2 and arm section 1, arm section 24, arm section 35,
Arm section 46, arm section 57, attachment base 8, patient 9, operating bed 10 and surgical instrument are subjected only to axial tension or axial compressive force, and
It is not subject to moment of flexure, optimizes the whole stress balance of assisted minimally invasive surgical operation robot and the stress of each components,
The moment of flexure deformation that assisted minimally invasive surgical operation robot is generated by gravity is effectively prevented, assisted minimally invasive surgical operation is avoided
Robot leads to the appearance of service precision decline problem because of deformation, is conducive to assisted minimally invasive surgical operation robot using this
Long term maintenance maintenance, and the service life of assisted minimally invasive surgical operation robot can be extended.Each arm section of column and motion arm
It is laid out with surgical instrument " nested " formula, is conducive to that surgical instrument is protected not broken impaired and influence to use.It is proposed by the present invention
The collaborative assisted minimally invasive surgical operation robot of single armed occupies little space after folding in a non-operative state, especially suitable for operation
Site space is limited, such as steamer, submarine etc., while the structure also gives the packaging and transport of assisted minimally invasive surgical operation robot
Bring convenience.
The present invention propose a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization,
Convenient transportation, the collaborative assisted minimally invasive surgical operation robot of single armed with long service life, it can solve external existing minimally invasive
The flexibility and off working state of assisted minimally invasive surgical operation robot layout in the operating condition are deposited in surgical operation robot
The balance and components reasonable stress and surgical instrument of lower assisted minimally invasive surgical operation robot overall structure stress are protected
The optimization problem of property problem and assisted minimally invasive surgical operation robot overall space occupancy.The single armed cooperatively assists simultaneously
Minimally invasive surgical operation robot also improves " precision " of assisted minimally invasive surgical operation robot, avoids assisting minimally invasive hand
Art robot causes service precision to decline problem because of deformation, solves the problems, such as surgical instrument protectiveness, and be conducive to minimally invasive
Long term maintenance maintenance, packaging and the transport of surgical operation robot.
The collaborative assisted minimally invasive surgical operation robot of a kind of single armed proposed by the present invention, can be on the basis of embodiment 1
On by between arm section described in Fig. 135 and column 2 the arm section 1, arm section 24 and rotary joint 2-3, rotation close
Section 3-4 is changed to one 3-1 of arm section in Figure 15, two 3-2 of arm section, three 3-3 of arm section, arm section four 3-4 and linear joint 2-3-1, rotation
Joint 3-1-3-2, rotary joint 3-1-3-3, rotary joint 3-1-3-4, at the same remove the column 2 in embodiment 1 with
Rotary joint 1-2 between the pedestal 1, remaining structure remain unchanged, equally may be implemented motion arm be surgical instrument into
The function that row surgical procedure is positioned.It is specific as follows:
Embodiment 2
Specific structure is as shown in figure 19:
On the basis of embodiment 1, by the arm section 1, the arm section between arm section described in Fig. 135 and column 2
24 and rotary joint 2-3, rotary joint 3-4 are changed to one 3-1 of arm section in Figure 15, two 3-2 of arm section, three 3-3 of arm section, arm Duan Si
3-4 and linear joint 2-3-1, rotary joint 3-1-3-2, rotary joint 3-1-3-3, rotary joint 3-1-3-4, while removing reality
The rotary joint 1-2 between the column 2 and the pedestal 1 in example 1 is applied, remaining structure remains unchanged, equally can be with
Realize that motion arm is that surgical instrument is operated the function of being positioned.
In the operating condition, one 3-1 of arm section can be relative to the column 2 along one 3-1 of arm section
Axial movement joint 2-3-1 between the column 2 is moved to proper height, one 3- of arm section in vertical direction
1, two 3-2 of arm section, three 3-3 of arm section, between can by rotary joint 3-1-3-2 between arm section, rotary joint 3-2-3-3,
Rotary joint 3-3-3-4 relative rotation adjusts angle to optimize arrangement for greater flexibility, makes the end fixed hand of attachment base 8
Art instrument reaches the target position of patient's operative site more easily with optimal angle, is unfolded conducive to the operation of operation.
