CN110151333A - A kind of urological surgery auxiliary mechanical arm - Google Patents
A kind of urological surgery auxiliary mechanical arm Download PDFInfo
- Publication number
- CN110151333A CN110151333A CN201910574887.8A CN201910574887A CN110151333A CN 110151333 A CN110151333 A CN 110151333A CN 201910574887 A CN201910574887 A CN 201910574887A CN 110151333 A CN110151333 A CN 110151333A
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- CN
- China
- Prior art keywords
- guide rail
- ball
- joint
- boss
- mechanical arm
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- 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.)
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/60—Supports for surgeons, e.g. chairs or hand supports
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The present invention provides a kind of urological surgery auxiliary mechanical arm, belong to urological surgery clothing arts, the present invention includes mounting rack, variable flexible guide rail and swivel head, the advantage with multi-angle flexible operating, using multi-joint guide rail, together by spherical washer flexible connection, it is formed using spring with the multiple degrees of freedom revolute pair centainly damped, the guide rail that multi-joint guide rail can be made to connect into freely adjusting in certain space, a variety of surgical procedure positions when suitable for urological surgery；Track portion lifts both arms simultaneously, and the end of the tired intensity of less long-term surgery, guide rail can be with a variety of surgical instruments of carry, convenient for the use of doctor using magnet ball.Advantage of the invention is auxiliary surgical operation, reduces both arms shake when surgical operation.
Description
Technical field
The present invention provides a kind of urological surgery auxiliary mechanical arm, belongs to Design for Medical Device field, especially uropoiesis
Surgical medical equipment is related to field.
Background technique
In urological surgery, doctor needs end arm of raising one's hand to be operated for a long time, certainly will will cause arm fiber crops
Wood trembles, and long-time operation will also result in the precision decline of surgical procedure, cause the adverse effect of some operations.And
And in urological surgery, because of the particularity of operative site, the human body parts for needing to be operated relatively are difficult to look for
Standard, so the professional surgical skills on the one hand needing corresponding medical staff superb, on the other hand need to design relevant auxiliary surgical
Instrument is helped, in the case where influence doctor operation small as far as possible, auxiliary doctor completes the operation of operation.
Summary of the invention
For above-mentioned status, the present invention provides a kind of urological surgery auxiliary mechanical arm, and doctor can be assisted to carry out hand
Art operation, reduces the labor intensity of doctor.
The contents of the present invention are as follows:
A kind of urological surgery auxiliary mechanical arm, using modularized design, including mounting plate, flexible legs, variable guide rail, work
Make slide unit, it is characterised in that: mounting plate installation is in surgical console, and installation board ends are provided with installation buckle, in mounting plate
The installation card at both ends is buckled and is installed with flexible legs respectively, flexible legs can free folding and have certain rigid support, two
Variable guide rail is fixed between a flexible legs, variable guide rail is made of more piece guide rail joint, and each guide rail joint directly can phase
To rotation, two working sliders that can adaptively move on guide rail are slidably fitted on variable guide rail, it is each of described
Working slider includes at least a rotating mechanism that can be rotated automatically and free-moving translation mechanism, and working slider can be placed
The surgical instrument that operation needs.
Further, to realize the requirement supported to bracket, the installation board ends are provided with the installation of flexible legs
Buckle, it is characterised in that: the installation buckle of the mounting plate is expandable lantern frames shape；The connector rod of flexible legs is
Rigid support, flexible link be can with free folding and with certain rigid support metal material, including but do not limit copper pipe,
Aluminum pipe, clamping bulb are plastic material, including but not limited to PVC.
Further, be realize guide rail flexible variable needs, the variable guide rail be more piece guide rail joint connect and
At including guide rail ball and socket joint and guide rail joint and sliding panel, it is characterised in that: the both ends in each guide rail joint are provided with axis hole
Seat, two upper and lower end faces of boss are dome shape, and the height of the boss at each guide rail joint both ends is no more than half
The height in guide rail joint；The boss in every two guide rail joint clamps between this two boss involutory surfaces to being combined
There is a spherical pad, also each pressing has a spherical surface tabletting, spherical pad and ball on face in this two bosses
Face pressure piece is both provided with through-hole, and a stud is installed on the axis hole in spherical pad and two spherical surface tablettings and two guide rail joints
In the through-hole of seat, the both ends of stud have all screwed clamp nut, wherein between one section of tightening nut and spherical surface tabletting
It is additionally provided with a spring, so that the spherical surface tabletting at stud both ends is pressed on the spherical end of the boss in guide rail joint；
Two guide rail ball and socket joints are separately mounted to the both ends of entire guide rail, and guide rail ball and socket joint is upper to be additionally provided with installation column；
Snap-gauge is installed on the inside of the sliding panel, spin is also installed on snap-gauge, sliding panel is slidably mounted on by spin
In the sliding channel of variable guide rail, mounting hole is additionally provided with above sliding panel.
