CN110037800B - Surgical robot auxiliary device - Google Patents
Surgical robot auxiliary device Download PDFInfo
- Publication number
- CN110037800B CN110037800B CN201910416790.4A CN201910416790A CN110037800B CN 110037800 B CN110037800 B CN 110037800B CN 201910416790 A CN201910416790 A CN 201910416790A CN 110037800 B CN110037800 B CN 110037800B
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- Prior art keywords
- assembly
- surgical robot
- lifting
- swinging
- guide sleeve
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- 230000008093 supporting effect Effects 0.000 claims abstract description 46
- 238000013016 damping Methods 0.000 claims description 18
- 239000011324 bead Substances 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
Abstract
The invention relates to the technical field of medical instruments, in particular to an auxiliary device of a surgical robot. Comprising the following steps: a positioning assembly; the first adjusting component comprises a first swinging unit and a first lifting unit, the first swinging unit is rotationally connected with the free end of the positioning component, and the first swinging unit drives the first lifting unit to swing; the supporting seat is connected with the first lifting unit, the first lifting unit drives the supporting seat to move, and the surgical robot is supported on the supporting seat. The surgical robot is supported by the supporting seat through arranging a first adjusting component on the basis of the positioning component and connecting the first adjusting component with the supporting seat; the surgical robot on the positioning assembly is further flexibly moved after the positioning assembly is positioned, so that the surgical robot can be flexibly moved to a required position according to the operation intention of a doctor. Solves the problems that the surgical robot in the prior art has larger weight and is not beneficial to long-time operation of surgeons.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an auxiliary device of a surgical robot.
Background
The surgical robot has the advantages of accurate positioning, stable operation, strong dexterity, large working range, radiation and infection resistance and the like, and is widely applied to various surgeries. The surgical robot not only can assist doctors to finish accurate positioning of surgical sites, but also can realize minimal damage of surgery, improve the precision and quality of disease diagnosis and surgical treatment, improve surgical safety, shorten treatment time and reduce medical cost, and in recent years, the research of the surgical robot has become a new field of robot application.
With the continuous development of surgery, the surgical robot is gradually applied to laparoscopic surgery, and the surgical robot improves the quality of minimally invasive surgery, and meanwhile, the fatigue degree of a surgeon is increased due to the fact that the surgical robot is heavier and larger than traditional needle holding forceps, separating forceps, scissors and the like, and the surgical robot is unfavorable for the operation of the surgical doctor in the growth time.
Disclosure of Invention
In order to solve the problems that the surgical robot in the prior art is large in weight and is not beneficial to long-term operation of an operator, the invention provides the surgical robot auxiliary device which can support the surgical robot and operate according to the intention of the operator, so that the operator can operate the surgical robot conveniently for a long time. The technical scheme of the invention is as follows:
a surgical robotic-assisted device comprising: a positioning assembly; the first adjusting assembly comprises a first swinging unit and a first lifting unit, the first swinging unit is rotationally connected with the free end of the positioning assembly, and the first swinging unit drives the first lifting unit to swing; the supporting seat is connected with the first lifting unit, the first lifting unit drives the supporting seat to move, and the surgical robot is supported on the supporting seat.
Further, the first swinging unit comprises a first rotating ring and a second rotating ring, one end of the first rotating ring is rotatably connected with the positioning assembly through a buckle and a clamping groove, the other end of the first rotating ring is hinged with one end of the second rotating ring along at least two hinge points, and the other end of the second rotating ring is connected with the first lifting unit.
Further, the second rotating ring extends towards the first rotating ring to form a limiting structure, a limiting hole is formed in the limiting structure, and the axis of the limiting hole is collinear with the axis of the mounting hole in the supporting seat.
Further, at least two hinge points are collinear, the axis of the limiting hole is intersected with the connecting line where the at least two hinge points are located, and the axis of the limiting hole is perpendicularly intersected with the axis of the first rotating ring.
Further, the first lifting unit comprises a fixed force coil spring, a mounting frame, a sliding table and a sliding rail, wherein the fixed force coil spring is mounted on the mounting frame, the free end of the fixed force coil spring is connected with the sliding table, the fixed force coil spring drives the sliding table to slide along the sliding rail, and the sliding table is connected with the supporting seat.