Embodiment 3
Book implementation provides a kind of cooperative inclusion robot system, including at least two embodiments 1, implements described in 2
Single armed assisted minimally invasive surgical operation robot.Such as the combination of four or more single armed can be taken collaborative according to operation demand
Minimally invasive surgical operation robot cooperation is operated, and combines collaborative minimally invasive surgical operation robot cooperation with four single armeds
For being operated, the single armed combines collaborative minimally invasive surgical operation robot can be according to the operation flexible cloth of demand
Office can be both placed in operating bed side layout；Can also two be placed on operating bed side, it is another that other two is placed on operating bed
Side；It can also be placed on operating bed side with three, another is placed on the operating bed other side.
Embodiment 4
As shown in Figure 23~Figure 29, present embodiment discloses a kind of collaborative assisted minimally invasive surgical operation robot of both arms,
It is on the basis of embodiment 1, by the arm section new as one of the column 2 in embodiment 1, from having newly increased a T shape
Column 11, T shape column 11 by two Y-axis rotary joint 11-12 be connected respectively with two arm sections 12, two arm sections 12 are divided
Not Tong Guo the Z axis in embodiment 1 be connected to rotary joint 1-2 with 1 central post 2 of embodiment, remaining structure and embodiment 1 are complete
It is identical；There are two mechanical arms same as Example 1 for installation on the same column in this embodiment, therefore form both arms
Manipulator.
Embodiment 5
Specific structure is as shown in Figure 30~Figure 31: the present embodiment is on the basis of embodiment 2, by the column 2 in embodiment 2
T-shaped structure has been grown in modification, installs two and 2 identical mechanical arms of implementation in T-shaped structure, specific connection type is identical.
Embodiment 7
The present invention also provides institutes in a kind of cooperative inclusion robot system, including at least two embodiments 4 or embodiment 5
The single armed assisted minimally invasive surgical operation robot stated.Such as four or more single armed combination association can be taken according to operation demand
Make the cooperation of formula minimally invasive surgical operation robot to be operated, combines collaborative minimally invasive surgical operation robot with four single armeds
For cooperation is operated, the single armed combines collaborative minimally invasive surgical operation robot can be according to operation demand spirit
Layout living can be both placed in operating bed side layout；Can also two be placed on operating bed side, other two is placed on operation
The bed other side；It can also be placed on operating bed side with three, another is placed on the operating bed other side.
The present invention assist assisted minimally invasive surgical operation robot can either in the operating condition by the topology layout of optimization
It adjusts layout that motion arm is made to reach the target position of patient's operative site with optimal angle, is easily operated, optimize
Assisted minimally invasive surgical operation robot can also optimize auxiliary in a non-operative state in the flexibility of working condition layout cooperation
The balance of the overall structure stress of minimally invasive surgical operation robot and the stress of each components are helped, is effectively prevented
The moment of flexure deformation that assisted minimally invasive surgical operation robot is generated by gravity, avoids assisted minimally invasive surgical operation robot because of deformation
And lead to the appearance of service precision decline problem, it is protected using this long term maintenance for being conducive to assisted minimally invasive surgical operation robot
It supports, and the service life of assisted minimally invasive surgical operation robot can be extended.Each arm section and surgical instrument of column and motion arm
" nesting " formula layout is conducive to that surgical instrument is protected not broken impaired and influence to use.Single armed proposed by the present invention is collaborative
Assisted minimally invasive surgical operation robot occupies little space after folding in a non-operative state, has especially suitable for operation site space
Limit, such as steamer, submarine etc., while the structure also gives the packaging of assisted minimally invasive surgical operation robot and transport bring convenient
Property.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
In mind and principle, any modification, equivalent replacement, improvement and so on should be included within the scope of the present invention.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of single armed assisted minimally invasive surgical operation robot, it is characterised in that: described including pedestal, column and motion arm
Pedestal is used to support and vertical columns and motion arm；Described column one end is vertically installed in by the first Z axis to rotary joint
On the pedestal, the motion arm is used to support and fixed, the other end passes through the first X axis rotary joint and described
Motion arm is connected；
The motion arm includes arm section one, arm section two, arm section three, arm Duan Si and arm section five；The column and arm section one it
Between be connected by the first X axis rotary joint, be connected by the second X axis rotary joint between arm Duan Yiyu arm section two, be described
Arm Duan Eryu arm section three by Z axis to rotation joint be connected；Pass through third X axis rotary joint between arm Duan Sanyu arm Duan Si
It is connected, passes through the 2nd X between arm Duan Siyu arm section five between connected, arm Duan Wuyu attachment base by the 4th X axis rotary joint
Axial-rotation joint is connected；Corresponding surgical instrument is installed on the pedestal or endoscope is flexible.