It further, is the needs for realizing working slider design, the working slider includes one free to rotate
Rotating turret and free-moving moving guide rail, include fixing axle, be provided with rotation wing plate in fixing axle, fixing axle it is a certain
It is set with a rotating ring on shaft part, a rails carriage is fixedly installed on the outer ring of rotating ring, rails carriage passes through big nut pressure
It closes on rotating ring, connecting rod there are two installing also is slided on rails carriage, a ball, ball patch are installed on the ball cup of connecting rod
It closes on the rotation wing plate of fixing axle, the threaded end of connecting rod is installed with a primary nut, between primary nut and rails carriage
Also compressing on connecting rod has a compressed spring, and short slot is provided among connecting rod, and stabilizing ring is sleeved on the outer ring surface of fixing axle, and
Two bracket clamp is in the short slot of connecting rod；Straight guide is slidably fitted on rails carriage.
It further, is the needs for realizing auxiliary surgical procedure, the upper surface of the straight guide of working slider is provided with arm
Bracket, the end of straight guide are provided with magnetic bulb and magnetic ball bowl；Magnetic ball bowl magnetic is on irony operating equipment.
The present invention, can be clever in the range of design after adopting the above technical scheme, guide rail has how free flexibility
The state for manually adjusting guide rail living, to adapt to the complexity of surgical procedure；And the rotation of working slider has damping characteristic,
Stability preferably can be provided for surgical procedure, eliminate unnecessary shake.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the partial structural diagram of holder part of the invention.
Fig. 3 is the configuration schematic diagram of variable guide rail 3 of the invention.
Fig. 4 is the partial sectional view of variable guide rail 3 of the invention.
Fig. 5 is the partial sectional view of working slider 4 of the invention.
Fig. 6 is the partial structural diagram of working slider 4 of the invention.
Drawing reference numeral: 1- mounting plate；2- flexible legs；3- can be changed guide rail；4- working slider；101- installation buckle；201-
Flexible link (201)；202- clamps bulb；203- connector rod；301- guide rail ball and socket joint；302- guide rail joint；303- sliding panel；
304- snap-gauge；305- spin；306- spherical pad；307- double threaded screw；308- spherical surface tabletting；309- spring；310- compresses spiral shell
It is female；401- fixing axle；402- rails carriage；403- rotating ring；404- big nut；405- connecting rod；406- ball；The small spiral shell of 407-
It is female；408- compressed spring；409- stabilizing ring；410- straight guide；411- magnetism bulb；412- magnetic ball bowl；5- surgical instrument.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
This mechanical arm: when in use, being installed in surgical console by embodiment in advance, and the both arms of doctor, which prop up, is directly leading
In bracket above rail 410, then doctor as needed moves freely or reverses arm, can be changed guide rail 2 under by external force
The adaptive adjustment form of meeting completes the support to working slider 4 under the supporting role of flexible legs 2；Rails carriage simultaneously
402 can be freely rotated because on connecting rod 405 ball 406 and fixing axle 401 wing plate friction, rotation is with certain
Damping sense, so will not it is special standby flexibly, it is possible to reduce shake when arm long-time operation；Straight guide 410 slides back and forth
It is adapted to moving ahead and retreating for doctor's arm.It should be strongly noted that the technical solution of the application is intended only as auxiliary surgical
The equipment helped, doctor can complete the mechanical arm for being detached from the application and the highly difficult surgical procedure of complete independently when necessary, but more
Number can be dependent on mechanical arm and be operated, and then reduce labor intensity.
It is directed to the adaptive adjustment of the 2 of variable guide rail, as shown in attached drawing 3, Fig. 4, when two connected guide rail joints 302
When stress is different, in the effect of spherical pad 306 opposite deflection can occur for the two, because of the stress side of stud 307
To can only be along bar direction, so two spherical surface tablettings 308 can be forced to follow deflection and while ensure stress along bar direction and led to
The centre of sphere line for crossing two spherical surface tablettings 308 tightly presses two guide rail joints 302, i.e., two under the action of spring 309
The relative displacement in guide rail joint 302 is also to have certain damping characteristic, and have adaptivity, i.e., in a certain range space
The adaptation adjustment of variable guide rail 2 is completed in deflection in circle.In order to adapt to this adjustment, so column 2 needs flexible assist
Complete supporting role.