Further, the positioning assembly comprises a lifting assembly and a swinging assembly, the swinging assembly comprises at least one joint arm, one end of the swinging assembly is rotationally connected with the lifting assembly, and the other end of the swinging assembly is connected with the first swinging unit.
Further, the lifting assembly comprises a guide sleeve and a lifting rod moving along the guide sleeve, a driving piece is rotatably arranged on the guide sleeve, the lifting rod comprises a rack, and the driving piece is meshed with the rack to drive the lifting rod to move along the guide sleeve.
Further, the driving piece comprises a driving shaft rotatably arranged on the guide sleeve, the inner end of the driving shaft stretches into the guide sleeve, at least two pin shafts are distributed on the end face of the inner end of the driving shaft, and the driving shaft drives at least two pin shafts to sequentially and circularly mesh with the racks.
Further, the other end of the driving shaft extends out of the guide sleeve, an anti-rotation disc is arranged on the driving shaft and close to the guide sleeve, the outer surface of the guide sleeve matched with the anti-rotation disc is a damping surface, and the anti-rotation disc is in damping contact with the damping surface through elastic collision beads and slotted holes.
Further, the elbow support assembly comprises an elbow support piece and a second adjusting assembly, and the elbow support piece is rotatably supported on the positioning assembly through the second adjusting assembly.
Based on the technical scheme, the invention has the following technical effects:
1. according to the surgical robot auxiliary device, the first adjusting component is arranged on the basis of the positioning component and is connected with the supporting seat through the first adjusting component, and the supporting seat supports the surgical robot, so that on one hand, the surgical robot is supported, and the weight born by a doctor in the surgical process is reduced; on the other hand, the first adjusting component is used for further flexibly moving the surgical robot on the positioning component after the positioning component is used for realizing positioning, so that the surgical robot can flexibly move to a required position according to the operation intention of a doctor to perform surgical operation, the fatigue of the doctor is reduced, the operation difficulty is reduced, and the cost expenditure of a patient is reduced;
2. according to the surgical robot auxiliary device, the first adjusting component comprises the first swinging unit and the first lifting unit, the first swinging unit is rotatably connected with the free end of the positioning component, namely, the first swinging unit can rotate relative to the positioning component, and two rotating rings in the first swinging unit are hinged, so that the first rotating rings can drive the second rotating rings to rotate relative to the positioning component, the second rotating rings can swing along the other direction relative to the first rotating rings, and the space angle of the surgical robot can be adjusted in multiple dimensions through the first swinging unit; the first lifting unit is further arranged, and drives the surgical robot to lift, so that multidirectional flexible adjustment of the surgical robot can be realized, and a doctor can conveniently drive the surgical robot to a required position for surgical operation;
3. according to the surgical robot auxiliary device, the first rotating ring and the second rotating ring are hinged through the at least two hinge points, the limiting hole is formed in the second rotating ring, and the circumgyration of the limiting hole is collinear with the axis of the mounting hole in the supporting seat, so that when the surgical robot is mounted on the supporting seat, the operating end of the surgical robot passes through the limiting hole, two positions of the surgical robot can be positioned, and the surgical robot is prevented from being deviated in the operation process, and the surgical effect is prevented from being influenced; the axis of the surgical robot is collinear with the axis of the mounting hole and the axis of the limiting hole, so that the surgical robot can be accurately regulated;
4. according to the surgical robot auxiliary device, at least two hinging points are arranged to be collinear, the axis of the limiting hole is vertically intersected with the connection of the at least two hinging points, and the axis of the limiting hole is vertically intersected with the axis of the first rotating ring, so that the rotation angle of the surgical robot relative to the positioning assembly is the same as that of the first rotating ring relative to the swinging assembly, the swinging angle of the surgical robot relative to the first rotating ring is the same as that of the second rotating ring relative to the first rotating ring, and the accurate adjustment of the position of the surgical robot can be realized;
5. according to the surgical robot auxiliary device, the first lifting unit is arranged to be a fixed force coil spring combined with the sliding table sliding rail, so that a constant supporting force can be provided for the surgical robot, the stability of the surgical robot is ensured, shaking in the surgical process is prevented, and the surgical effect is influenced;
6. according to the surgical robot auxiliary device, the lifting assembly is arranged to drive the pin shaft and the rack to lift in a meshed mode, so that the stability is high; in addition, the vertical damping surface damping contact between the anti-rotation disc and the guide sleeve is arranged, so that the lifting rod can be positioned after the lifting rod is lifted to a required position;
7. the operation robot auxiliary device further comprises an elbow supporting component, wherein the elbow of a doctor can be arranged on the elbow supporting component in the operation process, so that the elbow of the doctor is supported, the fatigue of the doctor is reduced, the elbow supporting component is rotatably supported on the positioning component through the second adjusting component, the position of the elbow supporting component can be adjusted, and the operation robot auxiliary device is suitable for the operation requirement of the doctor.
