CN110559080A - Laparoscopic robot and system with same - Google Patents
Laparoscopic robot and system with same Download PDFInfo
- Publication number
- CN110559080A CN110559080A CN201910718969.5A CN201910718969A CN110559080A CN 110559080 A CN110559080 A CN 110559080A CN 201910718969 A CN201910718969 A CN 201910718969A CN 110559080 A CN110559080 A CN 110559080A
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- abdominal
- intra
- extraabdominal
- state
- 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
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
the invention belongs to the technical field of laparoscopic surgery, and particularly relates to a laparoscopic robot and a system with the same, wherein the laparoscopic robot comprises an intra-abdominal anchoring component and an extra-abdominal anchoring component, the extra-abdominal anchoring component is in magnetic fit with the intra-abdominal anchoring component, the extra-abdominal anchoring component is arranged to drive the intra-abdominal anchoring component to do linear motion in a first state, drive the intra-abdominal anchoring component to do rotary motion in a second state, and drive the intra-abdominal anchoring component to do deflection motion along the direction pointing from the outside of the abdomen to the inside of the abdomen in a third state, when in use, the intra-abdominal anchoring component is put into the abdomen, the extra-abdominal anchoring component drives the intra-abdominal anchoring component to do linear, rotary and deflection motions through magnetic force to acquire images at different angles in the abdomen, the extra-abdominal anchoring component is used as a driving source and is arranged outside the abdomen, compared with the prior art, the structure size in the abdominal cavity is reduced, and the flexibility is improved.
Description
Technical Field
The invention belongs to the technical field of laparoscopic surgery, and particularly relates to a laparoscopic robot and a system with the same.
Background
this section provides background information related to the present disclosure only and is not necessarily prior art.
in order to expose organs at an operation part, the traditional abdominal cavity open type operation usually needs to cut skin and flesh of the corresponding part, the size of the incision is about 10cm, so that the operation is convenient, and therefore, the traditional abdominal cavity open type operation has a plurality of significant defects, such as large operation incision, more bleeding of a patient in the operation process, long recovery time and severe pain of the patient after the operation, difficult removal of postoperative scars and the like. In order to overcome many defects of the conventional open surgery, the surgical operation gradually develops from the open surgery to the minimally invasive surgery, and there gradually exist MIS (minimally invasive surgery), LESS (laparo endoscopic single site, single port laparoscopic surgery) and NOTES (natural orifice endoscopic surgery through a natural orifice without incision), but the above surgical methods all have defects, for MIS, a plurality of 1-2cm incisions need to be made on the abdominal wall of a human body to place laparoscopic instruments, cameras and the like, and the problems of more bleeding, slow postoperative recovery and the like are also easily caused, and NOTES reduces the occurrence probability of various complications generated by the surgery, such as wound infection, pain, scars and the like, to the minimum, but since a plurality of instruments are difficult to be placed into the abdominal cavity through the natural orifice, the implementation difficulty is large, and the theory is only put forward at present.
A common surgical approach is MIS, wherein the abdominal cavity robot structure in the prior art has the following disadvantages: 1. use the line to sew up abdominal cavity robot and fix on skin, the gesture through changing the robot at abdominal cavity internal motor and gear, adopt sutural mode can additionally increase patient's wound, at abdominal cavity internal motor and gear, make holistic size big, the flexibility ratio is low, the motor is placed and can't be guaranteed patient's safety in the abdominal cavity, 2, open an incision on the stomach wall, put into the abdominal cavity with the robot, fix on the skin of abdominal cavity inboard with the needle, patient's wound can additionally be increased equally, and the robot is bulky, the flexibility ratio is low.
Disclosure of Invention
The invention aims to at least solve the problems that the fixing mode of the abdominal cavity robot can increase extra wounds and has low use flexibility. The purpose is realized by the following technical scheme:
The invention provides a laparoscopic robot, which comprises an intra-abdominal anchoring assembly and an extra-abdominal anchoring assembly, wherein the extra-abdominal anchoring assembly is in magnetic fit with the intra-abdominal anchoring assembly, the extra-abdominal anchoring assembly is arranged to drive the intra-abdominal anchoring assembly to do linear motion in a first state, drive the intra-abdominal anchoring assembly to do rotary motion in a second state, and drive the intra-abdominal anchoring assembly to do deflection motion in a direction pointing outside the abdomen into the abdomen in a third state.