Claims (5)
1. a kind of urological surgery auxiliary mechanical arm, using modularized design, including mounting plate (1), flexible legs (2), can
Become guide rail (3), working slider (4), it is characterised in that: in surgical console, mounting plate (1) both ends are set for mounting plate (1) installation
It is equipped with installation buckle, the installation card at mounting plate (1) both ends is buckled to be installed with flexible legs (2) respectively, and flexible legs (2) can be certainly
By bending and having certain rigid support, variable guide rail (3) are fixed between two flexible legs (2), variable guide rail (3) have
More piece guide rail joint composition, each guide rail joint can directly relatively rotate, and being slidably fitted on variable guide rail (3) can lead
Two working sliders (4) 4 adaptively moved on rail, each working slider (4) include at least one and can rotate automatically
Rotating mechanism and free-moving translation mechanism, working slider (4) can place operation need surgical instrument (55).
2. a kind of urological surgery auxiliary mechanical arm as described in claim 1, it is characterised in that: the mounting plate (1)
Both ends are provided with the installation buckle of flexible legs (2), and the installation buckle (101) of the mounting plate (1) is expandable lantern
Skeletal like；The connector rod (203) of flexible legs (2) be rigid support, flexible link (201) be can with free folding and have one
Determine the metal material of rigid support, including but do not limit copper pipe, aluminum pipe, clamping bulb (202) is plastic material, including but not
It is defined in PVC.
3. a kind of urological surgery auxiliary mechanical arm as described in claim 1, it is characterised in that: the variable guide rail
(3) it is formed by connecting for more piece guide rail joint, includes guide rail ball and socket joint (301) and guide rail joint (302) and sliding panel (303),
The both ends of each guide rail joint (302) are provided with boss, and two upper and lower end faces of boss are dome shape, and each guide rail closes
The height of the boss at section (302) both ends is no more than the height in the guide rail joint (302) of half；Every two guide rail joint (302)
Boss to being combined, a spherical pad (306) is installed between this two boss involutory surfaces, in this two axis
Also each pressing on face for hole seat has a spherical surface tabletting (308), and spherical pad (306) and spherical surface tabletting (308) are all set
It is equipped with through-hole, a stud (307) is installed on spherical pad (306) and two spherical surface tablettings (308) and two guide rail joints
(302) in the through-hole of boss, the both ends of stud (307) have all screwed clamp nut (310), in wherein one section of rotation
A spring (309) are additionally provided between tight nut (310) and spherical surface tabletting (308), so that the spherical surface at stud (307) both ends
On the spherical end for the boss that tabletting (308) is pressed on guide rail joint；Two guide rail ball and socket joints (301) are separately mounted to entirely
The both ends of guide rail, guide rail ball and socket joint are additionally provided with installation column on upper (301)；
It is equipped with snap-gauge (304) on the inside of the sliding panel (303), spin (305), sliding panel is also installed on snap-gauge 304
(303) it is slidably mounted in the sliding channel of variable guide rail (3) by spin (305), sliding panel (303) is additionally provided with peace above
Fill hole.
4. a kind of urological surgery auxiliary mechanical arm as described in claim 1, it is characterised in that: the working slider
(4) include a rotating turret free to rotate and free-moving moving guide rail, include fixing axle (401), fixing axle
(401) it is provided with rotation wing plate on, is set on a certain shaft part of fixing axle (401) rotating ring (403), rotating ring (403)
Outer ring on be fixedly installed with a rails carriage (402), rails carriage (402) is pressed together on rotating ring by big nut (404)
(403) it is also slided on, on rails carriage (402) there are two installing connecting rod (405), is equipped with one on the ball cup of connecting rod (405)
Ball (406), ball (406) are fitted on the rotation wing plate of fixing axle (401), and the threaded end of connecting rod (405) is installed with one
Primary nut (407), also compressing on the connecting rod (405) between primary nut (407) and rails carriage (402) has a compressed spring
(408), is provided with short slot among connecting rod (405), stabilizing ring (409) is sleeved on the outer ring surface of fixing axle (401), and its two
A bracket clamp is in the short slot of connecting rod (405)；Straight guide (410) are slidably fitted on rails carriage (402).
