CN114010322A - Head and neck tumour operation robot - Google Patents
Head and neck tumour operation robot Download PDFInfo
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- CN114010322A CN114010322A CN202111356190.7A CN202111356190A CN114010322A CN 114010322 A CN114010322 A CN 114010322A CN 202111356190 A CN202111356190 A CN 202111356190A CN 114010322 A CN114010322 A CN 114010322A
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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
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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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- General Health & Medical Sciences (AREA)
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- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a head and neck tumor surgical robot, which has the technical scheme key points that: comprises a mounting plate and a bottom plate for mounting the mounting plate, wherein the mounting plate is provided with a moving mechanism, the moving mechanism is provided with a hollow column, a servo hydraulic cylinder is arranged in the hollow column, the output end of the servo hydraulic cylinder is provided with an adjusting column, the servo hydraulic cylinder is arranged in the hollow column in a sliding manner, a first adjusting mechanism is arranged in the hollow column, a first servo electric cylinder is arranged on the first adjusting mechanism, an L-shaped plate is arranged on the output end of the first servo electric cylinder, a height assembly is arranged on the L-shaped plate, the horizontal angle of the second mechanical arm of the first mechanical arm can be conveniently adjusted through the rotating component, the operation on the patient can be conveniently carried out through the surgical instrument, the position of the protective cover is conveniently adjusted through the second adjusting mechanism, the head of a patient is conveniently clamped, and the internal condition of the head is conveniently known through the vision sensor.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a head and neck tumor surgical robot.
Background
The robot operation system is a comprehensive body integrating a plurality of modern high-tech means, has wide application and has a great amount of application in clinical surgery. Surgeons can operate with the machine remotely from the operating table, completely different from the traditional surgical concepts, and is a truly revolutionary surgical tool in the world field of minimally invasive surgery.
For example, chinese patent No. CN102098966A discloses a surgical robot. The surgical robot includes: a handle; a body connected with a handle; a robot arm connected with the main body and operated corresponding to a first operation of the handle; an instrument mounted at a front end of a robotic arm; and an operation unit coupled with one end of the instrument and performing an action required for a surgery corresponding to a second operation of the handle, wherein the body is coupled with the support.
Such a surgical robot as described above has the advantage of being constructed more simply and compactly; however, the above-mentioned surgical robot still has some disadvantages, such as: the whole height and the operation angle of the operation are inconvenient to adjust, and the head of the patient is not convenient to fix.
Disclosure of Invention
The invention aims to provide a head and neck tumor surgical robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the head and neck tumor surgical robot comprises a mounting plate and a bottom plate used for mounting the mounting plate, wherein a moving mechanism is mounted on the mounting plate, a hollow column is mounted on the moving mechanism, a servo hydraulic cylinder is mounted in the hollow column, an output end of the servo hydraulic cylinder is provided with an adjusting column, the servo hydraulic cylinder is slidably mounted in the hollow column, a first adjusting mechanism is mounted in the hollow column, a first servo electric cylinder is mounted on the first adjusting mechanism, an output end of the first servo electric cylinder is provided with an L-shaped plate, a height assembly is mounted on the L-shaped plate, and rotating assemblies are fixedly mounted at two ends of the height assembly;
two install first arm and second arm on the runner assembly respectively, first arm with all install surgical instruments on the second arm, first arm with all install visual sensor on the second arm, the operation panel is installed to one side of bottom plate, install two second adjustment mechanism on the operation panel, two install the protection casing on the second adjustment mechanism.
Preferably, moving mechanism includes lead screw, guide arm, a servo motor and removes the slider, the both ends of lead screw are all rotated through the bearing and are installed on the mounting panel, the both ends of guide arm are all fixed on the mounting panel, a servo motor pass through the shaft coupling with lead screw transmission connects, a servo motor fixed mounting be in on the mounting panel, remove slider threaded connection on the lead screw, and slidable mounting be in on the guide arm, hollow post is installed remove on the slider.