when the laparoscopic robot according to the embodiment of the present invention is used, an incision is first made in the abdominal wall, the intra-abdominal anchor assembly is placed in the abdominal cavity, meanwhile, the external abdominal anchoring component is placed outside the abdominal wall, the internal abdominal anchoring component is prevented from falling into the abdominal cavity by the abdominal anchoring component through magnetic force, and by moving the external abdominal anchoring component, the position of the intra-abdominal anchor assembly within the abdominal cavity may be varied, specifically, linear, rotational and yaw motions may be achieved, so as to gather the image of the different angles in the abdominal cavity, for the operation provides the basis smoothly, the anchor subassembly outside the abdomen sets up outside the abdomen as the driving source, compares in prior art, no longer is provided with the driving source on the anchor subassembly in the abdomen, has reduced the structure size of anchor subassembly in the abdomen, and the volume is littleer and safer, can not hurt the patient, more approaches clinical practical application, improves the flexibility ratio, and has reduced the probability of taking place the interference with other devices.
in addition, the laparoscopic robot according to an embodiment of the present invention may further have the following additional technical features:
in some embodiments of the invention, the intra-abdominal anchor assembly comprises:
the first shell is internally provided with a first mounting groove;
The first permanent magnets are provided with gaps, and are respectively arranged in the first mounting grooves;
the actuator is connected with the first shell through a flexible piece;
wherein, in the first state, the first shell, the first permanent magnet and the actuator do linear motion;
in the second state, the intra-abdominal anchor assembly performs rotational motion centered on the first permanent magnet adjacent to the actuator;
In the third state, the actuator is deflected in a direction pointing extraabdominally into the intrados.
in some embodiments of the invention, the actuator comprises:
The second shell is internally provided with a second mounting groove and is connected with the first shell through the flexible piece;
the second permanent magnet is arranged in the second mounting groove, and in the third state, the second shell and the second permanent magnet do deflection motion along the direction from the outside of the abdomen to the inside of the abdomen;
The camera set up in the second casing to set up to gather the image of different angles in the abdominal cavity.
In some embodiments of the invention, the actuator further comprises:
An illuminator disposed within the second housing.
in some embodiments of the invention, the extraabdominal anchoring assembly comprises:
The third permanent magnets are provided with gaps and correspond to the first permanent magnets one by one;
a gap is arranged between the fourth permanent magnet and the adjacent third permanent magnet, and the fourth permanent magnet corresponds to the second permanent magnet;
The third permanent magnet and the fourth permanent magnet do linear motion in the first state so as to drive the first permanent magnet and the second permanent magnet to do linear motion;
the extraabdominal anchoring assembly rotates around the third permanent magnet adjacent to the fourth permanent magnet in the second state to drive the intra-abdominal anchoring assembly to rotate;
And the fourth permanent magnet rotates in the third state to drive the actuator to make deflection motion along the direction from the outside of the abdomen to the inside of the abdomen.
in some embodiments of the invention, the extraabdominal anchor assembly further comprises:
The third casing, be provided with third mounting groove and fourth mounting groove in the third casing, the third permanent magnet set up in the third mounting groove, the fourth permanent magnet set up in the fourth mounting groove.
in some embodiments of the invention, the extraabdominal anchor assembly further comprises:
A drive member;
the driving part, the driving part with the driving part all sets up on the third casing, just the driving part with the fourth permanent magnet connects gradually, the driving part passes through the driving part drive the rotation of fourth permanent magnet.
in some embodiments of the invention, the transmission comprises:
The driving piece is connected with the driving end of the driving piece;
the driven piece and the fourth permanent magnet are coaxially arranged and are matched with the driving piece.
In some embodiments of the present invention, the second permanent magnet and the fourth permanent magnet are cylindrical permanent magnets, and both are magnetized in the radial direction.
the invention provides an abdominal cavity robot system, which comprises the laparoscopic robot in the technical scheme, and further comprises:
The mechanical arm is arranged outside the abdomen and is connected with the extraabdominal anchoring assembly, the mechanical arm drives the extraabdominal anchoring assembly to move, and the extraabdominal anchoring assembly drives the intra-abdominal anchoring assembly to move;
the mechanical arm, the extraabdominal anchoring assembly and the intra-abdominal anchoring assembly are respectively connected with the control device to change the pose of the intra-abdominal anchoring assembly.
the abdominal cavity robot system of the embodiment of the invention has the same advantages as the abdominal cavity robot in the embodiment, and the description is omitted, in addition, the control signal is input into the mechanical arm and the abdominal cavity anchoring component through the control device, the intra-abdominal anchoring component can accurately output, the motion accuracy of the abdominal cavity robot is improved, and a foundation is provided for smooth operation.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
Fig. 1 is a schematic structural diagram of an abdominal cavity robot system in an operation state according to an embodiment of the invention;
FIG. 2 is a schematic structural view of an intra-abdominal anchor assembly of the laparoscopic robot shown in FIG. 1;
FIG. 3 is an exploded view of the intra-abdominal anchor assembly shown in FIG. 2;
FIG. 4 is an elevational view of the intra-abdominal anchor assembly of FIG. 2 shown with a minimum degree of deflection;
FIG. 5 is a cross-sectional schematic view of the intra-abdominal anchor assembly shown in FIG. 2;
FIG. 6 is an elevational view of the intra-abdominal anchor assembly of FIG. 2 shown at a maximum degree of deflection;
FIG. 7 is a schematic view of the extraabdominal anchor assembly of FIG. 1 coupled to a robotic arm;
FIG. 8 is an exploded view of the extraabdominal anchor assembly and robotic arm of FIG. 7;
FIG. 9 is a cross-sectional view of the extraabdominal anchor assembly and robotic arm of FIG. 7;
Fig. 10 is a cross-sectional view of the extraabdominal anchor assembly and robotic arm of fig. 7 in another orientation.
the reference symbols in the drawings denote the following:
1. An intra-abdominal anchor assembly; 11. a first housing; 12. a first permanent magnet; 13. a flexible member; 14. a second housing; 15. a second permanent magnet;
111. a first mounting groove; 141. a second mounting groove;
2. an extraabdominal anchoring assembly; 21. a third housing; 22. a third permanent magnet; 23. a fourth permanent magnet; 24. a drive member; 25. a transmission member; 26. a rotating shaft; 27. a bearing;
211. A third mounting groove; 212. a fourth mounting groove; 241. a drive motor; 242. a speed reducer; 251. a driving member; 252. a driven member;
3. The abdominal wall;
4. A robotic arm.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
it is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
as shown in fig. 1 to 10, an embodiment of a first aspect of the present invention provides a laparoscopic robot comprising an intra-abdominal anchor assembly 1 and an extra-abdominal anchor assembly 2, the extra-abdominal anchor assembly 2 being magnetically coupled to the intra-abdominal anchor assembly 1, wherein the extra-abdominal anchor assembly 2 is configured to drive the intra-abdominal anchor assembly 1 to move linearly in a first state, to drive the intra-abdominal anchor assembly 1 to move rotationally in a second state, and to drive the intra-abdominal anchor assembly 1 to move deflectively in a direction from the outside of the abdomen to the inside of the abdomen in a third state.
according to the laparoscopic robot of the embodiment of the present invention, when in use, an incision is made on the abdominal wall 3, the intra-abdominal anchor assembly 1 is placed in the abdominal cavity, the extra-abdominal anchor assembly 2 is placed outside the abdomen, the intra-abdominal anchor assembly prevents the intra-abdominal anchor assembly 1 from falling into the abdominal cavity by magnetic force, i.e. the intra-abdominal anchor assembly 1 is attracted to each other, compared with the prior art that suture fixation or needle fixation is not added, extra wound is not added, which is beneficial to the recovery of a patient, by moving the extra-abdominal anchor assembly 2, the position of the intra-abdominal anchor assembly 1 in the abdominal cavity can be changed, specifically, linear, rotational and deflection motion can be realized, so as to acquire images of different angles in the abdominal cavity, and provide a foundation for smooth operation, the extra-abdominal anchor assembly 2 is used as a driving source and is arranged outside the abdomen, compared with the prior art, the extra-abdominal anchor assembly 2 is not rigidly connected with the intra-, but through magnetic force looks attraction, have better feasibility, no longer receive connection structure's restriction, no longer be provided with driving source such as driving motor 241 or gear on the intra-abdominal anchor subassembly 1, reduced intra-abdominal anchor subassembly 1's structural dimension, the volume is littleer and safer, can not harm the patient, more approaches clinical practical application, improves the flexibility ratio, and has reduced the probability of taking place the interference with other devices.
in some embodiments of the present invention, the intra-abdominal anchor assembly 1 comprises a first housing 11, a first permanent magnet 12, and an actuator, the first housing 11 serving as a mounting carrier for the first permanent magnet 12, in particular, a first mounting groove 111 is arranged in the first shell 11, the first permanent magnet 12 is arranged in the first mounting groove 111, the relative position of the first permanent magnet 12 in the first shell 11 is kept unchanged, abnormal movement between the intra-abdominal anchoring component 1 and the extra-abdominal anchoring component 2 caused by the change of the position of the permanent magnet is avoided, the actuator is connected with the first shell 11 through a flexible piece 13, driven by the extraabdominal anchoring assembly 2, the actuator is deflected in an extraabdominal direction into the intra-abdominal direction, centered on the connection with the first housing 11, through the connection mode of the flexible parts 13, the resistance of the actuator in the deflection process is reduced, and the overall flexibility is improved.
The first housing 11 includes an upper cover and a lower cover, which can be connected by screws, pins or buckles, in one embodiment, the buckles are connected, the flexible member 13 can be silica gel, rubber or springs, in one embodiment, the flexible member 13 can be connected with the first housing 11 and the actuator by a buckle or an integral molding, in one embodiment, the buckles are connected, which is convenient for replacement at any time.
the number of the first permanent magnets 12 may be two, three, or more than three, in one embodiment, the number of the first permanent magnets 12 is two, which is enough to satisfy the required attraction force, the first permanent magnets 12 are prisms, which may be triangular prisms, quadrangular prisms, or polygonal prisms, in one embodiment, quadrangular prisms, N poles and S poles are symmetrically arranged, and further, the magnetic force generated at any one position on the side of the first permanent magnet 12 facing the extraabdominal anchoring assembly 2 is the same.
In some embodiments of the present invention, the actuator includes a second housing 14, a second permanent magnet, and a camera (not shown in the figures), the second housing 14 is used as a mounting carrier for the second permanent magnet and the camera, and the first housing 11, the first permanent magnet 12, the second housing 14, the second permanent magnet 15, the flexible member 13, and the camera are located on a same straight line, specifically, a second mounting groove 141 is provided in the second housing 14, the second permanent magnet is provided in the second mounting groove 141, and in addition, a camera is further provided in the second housing 14 for collecting images of disorders at different angles in the abdominal cavity, and in a first state, the first housing 11, the first permanent magnet 12, the second housing 14, the second permanent magnet 15, the flexible member 13, and the camera are simultaneously moved in a straight line, where the first state includes two cases, the first case 11, the first permanent magnet 12, the second housing 14, the second permanent magnet 15, the flexible member 13, the second permanent magnet 15, the flexible member 13 and the camera head move simultaneously in a collinear direction, which is one degree of freedom, and the second, first housing 11, first permanent magnet 12, second housing 14, second permanent magnet 15, flexible member 13 and camera head move simultaneously in a direction perpendicular to the collinear direction, which is one degree of freedom, in the second state, the intra-abdominal anchor assembly 1 performs a rotational movement, which is one degree of freedom, in the third state, the second permanent magnet 15 performs a deflecting motion along the direction from the outside of the abdomen to the inside of the abdomen, which is one degree of freedom, with the joint of the flexible member 13 and the first housing 11 as the center, and the intra-abdominal anchor assembly 1 can perform a four-degree-of-freedom motion, and through the combination of different degrees of freedom, can reach different positions in the abdominal cavity to collect the images of the disease, and provides a foundation for the smooth operation.
wherein, the second housing 14 comprises an upper cover and a lower cover, which can be connected by screws, pins or buckles, in one embodiment, the second permanent magnet 15 is a cylindrical permanent magnet, and the magnetization direction is radial, and in the initial state, the second housing 14 is attached to the inner side of the abdominal wall 3, and the deflection angle is the smallest.
in some embodiments of the present invention, the actuator further includes an illuminating element (not shown in the figures), and the illuminating element can increase the brightness in the abdominal cavity when being turned on, so as to provide a clear and bright view for the camera to collect information, and provide a basis for smooth operation.
in some embodiments of the present invention, the extraabdominal anchoring assembly 2 drives the intra-abdominal anchoring assembly 1 to move by magnetic force, specifically, the extraabdominal anchoring assembly 2 includes at least two third permanent magnets 22 and one fourth permanent magnet 23, the two third permanent magnets 22 and the one fourth permanent magnet 23 are located on a straight line, in the first state, the third permanent magnets 22 and the fourth permanent magnets 23 simultaneously move along a collinear direction or a direction perpendicular to the collinear direction to drive the intra-abdominal anchoring assembly 1 to move along the collinear direction or the direction perpendicular to the collinear direction, in the second state, the extraabdominal anchoring assembly 2 rotationally drives the intra-abdominal anchoring assembly 1 to rotate by centering on the third permanent magnet 22 adjacent to the fourth permanent magnet 23 by centering on the first permanent magnet 12 adjacent to the second permanent magnet 15, in the third state, initially, the third permanent magnet 22 is attracted to the intra-abdominal anchoring assembly 1, the fourth permanent magnet 23 rotates around its own axis, the magnitude and the property of the acting force of the second permanent magnet 15 are changed, namely the force is changed between attraction and repulsion, when the attraction force is formed between the fourth permanent magnet 23 and the second permanent magnet 15, the deflection angle of the intra-abdominal anchoring assembly 1 is the minimum, when the repulsion force is formed between the fourth permanent magnet 23 and the second permanent magnet 15, the deflection angle of the intra-abdominal anchoring assembly 1 is the maximum, when the attraction force and the repulsion force are formed between the fourth permanent magnet 23 and the second permanent magnet 15, and the two repulsion forces are not zero, the deflection angle of the intra-abdominal anchoring assembly 1 is changed from the minimum to the maximum.
the number of the third permanent magnets 22 is the same as that of the first permanent magnets 12, and may be two, three, or more than three, in one embodiment, two are enough to satisfy the required attraction force, the first permanent magnets 12 are prisms, which may be triangular prisms, quadrangular prisms, or polygonal prisms, and in one embodiment, quadrangular prisms, N poles and S poles are symmetrically arranged, further, the magnetic force generated at any position on the side of the third permanent magnets 22 facing the first permanent magnets 12 is the same, and the magnetic poles on the opposite side of the first permanent magnets 12 and the third permanent magnets 22 are opposite to each other so as to generate the attraction force.
in some embodiments of the present invention, to realize the rotation of the fourth permanent magnet 23 around its own axis, a driving member 24 and a transmission member 25 are provided outside the abdomen, the transmission member 25 transmits the output of the driving member 24 to the fourth permanent magnet 23, specifically, the driving member 24 includes a driving motor 241 and a speed reducer 242, the speed reducer 242 reduces the output speed of the driving motor 241 to a desired value, but ensures that a sufficient output torque can be provided and the output direction of the driving motor 241 can be changed, the transmission member 25 includes a driving member 251 and a driven member 252, the driving member 251 and the speed reducer 242 are connected, the driven member 252 is disposed in cooperation with the driving member 251 and is coaxial with the fourth permanent magnet 23, the driving member 24 is opened to drive the driving driven member 252 and the fourth permanent magnet 23 to rotate simultaneously, initially, the fourth permanent magnet 23 is attracted to the second permanent magnet 15, the intra-abdominal anchoring assembly 1 is attached to the inner wall of the abdominal, the rotation of motor, fourth permanent magnet 23 also rotates round self axis along with it, along with the increase of turned angle, second permanent magnet 15 can change into the looks repellent state again to the looks attracted state from attracting each other's state gradually, the angle of deflection of second permanent magnet 15 changes between minimum to the biggest promptly, a driving piece 24 and a driving medium 25 for driving fourth permanent magnet 23 pivoted all set up outside the abdomen, rather than setting up in the abdominal cavity, compare in prior art, the structure size of intra-abdominal anchor subassembly 1 has been reduced, improve the holistic flexibility ratio of abdominal cavity robot, the probability of taking place the interference with other devices has been reduced.
wherein, the driving member 251 and the driven member 252 can select a gear combination, a gear rack assembly, a belt pulley assembly or a chain wheel combination, in one embodiment, the gear is convenient to process or purchase, the transmission ratio is determined, and the transmission is smooth.
In some embodiments of the present invention, the extraabdominal anchor assembly 2 further includes a third housing 21, the third housing 21 is used as a mounting carrier for the third permanent magnet 22 and the fourth permanent magnet 23, specifically, a third mounting groove 211 and a fourth mounting groove 212 are provided in the third housing 21, the third permanent magnet 22 is disposed in the third mounting groove 211, and the fourth permanent magnet 23 is disposed in the fourth mounting groove 212, so as to keep the relative position between the third permanent magnet 22 and the fourth permanent magnet 23 unchanged, that is, prevent abnormal movement between the extraabdominal anchor assembly 1 and the extraabdominal anchor assembly 2 due to the change of the position of the permanent magnet, and improve reliability.
Wherein, third casing 21 includes upper cover and lower cover, accessible screw, pin or buckle connection between the two, for the buckle connection in an embodiment, fourth permanent magnet 23 is the cylinder permanent magnet, and the magnetization direction is radial, and for the convenience of installation, fourth permanent magnet 23 is hollow cylinder permanent magnet, and outer anchor assembly 2 of abdomen includes pivot 26, and pivot 26 wears to establish in fourth permanent magnet 23, and both ends are passed through bearing 27 and are connected with third casing 21, and follower 252 is connected on pivot 26, with fourth permanent magnet 23 synchronous revolution.
An embodiment of the second aspect of the present invention provides an abdominal cavity robot system, having the abdominal cavity robot in the above embodiments, further having:
the mechanical arm 4 is arranged outside the abdomen and connected with the extraabdominal anchoring assembly 2, the mechanical arm 4 drives the extraabdominal anchoring assembly 2 to move, and the extraabdominal anchoring assembly 2 drives the intra-abdominal anchoring assembly 1 to move;
the control device, the mechanical arm 4, the extraabdominal anchor assembly 2 and the intra-abdominal anchor assembly 1 are respectively connected with the control device to change the pose of the intra-abdominal anchor assembly 1.
in some embodiments of the present invention, the intra-abdominal anchor assembly 1 further comprises a position sensor disposed on the second housing 14, the position sensor being capable of acquiring the deflection angle of the current actuator in real time and feeding this information back to the control device, and the control device comparing the deflection angle with the desired angle to see if there is an error and performing a PID adjustment on the error.
the abdominal cavity robot system of the embodiment of the invention has the same advantages as the abdominal cavity robot in the above embodiment, and the detailed description is omitted, and in addition, the control signal is input to the mechanical arm 4 and the extraabdominal anchoring component 2 through the control device, so that the intra-abdominal anchoring component 1 can accurately output, the motion accuracy of the abdominal cavity robot is improved, and a foundation is provided for smooth operation.
wherein, the connection between arm 4 and the extraabdominal anchor assembly 2 can be screw connection, buckle connection or integrated into one piece, in one embodiment be screw connection, convenient to detach extraabdominal anchor assembly 2, specifically, be provided with the screw hole on third casing 21, be provided with the linking arm on arm 4, be provided with the screw hole on the linking arm, the screw hole corresponds the cooperation and passes through screw connection, in order to increase arm 4's intensity, arm 4 still includes the reinforcement, the reinforcement perpendicular to each linking arm just is connected with each linking arm.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A laparoscopic robot, comprising:
an intra-abdominal anchor assembly;
An extraabdominal anchor assembly in magnetic cooperation with the intra-abdominal anchor assembly;
Wherein the extraabdominal anchor assembly is configured to drive the intraabdominal anchor assembly to move linearly in a first state, to drive the intraabdominal anchor assembly to move rotationally in a second state, and to drive the intraabdominal anchor assembly to move deflectively in a direction extraabdominally into the abdomen in a third state.
2. The laparoscopic robot of claim 1, wherein said intra-abdominal anchor assembly comprises:
The first shell is internally provided with a first mounting groove;
the first permanent magnets are provided with gaps, and are respectively arranged in the first mounting grooves;
The actuator is connected with the first shell through a flexible piece;
wherein, in the first state, the first shell, the first permanent magnet and the actuator do linear motion;
in the second state, the intra-abdominal anchor assembly performs rotational motion centered on the first permanent magnet adjacent to the actuator;
In the third state, the actuator is deflected in a direction pointing extraabdominally into the intrados.
3. The laparoscopic robot of claim 2, wherein said actuator comprises:
The second shell is internally provided with a second mounting groove and is connected with the first shell through the flexible piece;
the second permanent magnet is arranged in the second mounting groove, and in the third state, the second shell and the second permanent magnet do deflection motion along the direction from the outside of the abdomen to the inside of the abdomen;
the camera set up in the second casing to set up to gather the image of different angles in the abdominal cavity.
4. The laparoscopic robot of claim 3, wherein said actuator further comprises:
An illuminator disposed within the second housing.
5. The laparoscopic robot of claim 3, wherein said extraabdominal anchoring assembly comprises:
the third permanent magnets are provided with gaps and correspond to the first permanent magnets one by one;
A gap is arranged between the fourth permanent magnet and the adjacent third permanent magnet, and the fourth permanent magnet corresponds to the second permanent magnet;
the third permanent magnet and the fourth permanent magnet do linear motion in the first state so as to drive the first permanent magnet and the second permanent magnet to do linear motion;
The extraabdominal anchoring assembly rotates around the third permanent magnet adjacent to the fourth permanent magnet in the second state to drive the intra-abdominal anchoring assembly to rotate;
and the fourth permanent magnet rotates in the third state to drive the actuator to make deflection motion along the direction from the outside of the abdomen to the inside of the abdomen.
6. the laparoscopic robot of claim 5, wherein said extraabdominal anchoring assembly further comprises:
the third casing, be provided with third mounting groove and fourth mounting groove in the third casing, the third permanent magnet set up in the third mounting groove, the fourth permanent magnet set up in the fourth mounting groove.
7. the laparoscopic robot of claim 6, wherein said extraabdominal anchoring assembly further comprises:
a drive member;
the driving part, the driving part with the driving part all sets up on the third casing, just the driving part with the fourth permanent magnet connects gradually, the driving part passes through the driving part drive the rotation of fourth permanent magnet.
8. The laparoscopic robot of claim 7, wherein said transmission comprises:
the driving piece is connected with the driving end of the driving piece;
the driven piece and the fourth permanent magnet are coaxially arranged and are matched with the driving piece.
9. The laparoscopic robot of claim 5, wherein said second permanent magnet and said fourth permanent magnet are cylindrical permanent magnets, and both are magnetized in a radial direction.
10. A laparoscopic robotic system, having the laparoscopic robot of claims 1-9, further comprising:
The mechanical arm is arranged outside the abdomen and is connected with the extraabdominal anchoring assembly, the mechanical arm drives the extraabdominal anchoring assembly to move, and the extraabdominal anchoring assembly drives the intra-abdominal anchoring assembly to move;
the mechanical arm, the extraabdominal anchoring assembly and the intra-abdominal anchoring assembly are respectively connected with the control device to change the pose of the intra-abdominal anchoring assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910718969.5A CN110559080A (en) | 2019-08-05 | 2019-08-05 | Laparoscopic robot and system with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910718969.5A CN110559080A (en) | 2019-08-05 | 2019-08-05 | Laparoscopic robot and system with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110559080A true CN110559080A (en) | 2019-12-13 |
Family
ID=68774612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910718969.5A Pending CN110559080A (en) | 2019-08-05 | 2019-08-05 | Laparoscopic robot and system with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110559080A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100113872A1 (en) * | 2007-09-20 | 2010-05-06 | Olympus Medical Systems Corp. | Medical apparatus and procedure of installing medical apparatus in patient |
| US20110095067A1 (en) * | 2008-04-30 | 2011-04-28 | Takeshi Ohdaira | Surgical system and surgical method for natural orifice transluminal endoscopic surgery (notes) |
| US20110285488A1 (en) * | 2010-05-19 | 2011-11-24 | The Board Of Regents Of The University Of Texas System | Magnetic Throttling and Control: Magnetic Control |
| WO2012035157A1 (en) * | 2010-09-16 | 2012-03-22 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Magnetic levitation endoscopic device |
| CN104323797A (en) * | 2014-10-21 | 2015-02-04 | 苏州仁捷瑞自动化科技有限公司 | Ultrasonic inspection and measurement device for portable movable type medical ultrasonic equipment |
| US20150282828A1 (en) * | 2013-02-25 | 2015-10-08 | Olympus Corporation | Medical manipulator and medical manipulator control method |
| US20150327750A1 (en) * | 2012-12-11 | 2015-11-19 | Olympus Corporation | Endoscopic device and method of controlling endoscopic device |
| US20160128553A1 (en) * | 2014-11-07 | 2016-05-12 | Zheng Jason Geng | Intra- Abdominal Lightfield 3D Endoscope and Method of Making the Same |
| CN106963492A (en) * | 2015-10-29 | 2017-07-21 | 香港生物医学工程有限公司 | Magnetic grappling robot system |
| CN108113788A (en) * | 2016-11-29 | 2018-06-05 | 张叡 | A kind of novel pneumatic artificial-muscle drives ankle joint straightener |
| CN108778092A (en) * | 2016-01-19 | 2018-11-09 | 香港中文大学 | Wireless magnetic endoscope |
| CN108784820A (en) * | 2018-06-12 | 2018-11-13 | 南通市第人民医院 | A kind of spinal surgery angular guidance system |
| CN109316654A (en) * | 2018-10-23 | 2019-02-12 | 中国福利会国际和平妇幼保健院 | Speech recognition intelligence tracheal catheter |
| CN109549821A (en) * | 2018-12-30 | 2019-04-02 | 南京航空航天大学 | The exoskeleton robot assisted control system and method merged based on electromyography signal and inertial navigation signal |