2. single armed assisted minimally invasive surgical operation robot as described in claim 1, it is characterised in that:
The arm section three is parallel with the axis of arm section five, arm Duan Si and by the axis of attachment base and flat with the axis of arm Duan Si
Capable straight line parallel, four constitute " parallelogram " structure；Arm section three, arm Duan Si, arm section five do " parallel four with attachment base
Side shape " structure is swung；
Arm section three, arm Duan Si, arm section five and attachment base in " parallelogram " with the axis of arm section three and pass through attachment base
Centered on axis and the opposite point of the linear intersections parallel with the axis of arm Duan Si, the axis around arm section three does pendulum motion；
" by the axis of the attachment base and straight line parallel with the axis of arm Duan Si " and " three axis of arm section
" intersection point " of line " is " rotation fixed point "；
The axis of the operation tool on the attachment base is fixed on by " the rotation fixed point ", and installs and fixes
Operation tool on the attachment base be that " rotation center " progresss " is put parallelogram front and back with " the rotation fixed point "
It is dynamic " and around the axis of the arm section three do " swinging " movement, make operation tool around should " rotation fixed point " do it is " spherical
Rotation " movement.
3. a kind of single armed assisted minimally invasive surgical operation robot, it is characterised in that:
Including pedestal, column and motion arm, the pedestal is used to support and vertical columns and motion arm；Described column one end
It is vertically installed on the pedestal by the first Z axis to rotary joint, is used to support and fixes the motion arm, it is another
End is connected with the motion arm；
The motion arm includes arm section one, arm section two, arm section three, arm Duan Si, arm section five, arm section six and arm section seven；Described
It is connected between column and arm section one by Z-direction telescopic joint；Pass through the first Z axis between the arm Duan Yiyu arm section two to rotation
Joint is connected, and the arm Duan Eryu arm section three is connected to rotation joint by the second Z axis, is passed through between arm Duan Sanyu arm Duan Si
Third Z axis is connected to rotation joint；
It is connected by the 4th Z axis to rotation joint between the arm Duan Siyu arm section five；
It is connected between the arm Duan Wuyu arm section six by the first X axis rotary joint, between the arm Duan Liuyu arm section seven
It is connected by the second X axis rotary joint；X axis rotary joint is passed sequentially through between the arm Duan Qiyu attachment base to be connected.
4. a kind of single armed assisted minimally invasive surgical operation robot as claimed in claim 1 or 3, which is characterized in that described is vertical
The cross section of column and the multiple arm sections being sequentially connected in series gradually decreases, and forms nested structure by rotary joint；
Further, the side of the pedestal is equipped with supporting leg, and the company for connecting adjacent pans is equipped with above the supporting leg
Connection device；And the supporting leg can be flexible relative to the pedestal, the supporting leg bottom is equipped with idler wheel；
Further, the bottom of the pedestal is provided with idler wheel and support.
5. one kind cooperates assembly robot's system, which is characterized in that any described including at least two claim 1-4
Single armed assisted minimally invasive surgical operation robot.