Preferably, the first adjusting mechanism comprises a second servo motor and a mounting seat, the second servo motor is fixedly mounted on the adjusting column, the mounting seat is fixedly mounted on an output shaft of the second servo motor, and the first servo electric cylinder is fixedly mounted on the mounting seat.
Preferably, the height assembly comprises a second servo electric cylinder and a strip-shaped plate, the second servo electric cylinder is fixedly installed on the L-shaped plate, the strip-shaped plate is fixedly installed on an output shaft of the second servo electric cylinder, and the rotating assembly is installed on the strip-shaped plate.
Preferably, the rotating assembly comprises a third servo motor and a rotating block, the third servo motor is fixedly installed on the strip-shaped plate, the rotating block is fixedly installed on an output shaft of the third servo motor, and the first mechanical arm is installed on the rotating block.
Preferably, the second adjusting mechanism comprises an electric push rod, a connecting rod, two first hinged seats and two second hinged seats, the two first hinged seats are respectively installed on the operation table and the protective cover, the two ends of the connecting rod are respectively hinged on the two first hinged seats, the two second hinged seats are respectively installed on the operation table and the connecting rod, and the two ends of the electric push rod are respectively hinged on the two second hinged seats.
Preferably, the surfaces of the operation operating table and the protective cover are both provided with silica gel layers.
Preferably, a plurality of third symmetrical servo electric cylinders are mounted on the side surface of the operation table, and two third servo electric cylinders are provided with protective supports.
Preferably, the protective support is provided with symmetrical fixed blocks, the fixed blocks are provided with guide rods, and the guide rods are slidably mounted on the operation console.
Preferably, a plurality of reinforcing rods which are distributed at equal intervals are installed on the protective bracket.
Compared with the prior art, the invention has the beneficial effects that:
in the head and neck tumor surgical robot, the horizontal moving position of the hollow column is conveniently adjusted through the moving mechanism arranged on the mounting plate, the telescopic height of the adjusting column in the hollow column is conveniently adjusted through the servo hydraulic cylinder, thereby adjusting the whole working height of the robot, conveniently adjusting the horizontal rotation angle of the robot through the first adjusting mechanism, the horizontal displacement distance between the first mechanical arm and the second mechanical arm can be conveniently adjusted through the first servo electric cylinder, the height of the first mechanical arm and the height of the second mechanical arm can be adjusted conveniently through the height component, the horizontal angle of the second mechanical arm of the first mechanical arm can be adjusted conveniently through the rotating component, the operation of the patient is conveniently carried out through the surgical instrument, the position of the protective cover is conveniently adjusted through the second adjusting mechanism, the head of the patient is conveniently clamped, and the internal condition of the skull is conveniently known through the vision sensor.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a third schematic structural diagram of the present invention;
fig. 4 is an enlarged view of a portion a in fig. 2.
In the figure: 1. a base plate; 2. a reinforcing bar; 3. mounting a plate; 4. a moving mechanism; 41. a screw rod; 42. a guide bar; 43. a first servo motor; 44. moving the slide block; 5. a hollow column; 6. a servo hydraulic cylinder; 7. an adjustment column; 8. a first adjustment mechanism; 81. a second servo motor; 82. a mounting seat; 9. a first servo electric cylinder; 10. an L-shaped plate; 11. a height component; 111. a second servo electric cylinder; 112. a strip plate; 12. a rotating assembly; 121. a third servo motor; 122. rotating the block; 13. a first robot arm; 14. a second mechanical arm; 15. a surgical instrument; 16. a vision sensor; 17. an operating table; 18. a second adjustment mechanism; 181. an electric push rod; 182. a connecting rod; 183. a first hinge mount; 184. a second hinge mount; 19. a protective cover; 20. a silica gel layer; 21. a third servo electric cylinder; 22. a protective bracket; 23. a fixed block; 24. a guide rod.
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.
