CN113995516B - High-freedom manipulator for vascular surgery - Google Patents
High-freedom manipulator for vascular surgery Download PDFInfo
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- CN113995516B CN113995516B CN202210000791.2A CN202210000791A CN113995516B CN 113995516 B CN113995516 B CN 113995516B CN 202210000791 A CN202210000791 A CN 202210000791A CN 113995516 B CN113995516 B CN 113995516B
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- 238000007631 vascular surgery Methods 0.000 title claims abstract description 31
- 238000004140 cleaning Methods 0.000 claims description 24
- 239000007788 liquid Substances 0.000 claims description 18
- 238000005485 electric heating Methods 0.000 claims description 12
- 238000007664 blowing Methods 0.000 claims description 10
- 239000000203 mixture Substances 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 3
- 239000002994 raw material Substances 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 abstract 1
- 239000010408 film Substances 0.000 description 8
- 238000007790 scraping Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000018262 Peripheral vascular disease Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 244000052616 bacterial pathogen Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 239000013039 cover film Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B90/06—Measuring instruments not otherwise provided for
-
- 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
- A61B90/70—Cleaning devices specially adapted for surgical instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-freedom manipulator for vascular surgery in the technical field of manipulators for surgery, which comprises a base, wherein a controller is arranged in the base; the supporting table comprises a table body arranged at the top of the base, and a first motor is arranged at the top of the table body; the first connecting arm comprises a first connecting arm body arranged on the power end of the top of the first motor, and the first connecting arm body is provided with a second motor; the connecting arm II comprises a connecting arm II body arranged on the power end of the motor II, and a motor III is arranged on the connecting arm II body; the first electric push rod can drive the first electric push rod to rotate through the third motor, the first electric push rod can drive the connecting plate to move transversely, the fourth motor can drive the supporting frame to rotate, and then the surgical executive component on the clamping plate can be driven to rotate, so that the degree of freedom is greatly improved, and the limitation of the surgical executive component during use is reduced.
Description
Technical Field
The invention relates to the technical field of surgical manipulators, in particular to a high-freedom manipulator for vascular surgery.
Background
Vascular surgery is mainly aimed at the prevention, diagnosis and treatment of peripheral vascular diseases other than cerebrovascular and cardiovascular diseases. When the vascular surgery operation is performed, the high-precision mechanical arm is often used at present, the operation difficulty can be reduced, the operation efficiency is improved, the risk can be reduced to a greater extent through the mechanical arm, and the operation success rate is higher.
The degree of freedom of the current vascular surgery manipulator is not high, the limitation is large during practical use, after an operation execution piece is fixed through a clamping plate, stains can be remained on the clamping plate, if the operation execution piece is not clean, the operation execution piece in the next operation can be polluted, and therefore the high-degree-of-freedom manipulator for the vascular surgery is provided.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems occurring in the prior art, and an object of the present invention is to provide a manipulator with high degree of freedom for use in vascular surgery.
In order to achieve the purpose, the invention provides the following technical scheme: a high-freedom manipulator for vascular surgery comprises a base, wherein a controller is arranged in the base; the supporting table comprises a table body arranged at the top of the base, and a first motor is arranged at the top of the table body; the first connecting arm comprises a first connecting arm body arranged on the power end of the top of the first motor, and the first connecting arm body is provided with a second motor; the connecting arm II comprises a connecting arm II body arranged on the power end of the motor II, and a motor III is arranged on the connecting arm II body; the first electric push rod is arranged at the power end of the third motor; the connecting assembly comprises a connecting plate arranged on a power end of the electric push rod, and a motor IV is arranged on the right side of the connecting plate; the power end of the motor IV is connected with the clamping plate assembly; the blowing assembly is arranged on the connecting plate; the cleaning assembly is arranged on the first electric push rod;
the splint subassembly is including setting up the carriage on four power ends of motor, the both sides of carriage all are provided with electric telescopic handle, and are two sets of electric telescopic handle's power end all is connected with splint.