6. a kind of both arms assisted minimally invasive surgical operation robot, which is characterized in that described including pedestal, column and motion arm
Pedestal is used to support and vertical columns and motion arm；Described column one end by being fixedly connected with the pedestal, column
The other end is connected with two mechanical arms respectively by two Y-axis rotary joints；The structure of two mechanical arms is identical；
Each mechanical arm includes arm section one, arm section two, arm section three, arm Duan Si, arm section five, arm section six and arm section seven；Arm Duan Liutong
It crosses the first Z axis to be connected to rotary joint arm section seven, be connected between arm Duan Qiyu arm section one by the first X axis rotary joint, arm
It is connected between Duan Yiyu arm section two by the second X axis rotary joint, the arm Duan Eryu arm section three passes through the second Z axis to certainly
Turn joint to be connected；It is connected between arm Duan Sanyu arm Duan Si by third X axis rotary joint, is passed through between arm Duan Siyu arm section five
4th X axis rotary joint is connected, is connected by the second X axis rotary joint between arm Duan Wuyu attachment base；The pedestal
On to be equipped with corresponding surgical instrument or endoscope flexible.
7. a kind of both arms assisted minimally invasive surgical operation robot as claimed in claim 6, which is characterized in that the arm section three
It is parallel with the axis of arm section five, arm Duan Si and by the axis of attachment base and the straight line parallel parallel with the axis of arm Duan Si, four
Person constitutes " parallelogram " structure；Arm section three, arm Duan Si, arm section five and attachment base do the swing of " parallelogram " structure；
Arm section three, arm Duan Si, arm section five and attachment base in " parallelogram " with the axis of arm section three and pass through attachment base
Centered on axis and the opposite point of the linear intersections parallel with the axis of arm Duan Si, the axis around arm section three does pendulum motion；
" by the axis of the attachment base and straight line parallel with the axis of arm Duan Si " and " three axis of arm section
" intersection point " of line " is " rotation fixed point "；
The axis of the operation tool on the attachment base is fixed on by " the rotation fixed point ", and installs and fixes
Operation tool on the attachment base be that " rotation center " progresss " is put parallelogram front and back with " the rotation fixed point "
It is dynamic " and around the axis of the arm section three do " swinging " movement, make operation tool around should " rotation fixed point " do it is " spherical
Rotation " movement.
8. a kind of both arms assisted minimally invasive surgical operation robot, which is characterized in that described including pedestal, column and motion arm
Pedestal is used to support and vertical columns and motion arm；Described column one end by being fixedly connected with the pedestal, column
The other end is connected with two mechanical arms respectively by two Y-axis rotary joints；The structure of two mechanical arms is identical；
The motion arm includes arm section one, arm section two, arm section three, arm Duan Si, arm section five, arm section six and arm section seven；Described
It is connected between column and arm section one by Z-direction telescopic joint；Pass through the first Z axis between the arm Duan Yiyu arm section two to rotation
Joint is connected, and the arm Duan Eryu arm section three is connected to rotation joint by the second Z axis, is passed through between arm Duan Sanyu arm Duan Si
Third Z axis is connected to rotation joint；
It is connected by the 4th Z axis to rotation joint between the arm Duan Siyu arm section five；
It is connected between the arm Duan Wuyu arm section six by the first X axis rotary joint, between the arm Duan Liuyu arm section seven
It is connected by the second X axis rotary joint；X axis rotary joint is passed sequentially through between the arm Duan Qiyu attachment base to be connected.
9. such as a kind of both arms assisted minimally invasive surgical operation robot as claimed in claim 6 to 8, which is characterized in that described
The cross section of column and the multiple arm sections being sequentially connected in series gradually decreases, and forms nested structure by rotary joint；
Further, the side of the pedestal is equipped with supporting leg, and the company for connecting adjacent pans is equipped with above the supporting leg
Connection device；And the supporting leg can be flexible relative to the pedestal, the supporting leg bottom is equipped with idler wheel；
Further, the bottom of the pedestal is provided with idler wheel and support.