5. a kind of urological surgery auxiliary mechanical arm as claimed in claim 4, it is characterised in that: working slider (4) it is straight
The upper surface of guide rail (410) is provided with arm bracket, and the end of straight guide (410) is provided with magnetic bulb (411) and magnetic ball
Bowl (412)；Magnetic ball bowl (412) magnetic is on irony operating equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574887.8A CN110151333B (en) | 2019-06-28 | 2019-06-28 | Urological surgery auxiliary mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574887.8A CN110151333B (en) | 2019-06-28 | 2019-06-28 | Urological surgery auxiliary mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110151333A true CN110151333A (en) | 2019-08-23 |
| CN110151333B CN110151333B (en) | 2020-05-19 |
Family
ID=67637000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910574887.8A Expired - Fee Related CN110151333B (en) | 2019-06-28 | 2019-06-28 | Urological surgery auxiliary mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110151333B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420062A (en) * | 2019-09-18 | 2019-11-08 | 孔德友 | A kind of auxiliary operation arm used for medical procedures |
Citations (8)
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|---|---|---|---|---|
| US20030010875A1 (en) * | 2001-07-13 | 2003-01-16 | De Miranda Teresa Elias Chacur | Arm support equipment easily adaptable to any dentist chair and/or operating table |
| CN103054649A (en) * | 2013-01-18 | 2013-04-24 | 王彬 | Auxiliary operation brace |
| US20170172698A1 (en) * | 2015-12-16 | 2017-06-22 | Novartis Ag | Devices and systems for stabilization of surgeon's arm during surgery |
| CN107242910A (en) * | 2017-07-06 | 2017-10-13 | 山东省眼科研究所 | A kind of new ophtalmic treatments bracket |
| JP2017221414A (en) * | 2016-06-15 | 2017-12-21 | 株式会社デンソー | Support tracking device |
| CN107582183A (en) * | 2017-09-05 | 2018-01-16 | 东莞市联洲知识产权运营管理有限公司 | A kind of arm support for neurosurgery moved with arm |
| CN207721904U (en) * | 2017-06-15 | 2018-08-14 | 马东周 | A kind of arm support for neurosurgery |
| CN108714058A (en) * | 2018-03-29 | 2018-10-30 | 东莞市联洲知识产权运营管理有限公司 | A kind of medical robot convenient for storage operates support platform |
-
2019
- 2019-06-28 CN CN201910574887.8A patent/CN110151333B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030010875A1 (en) * | 2001-07-13 | 2003-01-16 | De Miranda Teresa Elias Chacur | Arm support equipment easily adaptable to any dentist chair and/or operating table |
| CN103054649A (en) * | 2013-01-18 | 2013-04-24 | 王彬 | Auxiliary operation brace |
| US20170172698A1 (en) * | 2015-12-16 | 2017-06-22 | Novartis Ag | Devices and systems for stabilization of surgeon's arm during surgery |
| JP2017221414A (en) * | 2016-06-15 | 2017-12-21 | 株式会社デンソー | Support tracking device |
| CN207721904U (en) * | 2017-06-15 | 2018-08-14 | 马东周 | A kind of arm support for neurosurgery |
| CN107242910A (en) * | 2017-07-06 | 2017-10-13 | 山东省眼科研究所 | A kind of new ophtalmic treatments bracket |
| CN107582183A (en) * | 2017-09-05 | 2018-01-16 | 东莞市联洲知识产权运营管理有限公司 | A kind of arm support for neurosurgery moved with arm |
| CN108714058A (en) * | 2018-03-29 | 2018-10-30 | 东莞市联洲知识产权运营管理有限公司 | A kind of medical robot convenient for storage operates support platform |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420062A (en) * | 2019-09-18 | 2019-11-08 | 孔德友 | A kind of auxiliary operation arm used for medical procedures |
| CN110420062B (en) * | 2019-09-18 | 2021-02-26 | 孔德友 | Auxiliary operation arm for medical operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110151333B (en) | 2020-05-19 |
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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 | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Meng Xiangjun Inventor after: Meng Linghui Inventor after: Ke Xiaoqiang Inventor after: Zeng Qingfu Inventor before: Ke Xiaoqiang Inventor before: Zeng Qingfu |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200420 Address after: 523059 No.3 South Wanlu Road, Wanjiang District, Dongguan City, Guangdong Province Applicant after: DONGGUAN PEOPLE'S Hospital Address before: 350108 Union Hospital Affiliated to Fujian Medical University, 29 Xinquan Road, Gulou District, Fuzhou City, Fujian Province Applicant before: Ke Xiaoqiang |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 Termination date: 20210628 |