Drawings
FIG. 1 is a schematic view of a surgical robot aid according to the present invention;
FIG. 2 is a schematic view of a lifting assembly in a positioning assembly;
FIG. 3 is a cross-sectional view of the lift assembly in the positioning assembly;
fig. 4 is an enlarged view of a portion a in fig. 3;
FIG. 5 is a partial cross-sectional view of the connection between adjacent articulating arms of the swing assembly in the positioning assembly;
FIG. 6 is a schematic structural view of a first swing unit in the first adjustment assembly;
FIG. 7 is a schematic view of a first rotating ring;
FIG. 8 is a schematic structural view of a second connecting shaft;
FIG. 9 is a schematic view of a first lift unit in the first adjustment assembly;
in the figure: 1-a positioning assembly; 11-a lifting assembly; 111-lifting rods; 1111-an outer cylinder; 1112-rack; 112-sleeve; 1121—a damping surface; 1122-slot; 113-a driving member; 1131-drive shaft; 1132-pin shaft; 1133-a first connection shaft; 114-a turntable; 115-elastic spring-catch; 116-a hand wheel; 12-a swing assembly; 121-a first articulated arm; 122-a second articulated arm; 1221-a second connecting shaft; 12211-detach button; 12212-snap; 123-damping member; 2-a first adjustment assembly; 21-a first swing unit; 211-a first rotating ring; 2111-first branch; 2112-a clamping end; 21121-card slot; 212-a second rotating ring; 2121-second branch; 2122-a limit structure; 2123-limiting holes; 22-a first lifting unit; 221-a fixed force coil spring; 222-mounting frame; 223-slipway; 224-a slide rail; 225-a housing; 226-a bottom plate; 3-a supporting seat; 4-surgical robot; 41-an operating end; 5-connecting sleeve; 6-a second adjustment assembly; 61-a second lifting unit; 611-an adjustment knob; 62-a second swing unit; 7-elbow rests; 8-clamping seat.
Detailed Description
The invention is further described below with reference to the drawings. In the description of the present invention, it should be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "disposed," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 9, the present embodiment provides a surgical robot auxiliary device, which includes a positioning assembly 1, a first adjusting assembly 2, a supporting seat 3 and an elbow supporting assembly, wherein the positioning assembly 1 can realize the positioning of the free end thereof through lifting and swinging movements, the first adjusting assembly 2 and the elbow supporting assembly are both supported on the positioning assembly 1, the first adjusting assembly 2 is used for supporting the supporting seat 3, and the supporting seat 3 is used for supporting a surgical robot 4; the elbow support assembly is used for supporting the elbow of a doctor so as to reduce the fatigue of the doctor.
The positioning component 1 comprises a lifting component 11 and a swinging component 12, and the lifting component 11 drives the swinging component 12 to lift. Specifically, the lifting assembly 11 includes a lifting rod 111 and a driving member 113, a guide sleeve 112 is sleeved outside the lifting rod 111, and the lifting rod 111 can be lifted along the guide sleeve 112. The lifting rod 111 includes an outer cylinder 1111 and a rack 1112 disposed inside the outer cylinder 1111, wherein the driving member 113 is engaged with the rack 1112, and drives the rack 1112 to drive the outer cylinder 1111 to synchronously lift. The driving member 1113 may adopt a structure of a gear and a driving shaft, and the driving shaft drives the gear to rotate to drive the rack 1112 to move up and down through the engagement of the gear with the rack 1112, so as to drive the lifting rod 111 to move up and down along the guide sleeve 112. In this embodiment, the driving member 1113 includes a driving shaft 1131, the driving shaft 1131 is rotatably disposed on the guide sleeve 112, the inner end of the driving shaft 1131 extends into the guide sleeve 113, at least two pins 1133 are distributed on the inner end surface of the driving shaft 1131, preferably, at least two pins 1132 are uniformly and intermittently distributed along the circumferential direction of the inner end surface of the driving shaft 1131, and when the driving shaft 1131 rotates along the axis, at least two pins 1132 can sequentially and circularly extend into the tooth grooves of the rack 1112 to drive the rack 1112 to move up and down. Preferably, a first connecting shaft 1133 is further connected to one end, far away from the driving shaft 1131, of the at least two pin shafts 1132, and the at least two pin shafts 1132 are in a concave structure relative to the driving shaft 1121 and the first connecting shaft 1133, so that the pin shafts 1132 can be conveniently meshed with the rack 1112 for driving. The driving shaft 1131 and the first connecting shaft 1133 are provided with groove structures, the outer barrel 1111 is provided with two long holes extending axially, the groove structures on the driving shaft 1131 and the first connecting shaft 1133 are matched with the long holes, and limit between the driving shaft 1131 and the outer barrel 1111 can be achieved.
Further, the other end of the driving shaft 1131 extends out of the outer cylinder 1111, and a hand wheel 116 is arranged at the outer end of the driving shaft 1131, so that an operator can conveniently grasp the hand wheel 116 to rotate the driving shaft 1131, and then drive the lifting rod 111 to lift.
Further, a rotation preventing disc 114 is further disposed on the driving shaft 1131, the rotation preventing disc 114 is disposed near the guiding sleeve 112, and the rotation preventing disc 114 is in damping contact with the outer surface of the guiding sleeve 112. Specifically, elastic collision beads 115 are distributed on the anti-rotating disc 114, the outer surface of the guide sleeve 112 matched with the anti-rotating disc 114 is a vertical damping surface 1121, a slotted hole 1122 matched with the elastic collision beads 115 is formed in the vertical damping surface 1121, and the elastic collision beads 115 are embedded into the slotted hole 1122 to realize damping contact between the anti-rotating disc 114 and the guide sleeve 112.
Further, the guide sleeve 112 is fixedly connected with the clamping seat 8, and the whole auxiliary device can be fixed through the clamping seat 8. In addition, the guide sleeve 112 may be positioned by other support means, such as a guide sleeve 112 supported on a trolley by which the entire auxiliary device is pushed to the desired position.
The swing assembly 12 is rotatably connected to the top end of the lifting rod 111, and specifically, the swing assembly 12 includes at least one joint arm, one end of which is rotatably connected to the top end of the lifting rod 111. Preferably, the swing assembly 12 includes at least two articulated arms, at least two articulated arms being hingedly connected, and the hinge points of adjacent two articulated arms being provided with damping members. In this embodiment, the swing assembly 12 includes a first joint arm 121 and a second joint arm 122, the first joint arm 121 is rotatably connected with the top end of the lifting rod 111, the first joint arm 121 can rotate along the axis of the lifting rod 111, the second joint arm 122 is hinged to the first joint arm 121 through a hinge shaft, and a damping member 123 is sleeved on the hinge shaft. Preferably, the damping member 123 is a torsion spring, and when the second joint arm 122 rotates in a certain direction relative to the first joint arm 121, the torsion spring provides a certain reaction force, so that the rotation angle of the second joint arm 122 can be accurately controlled.
The free end of the swinging component 12 far away from the positioning component 1 is connected with a first adjusting component 2, the first adjusting component 2 comprises a first swinging unit 21 and a first lifting unit 22, the first swinging unit 21 is rotationally connected with the free end of the positioning component 1, and the first swinging unit 21 drives the first lifting unit 22 to swing. Specifically, the first swing unit 21 includes a first rotary ring 211 and a second rotary ring 212, and the first rotary ring 211 is rotatably connected to the free end of the positioning assembly 1. In this embodiment, the free end of the positioning assembly 1 is one end of the second joint arm 122 far away from the first joint arm 121, the second joint arm 122 is connected with a second connecting shaft 1221, one end of the first rotating ring 211 connected with the second connecting shaft 1221 is a clamping end 2112, the clamping end 2112 is hollow and cylindrical, a circumferentially extending clamping groove 21121 is provided in the clamping end 2112, correspondingly, a telescopic buckle 12212 is provided on the second connecting shaft 1221, and the buckle 12212 can be clamped into the clamping groove 21121 to realize rotational connection between the first rotating ring 211 and the second connecting shaft 1221. Preferably, the second connecting shaft 1221 is further provided with a disassembly button 12211 for controlling the expansion and contraction of the buckle 12212, and when the disassembly button 12211 is pressed, the buckle 12212 is driven to retract and disengage from the clamping groove 21121, so as to disengage between the first rotating ring 211 and the second connecting shaft 1221.
The first rotating ring 211 is hinged to the second rotating ring 212, specifically, at least two first branches 2111 extend from the other end of the first rotating ring 211, at least two second branches 2121 extend toward the first rotating ring 211 from the second rotating ring 212, and the first branches 2111 are hinged to the second branches 2121 in a one-to-one correspondence. Preferably, at least two first branches 2111 are spaced apart and at least two second branches 2121 are spaced apart, forming at least two hinge points that are collinear. Preferably, the second rotating ring 212 extends with a limiting structure 2122, and the limiting structure 2122 is provided with a limiting hole 2123, and the limiting hole 2123 is used for inserting the operating end 41 of the surgical robot 4. Further preferably, the axis of the limiting hole 2123 intersects the axis of the first rotating ring 211, and the axis of the limiting hole 2123 intersects the line connecting at least two hinge points perpendicularly. The second rotating ring 212 is fixedly connected with the first lifting unit 22, and the second rotating ring 212 drives the first lifting unit 22 to adjust the space angle.
The first lifting unit 22 comprises a fixed force coil spring 221, a mounting frame 222, a sliding table 223, a sliding rail 224, a shell 225 and a bottom plate 226, wherein the fixed force coil spring 221, the mounting frame 222, the sliding table 223 and the sliding rail 224 are arranged in the shell 225, the sliding rail 224 is perpendicular to the second rotating ring 212, the fixed force coil spring 221 is supported on the sliding rail 224 through the mounting frame 222, the free end of the fixed force coil spring 221 is connected with the sliding table 223 and drives the sliding table 223 to slide along the sliding rail 224, the sliding table 223 is connected with the supporting seat 3, and the supporting seat 3 is driven to move. The bottom end of the housing 225 is fixedly connected with a bottom plate 226, and the bottom plate 226 is fixedly connected with the second rotating ring 212.
The supporting seat 3 is provided with a mounting hole for placing the surgical robot 4. Preferably, the axis of the mounting hole is collinear with the axis of the stop hole 2123 on the second rotational ring 212.
Further, the top end of the lifting rod 111 is rotatably connected with the swinging assembly 12 through the connecting sleeve 5. The connecting sleeve 5 is sleeved on the top end of the lifting rod 111 and is fastened on the lifting rod 111 through a fixing knob, the first joint arm 121 is hinged with the connecting sleeve 5, and a hinge point is located on the axis of the lifting rod 111.
Further, the top end of the lifting rod 111 is further connected with an elbow supporting component, specifically, the connecting sleeve 5 extends to be connected with the connecting end of the elbow supporting component, and the elbow supporting component is hinged with the connecting end of the connecting sleeve 5. The elbow support assembly comprises a second adjusting assembly 6 and an elbow support piece 7, the second adjusting assembly 6 comprises a second lifting unit 61 and a second swinging unit 62, the second lifting unit 61 is of a parallelogram structure and comprises two parallel connecting rods with the same extension length, one ends of the two connecting rods are hinged with the connecting sleeve 5, and the other ends of the two connecting rods are hinged with the second swinging unit 62. Specifically, lifting shaft seats are respectively arranged at two ends of the second lifting unit 61, the lifting shaft seat at the lower end of the second lifting unit 61 is hinged with the connecting end of the connecting sleeve 5, and the lifting shaft seat at the higher end of the second lifting unit 61 is hinged with the second swinging unit 62. One end of each connecting rod is hinged with the connecting sleeve 5 and the lifting shaft seat at the lower end respectively, and the other end of each connecting rod is hinged with the lifting shaft seat at the higher end, so that a parallelogram structure is realized. The lifting device further comprises an adjusting knob 611, wherein the adjusting knob 611 is used for adjusting the vertical distance between the two connecting rods, further adjusting the inclination degree of the two connecting rods, and finally realizing lifting adjustment of the second lifting unit 61. Specifically, the adjusting knob 611 is provided on a link located below thereof, the top end of which abuts against the other link, and the elevation adjustment of the second elevation unit 61 is achieved by adjusting the penetration length of the adjusting knob 611.
Preferably, the lower end of the lift shaft seat is collinear with the axis of the link end to which it is hinged, and the second swing unit 62 rotates along the axis of the upper end of the lift shaft seat. Preferably, the second swinging unit 62 includes at least one joint arm, and the other end of the second swinging unit 62 rotatably supports the elbow supporting member 7, and preferably, the elbow supporting member 7 is a elbow supporting plate, and the shape of the upper surface thereof is adapted to the elbow of the human body. The second elevating unit 61 and the second swing unit 62 may have other structures as long as elevating and swinging of the elbow rest 7 can be achieved.
Based on the structure, the operating principle of the surgical robot auxiliary device is as follows: when the surgical robot is used for working, the surgical robot 4 can be mounted on the supporting seat 3, and the operation end 41 of the surgical robot 4 passes through the limit hole 2123, so that the surgical robot 4 can be mounted on the auxiliary device. The auxiliary device is fixed at a place close to the operation position through the clamping action of the clamping seat 8, and the position of the surgical robot 4 is adjusted through the lifting adjustment of the lifting assembly 11 and the angle adjustment of the swinging assembly 12 in the positioning assembly 1; in a specific operation, the elbow of the doctor can be arranged on the elbow supporting piece 7, the doctor can operate the operation end 41 of the operation robot 4, the operation end 41 of the operation robot 4 can flexibly move under the action of the doctor due to the adjusting action of the first adjusting component 2, the required operation is completed, and the elbow supporting piece 7 can realize the supporting action on the elbow of the doctor at different positions due to the adjusting action of the second adjusting component 6, so that the fatigue feeling of the doctor is reduced.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (6)
1. A surgical robot assist apparatus, comprising: a positioning assembly (1); the first adjusting assembly (2), the first adjusting assembly (2) comprises a first swinging unit (21) and a first lifting unit (22), the first swinging unit (21) is rotationally connected with the free end of the positioning assembly (1), and the first swinging unit (21) drives the first lifting unit (22) to swing; the supporting seat (3), the supporting seat (3) is connected with the first lifting unit (22), the first lifting unit (22) drives the supporting seat (3) to move, and the surgical robot (4) is supported on the supporting seat (3); the first swinging unit (21) comprises a first rotating ring (211) and a second rotating ring (212), one end of the first rotating ring (211) is rotatably connected with the positioning assembly (1) through a buckle (12212) and a clamping groove (21121), the other end of the first rotating ring (211) is hinged with one end of the second rotating ring (212) along at least two hinge points, and the other end of the second rotating ring (212) is connected with the first lifting unit (22); the first lifting unit (22) comprises a fixed force coil spring (221), a mounting frame (222), a sliding table (223) and a sliding rail (224), wherein the fixed force coil spring (221) is mounted on the mounting frame (222), the free end of the fixed force coil spring (221) is connected with the sliding table (223), the fixed force coil spring (221) drives the sliding table (223) to slide along the sliding rail (224), and the sliding table (223) is connected with the supporting seat (3); the positioning assembly (1) comprises a lifting assembly (11) and a swinging assembly (12), the swinging assembly (12) comprises at least two hinged joint arms, damping pieces (123) are arranged at the hinge points of two adjacent joint arms, one end of the swinging assembly (12) is rotationally connected with the lifting assembly (11), and the other end of the swinging assembly (12) is connected with the first swinging unit (21); the lifting assembly (11) comprises a guide sleeve (112) and a lifting rod (111) moving along the guide sleeve (112), a driving piece (113) is rotatably arranged on the guide sleeve (112), the lifting rod (111) comprises a rack (1112), and the driving piece (113) drives the lifting rod (111) to move along the guide sleeve (112) through meshing with the rack (1112).
2. The surgical robot aid of claim 1, wherein the second swivel ring (212) extends towards the first swivel ring (211) with a limiting structure (2122), the limiting structure (2122) has a limiting hole (2123) formed therein, and an axis of the limiting hole (2123) is collinear with an axis of a mounting hole on the support base (3).
3. The surgical robotic assistance device according to claim 2, characterized in that at least two hinge points are collinear, the axis of the limiting hole (2123) intersects the line where the at least two hinge points are located, and the axis of the limiting hole (2123) intersects the axis of the first swivel ring (211) perpendicularly.
4. A surgical robot aid according to claim 1, wherein the driving member (113) comprises a driving shaft (1131) rotatably arranged on the guide sleeve (112), the inner end of the driving shaft (1131) extends into the guide sleeve (112), at least two pins (1132) are distributed on the inner end face of the driving shaft (1131), and the driving shaft (1131) drives at least two pins
(1132) Sequentially cyclically engaged with the rack (1112).
5. The surgical robot aid according to claim 4, wherein the other end of the driving shaft (1131) extends out of the guide sleeve (112), an anti-rotation disc (114) is arranged on the driving shaft (1131) close to the guide sleeve (112), the outer surface of the guide sleeve (112) matched with the anti-rotation disc (114) is a damping surface (1121), and the anti-rotation disc (114) is in damping contact with the damping surface (1121) through a spring-shaped collision bead (115) and a slotted hole (1122).
6. Surgical robot aid according to claim 1, characterized in that it further comprises an elbow rest assembly comprising an elbow rest (7) and a second adjustment assembly (6), the elbow rest (7) being rotatably supported on the positioning assembly (1) by means of the second adjustment assembly (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416790.4A CN110037800B (en) | 2019-05-20 | 2019-05-20 | Surgical robot auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416790.4A CN110037800B (en) | 2019-05-20 | 2019-05-20 | Surgical robot auxiliary device |
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| Publication Number | Publication Date |
|---|---|
| CN110037800A CN110037800A (en) | 2019-07-23 |
| CN110037800B true CN110037800B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910416790.4A Active CN110037800B (en) | 2019-05-20 | 2019-05-20 | Surgical robot auxiliary device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021258355A1 (en) * | 2020-06-24 | 2021-12-30 | 深圳市越疆科技有限公司 | Endoscope supporting arm, endoscope supporting device and operating table |
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| CN107184275A (en) * | 2017-07-25 | 2017-09-22 | 吉林大学 | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery |
| CN107320190A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The surgeon console of operating robot |
| CN210144741U (en) * | 2019-05-20 | 2020-03-17 | 锐志微创医疗科技（常州）有限公司 | Surgical robot auxiliary device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102015100694A1 (en) * | 2015-01-19 | 2016-07-21 | Technische Universität Darmstadt | Teleoperation system with intrinsic haptic feedback through dynamic characteristic adaptation for gripping force and end effector coordinates |
| US11364067B2 (en) * | 2017-10-06 | 2022-06-21 | Cilag Gmbh International | Electrical isolation of electrosurgical instruments |
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| CN107184275A (en) * | 2017-07-25 | 2017-09-22 | 吉林大学 | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery |
| CN107320190A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The surgeon console of operating robot |
| CN210144741U (en) * | 2019-05-20 | 2020-03-17 | 锐志微创医疗科技（常州）有限公司 | Surgical robot auxiliary device |
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