10. one kind cooperates assembly robot's system, which is characterized in that any described including at least two claim 6-8
Both arms assisted minimally invasive surgical operation robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245329.7A CN109998685A (en) | 2019-03-28 | 2019-03-28 | A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245329.7A CN109998685A (en) | 2019-03-28 | 2019-03-28 | A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109998685A true CN109998685A (en) | 2019-07-12 |
Family
ID=67168685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910245329.7A Pending CN109998685A (en) | 2019-03-28 | 2019-03-28 | A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109998685A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112932673A (en) * | 2021-02-03 | 2021-06-11 | 山东省千佛山医院 | Mechanical arm layout structure of minimally invasive surgical robot |
| CN113796962A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
| CN114098958A (en) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation device and surgical robot |
| CN114098956A (en) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation device and surgical robot |
| CN115005976A (en) * | 2022-08-03 | 2022-09-06 | 杭州德适生物科技有限公司 | Intelligent mechanical arm for surgical operation |
| WO2022247481A1 (en) * | 2021-05-25 | 2022-12-01 | 敏捷医疗科技(苏州)有限公司 | Mechanical arm and control method therefor |
| WO2023014149A1 (en) * | 2021-08-06 | 2023-02-09 | 주식회사 리브스메드 | Surgical robot arm |
| WO2023083078A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation apparatus and surgical robot |
-
2019
- 2019-03-28 CN CN201910245329.7A patent/CN109998685A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112932673A (en) * | 2021-02-03 | 2021-06-11 | 山东省千佛山医院 | Mechanical arm layout structure of minimally invasive surgical robot |
| WO2022247481A1 (en) * | 2021-05-25 | 2022-12-01 | 敏捷医疗科技(苏州)有限公司 | Mechanical arm and control method therefor |
| WO2023014149A1 (en) * | 2021-08-06 | 2023-02-09 | 주식회사 리브스메드 | Surgical robot arm |
| CN113796962A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
| CN113796962B (en) * | 2021-08-27 | 2024-01-30 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
| CN114098958A (en) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation device and surgical robot |
| CN114098956A (en) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation device and surgical robot |
| WO2023083078A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, slave operation apparatus and surgical robot |
| CN115005976A (en) * | 2022-08-03 | 2022-09-06 | 杭州德适生物科技有限公司 | Intelligent mechanical arm for surgical operation |
| CN115005976B (en) * | 2022-08-03 | 2022-11-18 | 杭州德适生物科技有限公司 | Intelligent manipulator for surgical operation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109998685A (en) | A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system | |
| CN106175935B (en) | Mechanical arm and orthopedic robot | |
| CN107184275B (en) | A kind of robot for assisting splanchnocoel Minimally Invasive Surgery | |
| CN106923902A (en) | Operating robot snakelike joint, operating theater instruments and endoscope | |
| CN206151581U (en) | Supplementary minimally invasive surgery robot mechanical arm arrangement structure | |
| CN101889900B (en) | Master-slave integrated mechanical arm for assisting minimally invasive surgery | |
| JP6264617B2 (en) | Microscope floor stand with tilt arm | |
| RU135957U1 (en) | ROBOT MANIPULATOR | |
| CN106102630A (en) | operation arm | |
| CN106236267A (en) | A kind of assisted minimally invasive surgical operation robot mechanical arm arrangements structure | |
| CN110327116A (en) | The catheter delivery device of blood vessel intervention operation robot | |
| CN104783889B (en) | ESS mechanical arm system and its visual feedback means | |
| CN105250025A (en) | End effector assisting in clamping endoscope in minimally invasive surgery | |
| CN107126238A (en) | A kind of Cardiological operation extension fixture | |
| CN106137623A (en) | Rise and sit Stryker frame | |
| CN106691591A (en) | Robotic arm for single-incision minimally invasive surgery | |
| CN109009453A (en) | Intervene the force feedback type main manipulator of robot | |
| CN107530107A (en) | Herringbone fixator | |
| CN109431608A (en) | A kind of nested type assisting minimally invasive single hole operating robot | |
| CN206167233U (en) | All positions sick bed | |
| CN209595889U (en) | A kind of frame-type assisting minimally invasive single hole operating robot | |
| CN109480922A (en) | A kind of remote center movement parallel institution of four-degree-of-freedom for Minimally Invasive Surgery | |
| CN113081630A (en) | Multifunctional operating table for operation | |
| CN206836960U (en) | A kind of single hole Minimally Invasive Surgery robotic arm | |
| CN207912758U (en) | The mechanical arm and robot sutured for disc herniation Nuclectomy and fibrous ring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |