CN111887993A

CN111887993A - Medical robot for laparoscopic surgery

Info

Publication number: CN111887993A
Application number: CN202010699773.9A
Authority: CN
Inventors: 翁文彬
Original assignee: Wenzhou Maltose E Commerce Secretary Co ltd
Current assignee: Wenzhou Maltose E Commerce Secretary Co ltd
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2020-11-06

Abstract

The invention provides a medical robot for laparoscopic surgery, which comprises a rack, wherein a large arm rotating in the horizontal direction is arranged on the rack, a small arm rotating in the vertical direction is arranged on the large arm, and a fixed large knuckle and a movable small knuckle are arranged at the end part of the small arm; the end part of the small arm is operatively connected with a surgical shearing instrument, the surgical shearing instrument comprises a fixed rod and a movable rod which are mutually connected in a sliding manner, a first blade facing the movable rod is arranged on the fixed rod, a second blade facing the first blade is arranged on the movable rod, and when the fixed rod and the movable rod slide relatively, the first blade and the second blade realize shearing; the dead lever fixed connection indicates the festival greatly, and movable rod swing joint trace, trace of trace swing joint tape break angle, the break angle department of trace rotates and connects big finger festival, and the trace passes through the little finger festival of first spring coupling, can drive the trace and rotate around its break angle department when little finger festival activity to it slides to the dead lever relatively to drive the movable rod through the trace.

Description

Medical robot for laparoscopic surgery

Technical Field

The invention relates to the technical field of high-performance diagnosis and treatment equipment, in particular to a medical robot for laparoscopic surgery.

Background

Laparoscopic surgery is a newly developed minimally invasive surgical method and is a trend for future surgical methods to develop. When the laparoscopic surgery is carried out, the operation is carried out through a working channel by a specially-made lengthened surgical instrument. Then the same steps as the open surgery are completed under electronic monitoring, and the same surgical effect is achieved. However, the operation of the surgical instruments is performed by the main surgeon at present, which also easily causes shortage of medical care resources.

Disclosure of Invention

The invention aims to provide a medical robot for laparoscopic surgery, which can automatically control surgical instruments and relieve medical care pressure.

The medical robot for the laparoscopic surgery comprises a rack, wherein a large arm which rotates in the horizontal direction is arranged on the rack, a small arm which rotates in the vertical direction is arranged on the large arm, and a fixed large knuckle and a movable small knuckle are arranged at the end part of the small arm; the end part of the small arm is operatively connected with a surgical shearing instrument, the surgical shearing instrument comprises a fixed rod and a movable rod which are mutually connected in a sliding manner, a first blade facing the movable rod is arranged on the fixed rod, a second blade facing the first blade is arranged on the movable rod, and when the fixed rod and the movable rod slide relatively, the first blade and the second blade realize shearing; the dead lever fixed connection big dactylus, movable rod swing joint trace, trace swing joint strip dog-leg of dog-leg, the dog-leg of dog-leg rotates to be connected the big dactylus, the dog-leg passes through the little dactylus of first spring coupling, works as can drive during little dactylus activity the dog-leg rotates around its dog-leg, thereby passes through the trace drives the movable rod is relative the dead lever slides.

As an embodiment, the movable rod is sleeved on the fixed rod, and the length of the movable rod is shorter than that of the fixed rod.

As an embodiment, first connecting lugs evenly distributed are arranged on the curved rod, second connecting lugs with the same height as the first connecting lugs are arranged on the small knuckles respectively, and two ends of the spring are connected with the first connecting lugs and the second connecting lugs respectively.

As an embodiment, the first spring is a tension spring.

As an embodiment, be equipped with rotatable limit baffle on the dead lever, set up ascending spacing mouth on the movable rod, limit baffle follows wear out in the spacing mouth, limit baffle's both sides are equipped with the movable block, still set up "7" font movable mouth to both sides on the movable rod, the movable block is followed wear out in the movable mouth, limit baffle wears out the tip of spacing mouth passes through the second spring coupling the trace with the junction of curved bar, works as the movable rod is relative when the dead lever slides, the movable block is in along "7" font activity in the movable mouth, makes limit baffle stirs around leaning on the spacing mouth, in order to provide the movable rod is spacing, wherein the second spring provides limit baffle resets.

As an embodiment, the second spring is a tension spring.

As an embodiment, the bottom of the frame is provided with a rotating seat, and the frame can rotate in the circumferential direction under the driving of the rotating seat.

As an embodiment, a cart is arranged at the bottom of the rotating seat.

In one embodiment, the wrist joint of the small arm is covered with a flexible sleeve, and the flexible sleeve covers a universal joint controlling the small arm, wherein the surgical scissors instrument can be oriented to different angles under the control of the universal joint.

Compared with the prior art, the invention has the advantages that the large knuckle and the small knuckle at the end part of the small arm are operatively connected with the surgical scissors instrument, so that the surgical scissors instrument can be automatically controlled, wherein the large knuckle is immovable, and the small knuckle is movable, so that the fixed rod and the movable rod which are connected with each other in a sliding way are matched. Make the curved bar rotate around its dog-ear department under little knuckle through first spring pulling to drive the relative dead lever of movable rod through the trace and slide, finally make first blade and second blade realize cuting, dead lever and movable rod sliding connection's each other cooperation mode adapts to laparoscopic surgery's working channel. Therefore, the automatic control can be realized during the laparoscopic surgery, and the medical care pressure is relieved.

Drawings

Fig. 1 is an overall view of a laparoscopic surgical medical robot provided in an embodiment of the present invention;

fig. 2 is an enlarged view of a portion a of the laparoscopic surgical medical robot provided in fig. 1;

FIG. 3 is an enlarged view of section B of the enlarged view of section A provided in FIG. 2;

fig. 4 is a partially enlarged view of a laparoscopic surgical medical robot according to an embodiment of the present invention.

In the figure: 1. a frame; 2. a large arm; 3. a small arm; 4. a large knuckle; 5. a small knuckle; 51. a second engaging lug; 6. a surgical scissors instrument; 61. fixing the rod; 62. a movable rod; 621. a limiting port; 622. a movable opening; 63. a linkage rod; 64. a first blade; 65. a second blade; 66. a curved bar; 661. a first connecting lug; 67. a first spring; 68. a limit baffle; 681. a movable block; 69. a second spring; 7. a rotating base; 8. pushing a cart; 9. a flexible sleeve.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The foregoing and additional embodiments and advantages of the invention are hereinafter more clearly and completely described in connection with the accompanying drawings. It is to be understood that the described embodiments are merely some, and not all, embodiments of the invention.

In one embodiment, as shown in fig. 1 and 2. The medical robot for laparoscopic surgery provided by the embodiment comprises a frame 1, and as shown in fig. 1, a large arm 2 capable of rotating in the horizontal direction is arranged on the frame 1, wherein the rotation in the horizontal direction means that the large arm 2 is horizontal as a whole and can rotate around the position of the frame 1. The large arm 2 is provided with a small arm 3 which can rotate in the vertical direction, wherein the rotation in the vertical direction means that the small arm 3 is horizontal as a whole and can rotate around the axial direction. As shown in fig. 2, the end of the small arm 3 is provided with a fixed big knuckle 4 and a movable small knuckle 5, in this embodiment, the big knuckle 4 and the small knuckle 5 on the small arm 3 are similar to a bionic hand, only because of the control requirement, the big knuckle 4 is not movable, and the four small knuckles 5 are movable. Control of the surgical shears 6 is effected through these large 4 and small 5 knuckles so that the end of the small arm 3 is operatively connected to the surgical shears 6. And the surgical scissors device 6 is used for laparoscopic surgery, which has a structure in which two edges are staggered, unlike the conventional surgical scissors device, because the laparoscopic surgery makes a small incision on a patient, then inserts a tubular working channel, and then the operation is performed through the working channel, the operable space of the surgical scissors device 6 is severely limited by the working channel.

To this end, the surgical scissors apparatus 6 provided in the present embodiment includes a fixed bar 61 and a movable bar 62 slidably connected to each other, a first blade 64 facing the movable bar 62 is provided on the fixed bar 61, and a second blade 65 facing the first blade 64 is provided on the movable bar 62, and when the fixed bar 61 and the movable bar 62 slide relatively, the first blade 64 and the second blade 65 perform cutting. The first blade 64 and the second blade 65 with corresponding lengths can be selected according to the size of the working pipeline, so that after the surgical shearing device 6 extends into a patient through the working channel, the first blade 64 and the second blade 65 can be controlled to realize shearing only by controlling the fixed rod 61 and the movable rod 62 to slide relatively, and the required operating space is greatly reduced.

In the present embodiment, the fixed lever 61 is fixedly connected to the large knuckle 4, and since the large knuckle 4 is not movable, the fixed lever 61 is also not movable, and thus slides with respect to the fixed lever 61 by means of the movable lever 62. The movable rod 62 is movably connected with a linkage rod 63, the linkage rod 63 is movably connected with a bent rod 66 with a bent angle, the bent angle of the bent rod 66 is rotatably connected with the large knuckle 4, and the bent rod 66 is connected with the small knuckle 5 through a first spring 67. Therefore, when the small knuckle 5 moves, the crank rod 66 can be driven to rotate around the break angle thereof, and particularly, the crank rod 66 can be driven to rotate around the break angle thereof by pulling the small knuckle 5 through the first spring 67 in the process of turning in. The inversion amplitudes of the four small knuckles 5 increase from top to bottom. The curved lever 66 rotates around the bent angle thereof to drive the movable lever 62 to slide relative to the fixed lever 61 through the linkage 63, and finally the first blade 64 and the second blade 65 are sheared.

In one embodiment, as shown in FIG. 2. In the medical robot for laparoscopic surgery according to the present embodiment, the movable rod 62 is fitted over the fixed rod 61, and the length of the movable rod 62 is shorter than that of the fixed rod 61. In the present embodiment, since the length of the movable lever 62 is shorter relative to the length of the fixed lever 61, the second blade 65 provided on the movable lever 62 is more inward and the first blade 64 provided on the fixed lever 61 is more outward. In the case of another embodiment, the length of the movable bar 62 is longer than that of the fixed bar 61. The opposite is true, the second blade 65 provided on the movable lever 62 is further outward and the first blade 64 provided on the fixed lever 61 is further inward.

In one embodiment, as shown in FIG. 3. In the medical robot for laparoscopic surgery provided by this embodiment, the curved bar 66 is provided with the first connecting lugs 661 uniformly distributed, the small finger joints 5 are respectively provided with the second connecting lugs 51 having the same height as the first connecting lugs 661, and two ends of the first spring 67 are respectively connected to the first connecting lugs 661 and the second connecting lugs 51. In this embodiment, actually, the connecting structure of the curved rod 66 and the small knuckle 5, the curved rod 66 and the small knuckle 5 are connected through the first spring 67, the small knuckle 5 itself can be turned inside, the turning inside direction is toward the paper surface of fig. 3, and the turning inside width of the small knuckle 5 increases from top to bottom.

In one embodiment, as shown in FIG. 4. The medical robot for laparoscopic surgery provided by the embodiment has the advantages that the fixing rod 61 is provided with the rotatable limiting baffle 68, specifically, the middle position of the fixing rod 61 is provided with a groove, the end part of the limiting baffle 68 is embedded into the groove of the fixing rod 61 and is rotatably connected with the groove, the movable rod 62 is provided with an upward limiting opening 621, the limiting baffle 68 penetrates out of the limiting opening 621, and when the limiting baffle 68 rotates relative to the fixing rod 61, the limiting baffle 68 moves in the limiting opening 621. The both sides of limit baffle 68 are equipped with the movable block 681, still set up "7" font movable port 622 to both sides on the movable rod 62, the movable block 681 is worn out in the movable port 622, the limit baffle 68 is worn out the tip of spacing mouth 621 and is passed through the junction that second spring 69 connects trace 63 and curved bar 66, when the movable rod 62 slides relative fixed pole 61, the movable block 681 is along "7" font activity in the movable port 622, make limit baffle 68 turn around and lean on spacing mouth 621, in order to provide the spacing of movable rod 62, wherein second spring 69 provides limit baffle 68 and resets. In the embodiment, the action of the limit baffle 68 and the second spring 69 can control the moving amplitude of the first blade 64 and the second blade 65, and the moving rod 62 can be automatically reset after each cutting is realized.

In one embodiment, as shown in FIG. 1. In the medical robot for laparoscopic surgery provided by the embodiment, the rotating seat 7 is arranged at the bottom of the rack 1, and the rack 1 can rotate circumferentially under the driving of the rotating seat 7. In this embodiment, the orientation of the gantry 1 can be adjusted as desired.

In one embodiment, as shown in FIG. 1. In the medical robot for laparoscopic surgery provided in this embodiment, a cart 8 is disposed at the bottom of the rotary base 7. In this embodiment, the cart 8 provided at the bottom of the rotary base 7 may facilitate the movement of the laparoscopic surgical medical robot.

In one embodiment, as shown in FIG. 1. In the medical robot for laparoscopic surgery provided in the present embodiment, the wrist joint of the small arm 3 is covered with the flexible sleeve 9, and the flexible sleeve 9 covers the universal joint controlling the small arm 3, wherein the surgical scissors device 6 can be oriented to different angles under the control of the universal joint.

The above embodiments further describe the object, technical means, and advantageous effects of the present invention in detail. It should be understood that the above are only specific examples of the present invention, and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.

Claims

1. The medical robot for the laparoscopic surgery is characterized by comprising a rack (1), wherein a large arm (2) rotating in the horizontal direction is arranged on the rack (1), a small arm (3) rotating in the vertical direction is arranged on the large arm (2), and a fixed large knuckle (4) and a movable small knuckle (5) are arranged at the end part of the small arm (3);

the end part of the small arm (3) is operatively connected with a surgical shearing apparatus (6), the surgical shearing apparatus (6) comprises a fixed rod (61) and a movable rod (62) which are slidably connected with each other, a first blade (64) facing the movable rod (62) is arranged on the fixed rod (61), a second blade (65) facing the first blade (64) is arranged on the movable rod (62), and when the fixed rod (61) and the movable rod (62) slide relatively, the first blade (64) and the second blade (65) realize shearing;

dead lever (61) fixed connection big dactylus (4), movable rod (62) swing joint trace (63), trace (66) of trace (63) swing joint strip dog-ear, the dog-ear of trace (66) rotates and connects big dactylus (4), little dactylus (5) are connected through first spring (67) in trace (66), work as can drive during the activity of little dactylus (5) dog-ear (66) rotate around its dog-ear, thereby pass through trace (63) drive movable rod (62) are relative dead lever (61) slide.

2. The laparoscopic surgical medical robot according to claim 1, wherein said movable rod (62) is sleeved on said fixed rod (61), and a length of said movable rod (62) is shorter than a length of said fixed rod (61).

3. The laparoscopic surgery medical robot according to claim 1, wherein the curved bar (66) is provided with first coupling lugs (661) uniformly distributed, the little finger joints (5) are respectively provided with second coupling lugs (51) having the same height as the first coupling lugs (661), and both ends of the first spring (67) are respectively connected with the first coupling lugs (661) and the second coupling lugs (51).

4. The laparoscopic surgical medical robot according to claim 3, wherein said first spring (67) is a tension spring.

5. The medical robot for laparoscopic surgery according to claim 1, 2, 3 or 4, wherein the fixed rod (61) is provided with a rotatable limiting baffle (68), the movable rod (62) is provided with an upward limiting opening (621), the limiting baffle (68) penetrates out of the limiting opening (621), two sides of the limiting baffle (68) are provided with movable blocks (681), the movable rod (62) is further provided with a 7-shaped movable opening (622) which penetrates out of the two sides, the movable blocks (681) penetrate out of the movable opening (622), the end of the limiting baffle (68) penetrating out of the limiting opening (621) is connected with the joint of the linkage rod (63) and the curved rod (66) through a second spring (69), and when the movable rod (62) slides relative to the fixed rod (61), the movable blocks (681) move along the 7-shaped movable opening (622), the limiting baffle (68) is turned back and forth to abut against the limiting opening (621) to provide limiting of the movable rod (62), and the second spring (69) provides resetting of the limiting baffle (68).

6. The laparoscopic surgical medical robot according to claim 5, wherein said second spring (69) is a tension spring.

7. The laparoscopic surgical medical robot according to claim 1, wherein a rotary base (7) is provided at the bottom of the machine frame (1), and the machine frame (1) is driven by the rotary base (7) to rotate circumferentially.

8. The laparoscopic surgical medical robot according to claim 7, wherein a cart (8) is provided at the bottom of the rotary base (7).

9. The laparoscopic surgical medical robot according to claim 1, wherein a flexible sleeve (9) is covered at the wrist joint of the small arm (3), the flexible sleeve (9) covering a universal joint controlling the small arm (3), wherein the surgical scissors instrument (6) can be oriented to different angles under the control of the universal joint.