| US20190192176A1 (en) * | 2017-12-22 | 2019-06-27 | Acclarent, Inc. | Dilation instrument with guide catheter type sensor |
-
2019
- 2019-08-05 CN CN201910718969.5A patent/CN110559080A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100113872A1 (en) * | 2007-09-20 | 2010-05-06 | Olympus Medical Systems Corp. | Medical apparatus and procedure of installing medical apparatus in patient |
| US20110095067A1 (en) * | 2008-04-30 | 2011-04-28 | Takeshi Ohdaira | Surgical system and surgical method for natural orifice transluminal endoscopic surgery (notes) |
| US20110285488A1 (en) * | 2010-05-19 | 2011-11-24 | The Board Of Regents Of The University Of Texas System | Magnetic Throttling and Control: Magnetic Control |
| WO2012035157A1 (en) * | 2010-09-16 | 2012-03-22 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Magnetic levitation endoscopic device |
| US20150327750A1 (en) * | 2012-12-11 | 2015-11-19 | Olympus Corporation | Endoscopic device and method of controlling endoscopic device |
| US20150282828A1 (en) * | 2013-02-25 | 2015-10-08 | Olympus Corporation | Medical manipulator and medical manipulator control method |
| CN104323797A (en) * | 2014-10-21 | 2015-02-04 | 苏州仁捷瑞自动化科技有限公司 | Ultrasonic inspection and measurement device for portable movable type medical ultrasonic equipment |
| US20160128553A1 (en) * | 2014-11-07 | 2016-05-12 | Zheng Jason Geng | Intra- Abdominal Lightfield 3D Endoscope and Method of Making the Same |
| CN106963492A (en) * | 2015-10-29 | 2017-07-21 | 香港生物医学工程有限公司 | Magnetic grappling robot system |
| CN108778092A (en) * | 2016-01-19 | 2018-11-09 | 香港中文大学 | Wireless magnetic endoscope |
| CN108113788A (en) * | 2016-11-29 | 2018-06-05 | 张叡 | A kind of novel pneumatic artificial-muscle drives ankle joint straightener |
| US20190192176A1 (en) * | 2017-12-22 | 2019-06-27 | Acclarent, Inc. | Dilation instrument with guide catheter type sensor |
| CN108784820A (en) * | 2018-06-12 | 2018-11-13 | 南通市第人民医院 | A kind of spinal surgery angular guidance system |
| CN109316654A (en) * | 2018-10-23 | 2019-02-12 | 中国福利会国际和平妇幼保健院 | Speech recognition intelligence tracheal catheter |
| CN109549821A (en) * | 2018-12-30 | 2019-04-02 | 南京航空航天大学 | The exoskeleton robot assisted control system and method merged based on electromyography signal and inertial navigation signal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7819894B2 (en) | Manipulator with multiple degrees of freedom | |
| AU2016250505B2 (en) | Telescoping IM nail and actuating mechanism | |
| CN112998862B (en) | Flexible surgical tool and flexible surgical tool system | |
| JP3631450B2 (en) | manipulator | |
| CN107334530B (en) | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot | |
| AU2011227229B2 (en) | Telescoping IM nail and actuating mechanism | |
| US10149727B2 (en) | Surgical tool and robotic surgical system interfaces | |
| CN107320183B (en) | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot | |
| JP2009542272A (en) | Callus extension device | |
| JP2008155031A (en) | Camera holder device, and its method | |
| US20200405279A1 (en) | Multi-purpose flexible surgical tool system | |
| CN1944003A (en) | System for controlling micro robot movement and pose by outer magnetic field and its control method and use | |
| US10433920B2 (en) | Surgical tool and robotic surgical system interfaces | |
| US10588704B2 (en) | Surgical tool and robotic surgical system interfaces | |
| CN110559080A (en) | Laparoscopic robot and system with same | |
| US20180161118A1 (en) | Surgical Tool and Robotic Surgical System Interfaces | |
| CN110958860B (en) | Magnetic robot | |
| Cheng et al. | Innovative surgical endoscopes in video-assisted thoracic surgery | |
| CN200963827Y (en) | System for controlling micro-robot movement and pose by outside magnetic field | |
| Gao et al. | Micro motor based new type of endoscope | |
| EP3888565A1 (en) | Minimally invasive surgery auxiliary apparatus and control method thereof | |
| Guo et al. | Study on the active movement capsule robot for biopsy | |
| Oura et al. | Development of MRI compatible versatile manipulator for minimally invasive surgery | |
| KR102404768B1 (en) | Laparoscopic surgery endoscopic module with coating layer applied | |
| CN109498159B (en) | Multi freedom neurosurgery surgical instruments operating means |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191213 |
|
| RJ01 | Rejection of invention patent application after publication |