As a preferable aspect of the high degree of freedom manipulator for vascular surgery of the present invention, wherein: touch rods are arranged on the sides, away from each other, of the two groups of clamping plates, and the ends, away from each other, of the two groups of touch rods penetrate through the supporting frame;
the cleaning assembly comprises a mounting seat arranged on the electric push rod I, the right side of the mounting seat is provided with an electric push rod II, the power end of the right side of the electric push rod II is provided with a connecting seat, the right side of the connecting seat is provided with an air cylinder, and a piston rod at the bottom of the air cylinder is connected with a driving device;
the driving device comprises a movable seat arranged on a piston rod at the bottom of the air cylinder, the top of the right side of the movable seat is connected with a distance measuring sensor, an electric guide rail is arranged on the right side of the movable seat below the distance measuring sensor, a toothed plate is arranged on the electric guide rail, gears are meshed and connected with the front side and the rear side of the toothed plate respectively, two groups of rotating shafts with the same structure are rotatably connected to the right side of the movable seat through bearings, the two groups of gears are respectively sleeved on the two groups of rotating shafts, and scraper blade structures are sleeved at the right ends of the two groups of rotating shafts;
the distance measuring sensor is electrically connected with the controller, and the controller is electrically connected with the electric guide rail;
the scraper blade structure is including cup jointing the epaxial scraper blade of commentaries on classics, two sets of scraper blade all are provided with the blend stop, and two sets of distance between the blend stop equals with splint, the top of scraper blade is provided with the cleaning solution box, and the bottom of cleaning solution box is provided with the liquid outlet.
As a preferable aspect of the high degree of freedom manipulator for vascular surgery of the present invention, wherein: the bottom inner wall of carriage is provided with the spigot surface, and the spigot surface is from the right side downward sloping gradually to the left, and the outage has evenly been seted up to the left side of spigot surface is vertical.
As a preferable aspect of the high degree of freedom manipulator for vascular surgery of the present invention, wherein: the blowing assembly comprises two groups of fixed boxes with the same structures, the left sides of the fixed boxes are connected to the connecting plate, the inner portions of the fixed boxes are provided with electric heating plates, air inlet holes are formed in the fixed boxes evenly, the top of the fixed boxes is provided with a fan, the air inlet holes are formed in the fixed boxes, the top of the fixed boxes is provided with a fan, the fan is arranged at the top of the fixed boxes, the fan air inlet holes are formed in the fixed boxes, the fan air outlet holes are communicated with air supply pipes, and the air supply pipes are arranged in the fixed boxes, and the air supply pipes are opposite to the clamping plates.
As a preferable aspect of the high degree of freedom manipulator for vascular surgery of the present invention, wherein: the opposite sides of the two fixed boxes are provided with touch switches, the two touch switches are respectively electrically connected with the two electric heating plates, and the two touch switches are respectively opposite to the two touch rods.
As a preferable aspect of the high degree of freedom manipulator for vascular surgery of the present invention, wherein: the film covering assembly is used for sealing the end part of the manipulator after cleaning is finished; the film covering assembly comprises a multi-section telescopic rod, an air pump, a hose, a fixing frame and a heat shrinkage bag; the multi-section telescopic rod is fixed on the lower side of the electric push rod I; the telescopic direction is consistent with the direction of the electric push rod; the air pump is fixed at the end part of the multi-section telescopic rod; the air outlet of the air pump is communicated with the hose; the telescopic end of the multi-section telescopic rod is fixedly connected with the fixed frame; the fixing frame is U-shaped, the upper part of the fixing frame is provided with an opening, and the gap between the two sides of the fixing frame is larger than the maximum width of the connecting component; the extreme extension position of the multi-section telescopic rod is positioned on the right side of the connecting assembly; enabling the fixing frame to be positioned at the right side of the connecting component; the end of the hose is fixed in the middle of the fixing frame; one end of the thermal shrinkage bag is provided with an opening, the bottom of the opening is provided with an air inlet nozzle, and the exhaust end of the hose can be fixedly inserted with the air inlet nozzle; an opening of the thermal shrinkage bag is positioned on the upper side of the air inlet nozzle and is an opening.
Compared with the prior art, the invention has the beneficial effects that: after the two groups of clamping plates are driven to mutually approach and fix the operation executing piece through the electric telescopic rod, the first connecting arm body can be driven to rotate through the first motor, the second connecting arm body can be driven to rotate through the second motor, the first electric push rod body can be driven to rotate through the third motor, the first electric push rod body can drive the connecting plate to transversely move, and the fourth motor can drive the supporting frame to rotate, so that the operation executing piece on the clamping plates can be driven to rotate, the degree of freedom is greatly improved, and the limitation of the operation executing piece in use is reduced; after the operation is finished, the clamping plates are driven to reset through the electric telescopic rods, then the contact rods are continuously driven to move to contact with the touch switches, the electric heating plates are started to heat air in the fixed box, the connecting seats are driven to move rightwards through the electric push rods, the movable seats are driven to move downwards through the air cylinders, so that the distance measuring sensors also move downwards, when the distance measuring sensors detect that the distance from the guide surfaces reaches a certain distance, the two groups of scraping plates are rotated by a certain angle, the air cylinders are continuously controlled to drive the movable seats to move downwards at the moment, the liquid outlet is opened, the bottoms of the two groups of scraping plates are respectively contacted with the opposite sides of the two groups of clamping plates, the scraping plates continue to move downwards along with the scraping plates, the flowing cleaning liquid can comprehensively act on the clamping plates after being blocked by the blocking strips, when the scraping plates are displaced to the bottoms, the distance measuring sensors detect a new distance, and the electric guide rails control the toothed plates to move upwards, and then make the scraper blade inwards rotatory, then the cylinder begins to drive the sliding seat and resets, then repeat above-mentioned step, no longer open the liquid outlet, can be through the effective clean splint of the scraper blade downstream of slope, the scraper blade contactless splint during rebound, thereby make a round trip through several, can be effectively clean splint, avoid influencing the next operation, after the cleanness is finished, the electrical heating board also heats after the certain time, and then through the fan, can be so that the hot-air in the fixed box sends to splint department through the blast pipe and carries out the drying.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a high-degree-of-freedom manipulator for vascular surgery according to the present invention;
FIG. 2 is a schematic structural diagram of the connecting assembly, the clamping plate assembly and the blowing assembly of the high-freedom manipulator for vascular surgery according to the invention;
FIG. 3 is a schematic illustration of a splint assembly according to the present invention in a high-degree-of-freedom robot for vascular surgery;
fig. 4 is a schematic structural diagram of a driving device of a high-freedom manipulator for vascular surgery according to the present invention.
FIG. 5 is a schematic view of a cover assembly of a high-freedom manipulator for vascular surgery according to the present invention in use;
FIG. 6 is a schematic view of the thermal shrinkage film of the film covering assembly sleeved outside the connecting assembly of the high-freedom manipulator for vascular surgery according to the present invention;
FIG. 7 is a schematic view of a heat-shrink balloon heat-shrunk state in a cover film assembly of a high-freedom manipulator for vascular surgery according to the present invention;
FIG. 8 is a schematic view of a heat-shrinkable bag of a high-freedom manipulator for vascular surgery according to the present invention;
fig. 9 is a schematic structural diagram of a fixing frame of a high-freedom manipulator for vascular surgery according to the present invention.
In the figure: 100. a base; 200. a support table; 201. a table body; 202. a first motor; 300. a first connecting arm; 301. a connecting arm body; 302. a second motor; 400. a second connecting arm; 401. a second connecting arm body; 402. a third motor; 500. an electric push rod I; 510. a film covering component; 511. a multi-section telescopic rod; 512. an air pump; 513. a hose; 514. a fixed mount; 515. a heat-shrinkable bag; 5151. an air inlet nozzle; 5152. opening the opening; 600. a connecting assembly; 601. a connecting plate; 602. a fourth motor; 700. a cleat assembly; 701. a support frame; 702. an electric telescopic rod; 703. a splint; 704. a feeler lever; 705. a guide surface; 706. a drain hole; 800. a blowing assembly; 801. a fixing box; 802. an electrical heating plate; 803. an air inlet hole; 804. a fan; 805. an air supply pipe; 806. a touch switch; 900. a cleaning assembly; 901. a mounting seat; 902. a second electric push rod; 903. a connecting seat; 904. a cylinder; 905. a drive device; 9051. a movable seat; 9052. a ranging sensor; 9053. an electric rail; 9054. a toothed plate; 9055. a gear; 9056. a scraper structure; 90561. a squeegee; 90562. blocking strips; 90563. a cleaning liquid box; 90564. and a liquid outlet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 to 4, a high degree of freedom manipulator for vascular surgery includes a base 100, a controller disposed in the base 100; the supporting table 200 comprises a table body 201 arranged at the top of the base 100, and a first motor 202 is arranged at the top of the table body 201; the first connecting arm 300 comprises a first connecting arm body 301 arranged on the power end of the top of the first motor 202, the first connecting arm body 301 can be driven to rotate through the first motor 202, and a second motor 302 is arranged on the first connecting arm body 301; the second connecting arm 400 comprises a second connecting arm body 401 arranged on the power end of the second motor 302, the second connecting arm body 401 can be driven to rotate by the second motor 302, and a third motor 402 is arranged on the second connecting arm body 401; the first electric push rod 500, the first electric push rod 500 is arranged at the power end of the third motor 402, and the first electric push rod 500 can be driven to rotate by the third motor 402; the connecting assembly 600 comprises a connecting plate 601 arranged on the power end of the electric push rod I500, and a motor II 602 is arranged on the right side of the connecting plate 601; the power end of the motor IV 602 is connected with the clamping plate assembly 700, the electric push rod I500 can drive the connecting plate 601 to move transversely, and the motor IV 602 can drive the clamping plate assembly 700 to rotate; the blowing assembly 800, the blowing assembly 800 is arranged on the connecting plate 601; and a cleaning assembly 900, wherein the cleaning assembly 900 is arranged on the first electric push rod 500.
Referring to fig. 1 to 3, splint subassembly 700 is including setting up the carriage 701 on four 602 power ends of motor, the both sides of carriage 701 all are provided with electric telescopic handle 702, two sets of electric telescopic handle 702's power end all is connected with splint 703, move to the direction that is close to each other through two sets of splint 703 of electric telescopic handle 702 drive, make the operation executive can fix at splint 703, one side that two sets of splint 703 kept away from each other all is provided with feeler lever 704, and the one end that two sets of feeler levers 704 kept away from each other all runs through carriage 701, make splint 703 move, feeler lever 704 can follow the removal.
Referring to fig. 1 to 3, the blowing assembly 800 includes two sets of fixing boxes 801 having the same structure, the left sides of the two sets of fixing boxes 801 are connected to the connecting plate 601, the two sets of fixing boxes 801 are respectively provided with an electric heating plate 802, air in the fixing boxes 801 can be heated by the electric heating plate 802, the two sets of fixing boxes 801 are uniformly provided with air inlet holes 803, the tops of the two sets of fixing boxes 801 are respectively provided with a blower 804, air inlets of the two sets of blowers 804 are respectively communicated with the interiors of the two sets of fixing boxes 801, air outlets of the two sets of blowers 804 are respectively communicated with an air supply pipe 805, the two sets of air supply pipes 805 are respectively opposite to the two sets of clamping plates 703, opposite sides of the two sets of fixing boxes 801 are respectively provided with a touch switch 806, the two sets of touch switches 806 are respectively electrically connected to the two sets of electric heating plates 802, the two sets of touch switches 806 are respectively opposite to the two sets of touch rods 704, when the touch rods 704 contact the touch switches 806, the electric heating plates 802 can be turned on to work, the air in the fixing box 801 starts to be heated.
Referring to fig. 1 to 4, the cleaning assembly 900 includes a mounting seat 901 disposed on the first electric pushing rod 500, a second electric pushing rod 902 is disposed on the right side of the mounting seat 901, a connecting seat 903 is disposed on the right power end of the second electric pushing rod 902, the second electric pushing rod 902 can drive the connecting seat 903 to move transversely, an air cylinder 904 is disposed on the right side of the connecting seat 903, a piston rod at the bottom of the air cylinder 904 is connected with a driving device 905, and the driving device 905 can be driven to move vertically through the air cylinder 904.
Referring to fig. 1 to 4, the driving device 905 includes a movable seat 9051 disposed on a piston rod at the bottom of the cylinder 904, a distance measuring sensor 9052 is connected to the top of the right side of the movable seat 9051, an electric guide rail 9053 is disposed below the distance measuring sensor 9052 on the right side of the movable seat 9051, a toothed plate 9054 is disposed on the electric guide rail 9053, gears 9055 are respectively engaged with the front and rear sides of the toothed plate 9054, two sets of rotating shafts having the same structure are rotatably connected to the right side of the movable seat 9051 through bearings, the two sets of gears 9055 are respectively sleeved on the two sets of rotating shafts, a scraper structure 9056 is sleeved at the right ends of the two sets of rotating shafts, the distance measuring sensor 9052 is electrically connected to a controller, the controller is electrically connected to the electric guide rail 9053, the distance from the inner wall at the bottom of the supporting frame 701 can be detected through the distance measuring sensor 9052, the electric guide rail 9053 is controlled through the controller, and other electrical original components therein are connected to an external power source through external power source wires, and the opening and closing are controlled by an external power switch.
Referring to fig. 1 to 4, the scraper structure 9056 includes a scraper 90561 sleeved on the rotating shaft, two sets of scrapers 90561 are provided with barrier strips 90562, the distance between the two sets of barrier strips 90562 is equal to that of the clamping plate 703, a cleaning liquid box 90563 is arranged above the scraper 90561, a liquid outlet 90564 is arranged at the bottom of the cleaning liquid box 90563, a valve is arranged on the liquid outlet 90564, and when cleaning liquid is discharged, the liquid flows downwards between the two sets of barrier strips 90562.
Example 2
Referring to fig. 2 to 3, a guide surface 705 is disposed on an inner wall of a bottom of the supporting frame 701, the guide surface 705 is gradually inclined downward from right to left, and a drain hole 706 is vertically and uniformly formed on a left side of the guide surface 705, so that the cleaning liquid can be conveniently drained through the drain hole 706.
The rest of the structure was the same as in example 1.
The working principle is as follows: after two groups of clamping plates 703 are driven to mutually approach and fix the operation executive component by an electric telescopic rod 702, a first motor 202 can drive a first body 301 of a connecting arm to rotate, a second motor 302 can drive a second body 401 of the connecting arm to rotate, a third motor can drive a first electric push rod 500 to rotate, the first electric push rod 500 can drive a connecting plate 601 to transversely move, a fourth motor 602 can drive a support frame 701 to rotate, further the operation executive component on the clamping plates 703 can be driven to rotate, the degree of freedom is greatly improved, the limitation of the operation executive component in use is reduced, after the operation is finished, the clamping plates 703 are driven to reset by the electric telescopic rod 702, the operation executive component is taken down, whether the clamping plates 703 are dirty or not is observed, if the dirty, the electric telescopic rod 702 is continuously controlled to drive the clamping plates 703 to move, so that a touch rod 704 moves to contact a touch switch 806, and the electric heating plate 802 is started to heat the air in the fixing box 801, then, the connecting seat 903 is driven to move rightwards by the electric push rod two 902 at this time, until the scraper 90561 is positioned above the clamping plate 703, the connecting seat stops moving downwards, the movable seat 9051 is driven to move downwards by the air cylinder 904 at this time, the distance measuring sensor 9052 also moves downwards, when the distance measuring sensor 9052 detects that the distance from the guide surface 705 reaches a certain distance, the electric guide rail 9053 is controlled to drive the toothed plate 9054 to move downwards, the two groups of scrapers 90561 rotate by a certain angle through the rotation of the gear 9055, the air cylinder 904 is continuously controlled to drive the movable seat 9051 to move downwards at this time, the liquid outlet 90564 is opened at the same time, the bottoms of the two groups of scrapers 90561 are respectively contacted with the opposite sides of the two groups of clamping plates 703, along with the continuous downward movement of the scraper 90561, the flowing-out cleaning liquid can be completely acted on the clamping plate 703 after being blocked by the baffle 90562, when the scraper 90561 moves to the bottom, the distance measuring sensor 9052 detects a new distance, electric guide rail 9053 controls toothed plate 9054 to move upwards, and then makes scraper 90561 internal rotation, then cylinder 904 begins to drive movable seat 9051 to reset, then repeat the above-mentioned step, no longer open liquid outlet 90564, can effectively clean splint 703 through the downward removal of slope scraper 90561, when moving upwards, scraper 90561 does not contact splint 703, thereby through several round trips, can effectively clean splint 703, avoid influencing the next operation, after the cleanness is finished, electric heating board 802 also heats after a certain time, make splint 703 remove, make feeler lever 704 not contact touch switch 806, and then pass through fan 804 this moment, can make the hot-air in fixed box 801 send to splint 703 department through blast pipe 805 and dry.
Example 3
After the cleaning operation is completed, if the robot is directly placed in a room, dust, germs, etc. are easily accumulated and adhered to the operation end of the robot arm, and thus, a semi-automatic or automatic operation capable of performing a film covering and sealing operation on the operation end of the robot arm is added to the film covering assembly 510.
5-9, the sheathing assembly 510 is used to seal the robot end after cleaning is complete;
the film covering assembly 510 comprises a multi-section telescopic rod 511, an air pump 512, a hose 513, a fixing frame 514 and a heat-shrinkable bag 515;
the multi-section telescopic rod 511 is fixed at the lower side of the electric push rod I500; the telescopic direction is consistent with the first 500 directions of the electric push rod;
the air pump 512 is fixed at the end part of the multi-section telescopic rod 511;
an air outlet of the air pump 512 is communicated with a hose 513;
the telescopic end of the multi-section telescopic rod 511 is fixedly connected with a fixed frame 514; the fixing frame 514 is U-shaped, the upper part is open, and the gap between the two sides is larger than the maximum width of the connecting component 600;
the extreme extension position of the multi-section telescopic rod 511 is positioned at the right side of the connecting assembly 600; enabling mount 514 to be located on the right side of attachment assembly 600;
the end of the hose 513 is fixed in the middle of the fixing frame 514;
one end of the heat-shrinkable bag 515 is opened, the bottom of the opening is provided with an air inlet nozzle 5151, and the exhaust end of the hose 513 can be fixedly inserted into the air inlet nozzle 5151; at the opening of the heat-shrinkable bag 515, on the upper side of the air inlet nozzle 5151, is an opening 5152.
In actual use, the multi-section telescopic rod 511 is controlled to extend, when the fixed frame 514 reaches the right side of the connecting component 600, the heat-shrinkable bag 515 is inserted onto the air outlet end of the flexible pipe 513, air starts to enter the heat-shrinkable bag 515, and the heat-shrinkable bag 515 is expanded. Meanwhile, the heat-shrinkable bag 515 is provided with an opening 5152, so that the heat-shrinkable bag 515 can keep stable in position when the volume is changed.
After the heat-shrinkable bag 515 is expanded, the multi-section telescopic rod 511 is controlled to shrink, so that the heat-shrinkable bag 515 is in contact with the connecting component 600 and is sleeved outside the connecting component 600. At this time, the heat-shrinkable bag 515 has the opening 5152, and the air pump continuously supplies air, so that the heat-shrinkable bag 515 has certain rigidity and can exhaust air when being extruded, and further can deform to coat the connecting assembly 600.
After the thermal shrinkage bag 515 completely covers the connection assembly, the air supply of the air pump is stopped, and the electric heating plate 802 and the fan 804 are started to shrink the thermal shrinkage bag 515, so that the effect of covering the connection assembly 600 and the internal components thereof is achieved.
The process can manually control the on-off control of the multi-section telescopic rod 511 and the air pump 512. Or may be designed to be automatically controlled.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A high degree of freedom manipulator for vascular surgery, characterized by: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the device comprises a base (100), wherein a controller is arranged in the base (100);
the supporting table (200) comprises a table body (201) arranged at the top of the base (100), and a first motor (202) is arranged at the top of the table body (201);
the connecting arm I (300) comprises a connecting arm I body (301) arranged on the power end of the top of the motor I (202), and a motor II (302) is arranged on the connecting arm I body (301);
the second connecting arm (400) comprises a second connecting arm body (401) arranged on the power end of the second motor (302), and a third motor (402) is arranged on the second connecting arm body (401);
the first electric push rod (500), the first electric push rod (500) is arranged on the power end of the third motor (402);
the connecting assembly (600) comprises a connecting plate (601) arranged on the power end of the electric push rod I (500), and a motor II (602) is arranged on the right side of the connecting plate (601);
the power end of the motor four (602) is connected with the clamping plate assembly (700);
the blowing assembly (800), the blowing assembly (800) is arranged on the connecting plate (601); and
the cleaning assembly (900), the cleaning assembly (900) is arranged on the first electric push rod (500);
the clamping plate assembly (700) comprises a supporting frame (701) arranged on a power end of a motor IV (602), electric telescopic rods (702) are arranged on two sides of the supporting frame (701), and clamping plates (703) are connected to power ends of the two groups of electric telescopic rods (702);
the cleaning assembly (900) comprises a mounting seat (901) arranged on a first electric push rod (500), a second electric push rod (902) is arranged on the right side of the mounting seat (901), a connecting seat (903) is arranged at the power end of the right side of the second electric push rod (902), an air cylinder (904) is arranged on the right side of the connecting seat (903), and a piston rod at the bottom of the air cylinder (904) is connected with a driving device (905);
the driving device (905) comprises a movable seat (9051) arranged on a piston rod at the bottom of the air cylinder (904), the top of the right side of the movable seat (9051) is connected with a distance measuring sensor (9052), an electric guide rail (9053) is arranged on the right side of the movable seat (9051) below the distance measuring sensor (9052), a toothed plate (9054) is arranged on the electric guide rail (9053), gears (9055) are meshed and connected to the front side and the rear side of the toothed plate (9054), two groups of rotating shafts with the same structure are rotatably connected to the right side of the movable seat (9051) through bearings, the two groups of gears (9055) are respectively sleeved on the two groups of rotating shafts, and scraper structures (9056) are sleeved at the right ends of the two groups of rotating shafts;
the distance measuring sensor (9052) is electrically connected with the controller, and the controller is electrically connected with the electric guide rail (9053); scraper blade structure (9056) is including cup jointing scraper blade (90561) in the pivot, two sets of scraper blade (90561) all are provided with blend stop (90562), and two sets of distance between blend stop (90562) equals with splint (703), the top of scraper blade (90561) is provided with cleaning solution box (90563), and the bottom of cleaning solution box (90563) is provided with liquid outlet (90564).
2. A high degree of freedom manipulator for vascular surgery as defined in claim 1, wherein: one side that two sets of splint (703) keep away from each other all is provided with feeler lever (704), and two sets of one end that the feeler lever (704) kept away from each other all runs through carriage (701).
3. A high degree of freedom manipulator for vascular surgery as defined in claim 2, wherein: the inner wall of the bottom of the supporting frame (701) is provided with a guide surface (705), the guide surface (705) is gradually inclined downwards from right to left, and liquid discharge holes (706) are vertically and uniformly formed in the left side of the guide surface (705).
4. A high degree of freedom manipulator for vascular surgery as defined in claim 2, wherein: the blowing assembly (800) comprises two groups of fixed boxes (801) with the same structure, the left sides of the fixed boxes (801) are connected to a connecting plate (601), electric heating plates (802) are arranged inside the fixed boxes (801), air inlet holes (803) are uniformly formed in the fixed boxes (801), a fan (804) is arranged at the top of each fixed box (801), the air inlets of the fans (804) are communicated with the inside of the fixed boxes (801), the air outlets of the fans (804) are communicated with air supply pipes (805), and the air supply pipes (805) are opposite to the clamping plates (703).
5. The high degree of freedom manipulator for vascular surgery of claim 4, wherein: touch switches (806) are arranged on the opposite sides of the two fixed boxes (801), the two touch switches (806) are electrically connected with the two electric heating plates (802) respectively, and the two touch switches (806) are opposite to the two touch rods (704) respectively.
6. A high degree of freedom manipulator for vascular surgery according to any one of claims 1-5, characterised in that: the film covering assembly (510) is used for sealing the end part of the manipulator after cleaning is finished;
the film covering assembly (510) comprises a multi-section telescopic rod (511), an air pump (512), a hose (513), a fixing frame (514) and a heat-shrinkable bag (515);
the multi-section telescopic rod (511) is fixed at the lower side of the electric push rod I (500); the telescopic direction is consistent with the direction of the electric push rod I (500);
the air pump (512) is fixed at the end part of the multi-section telescopic rod (511);
an air outlet of the air pump (512) is communicated with a hose (513);
the telescopic end of the multi-section telescopic rod (511) is fixedly connected with the fixed frame (514); the fixing frame (514) is U-shaped, the upper part of the fixing frame is provided with an opening, and the gap between the two sides of the fixing frame is larger than the maximum width of the connecting component (600);
the extreme extending position of the multi-section telescopic rod (511) is positioned at the right side of the connecting assembly (600); enabling the mount (514) to be located on the right side of the connection assembly (600);
the end head of the hose (513) is fixed in the middle of the fixing frame (514);
one end of the heat-shrinkable bag (515) is opened, an air inlet nozzle (5151) is arranged at the bottom of the opening, and the exhaust end of the hose (513) can be fixedly inserted into the air inlet nozzle (5151); an opening (5152) of the heat-shrinkable bag (515) is positioned on the upper side of the air inlet nozzle (5151).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000791.2A CN113995516B (en) | 2022-01-04 | 2022-01-04 | High-freedom manipulator for vascular surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000791.2A CN113995516B (en) | 2022-01-04 | 2022-01-04 | High-freedom manipulator for vascular surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113995516A CN113995516A (en) | 2022-02-01 |
| CN113995516B true CN113995516B (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210000791.2A Active CN113995516B (en) | 2022-01-04 | 2022-01-04 | High-freedom manipulator for vascular surgery |
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| Country | Link |
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| CN (1) | CN113995516B (en) |
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| CN206357268U (en) * | 2016-11-25 | 2017-07-28 | 南陵县生产力促进中心 | A kind of cleaning device for being easy to mechanical arm |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113995516A (en) | 2022-02-01 |
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