Referring to fig. 1 to 4, the present invention provides a head and neck tumor surgical robot, wherein the technical scheme is as follows:
the robot comprises a mounting plate 3 and a bottom plate 1 for mounting the mounting plate 3, wherein a moving mechanism 4 is mounted on the mounting plate 3, a hollow column 5 is mounted on the moving mechanism 4, a servo hydraulic cylinder 6 is mounted in the hollow column 5, an output end of the servo hydraulic cylinder 6 is provided with an adjusting column 7, the servo hydraulic cylinder 6 is slidably mounted in the hollow column 5, a first adjusting mechanism 8 is mounted in the hollow column 5, a first servo electric cylinder 9 is mounted on the first adjusting mechanism 8, an output end of the first servo electric cylinder 9 is provided with an L-shaped plate 10, the L-shaped plate 10 is provided with a height component 11, two ends of the height component 11 are fixedly provided with rotating components 12, the horizontal moving position of the hollow column 5 is conveniently adjusted through the moving mechanism 4 mounted on the mounting plate 3, the telescopic height of the adjusting column 7 in the hollow column 5 is conveniently adjusted through the servo hydraulic cylinder 6, and the overall working height of the robot is adjusted, the horizontal rotation angle of the robot can be conveniently adjusted through the first adjusting mechanism 8, the horizontal displacement distance between the first mechanical arm 13 and the second mechanical arm 14 can be conveniently adjusted through the first servo electric cylinder 9, the height of the first mechanical arm 13 and the height of the second mechanical arm 14 can be conveniently adjusted through the height component 11, and the horizontal angle of the second mechanical arm 14 of the first mechanical arm 13 can be conveniently adjusted through the rotating component 12;
install first arm 13 and second arm 14 on two rotating assembly 12 respectively, all install surgical instruments 15 on first arm 13 and the second arm 14, all install visual sensor 16 on first arm 13 and the second arm 14, operation platform 17 is installed to one side of bottom plate 1, install two second adjustment mechanism 18 on the operation platform 17, install protection casing 19 on two second adjustment mechanism 18, conveniently operate to patient through surgical instruments 15, conveniently adjust the position of protection casing 19 through second adjustment mechanism 18, conveniently carry out the centre gripping to patient's head, conveniently know the inside situation of skull through visual sensor 16.
In this embodiment, preferably, the moving mechanism 4 includes a screw rod 41, a guide rod 42, a first servo motor 43 and a moving slider 44, two ends of the screw rod 41 are rotatably installed on the mounting plate 3 through bearings, two ends of the guide rod 42 are both fixed on the mounting plate 3, the first servo motor 43 is in transmission connection with the screw rod 41 through a coupler, the first servo motor 43 is fixedly installed on the mounting plate 3, the moving slider 44 is in threaded connection with the screw rod 41 and is slidably installed on the guide rod 42, the hollow column 5 is installed on the moving slider 44, the first servo motor 43 drives the screw rod 41 to rotate through the coupler, so as to drive the moving slider 44 to move on the guide rod 42, and the horizontal moving position of the hollow column 5 is conveniently adjusted.
In this embodiment, preferably, the first adjusting mechanism 8 includes a second servo motor 81 and a mounting seat 82, the second servo motor 81 is fixedly mounted on the adjusting column 7, the mounting seat 82 is fixedly mounted on an output shaft of the second servo motor 81, the first servo electric cylinder 9 is fixedly mounted on the mounting seat 82, and the second servo motor 81 drives the mounting seat 82 to rotate, so as to conveniently adjust the rotation angle of the first servo electric cylinder 9.
In this embodiment, preferably, the height assembly 11 includes a second servo electric cylinder 111 and a strip 112, the second servo electric cylinder 111 is fixedly installed on the L-shaped plate 10, the strip 112 is fixedly installed on an output shaft of the second servo electric cylinder 111, the rotating assembly 12 is installed on the strip 112, and the telescopic height of the strip 112 is conveniently adjusted finely by the second servo electric cylinder 111.
In this embodiment, preferably, the rotating assembly 12 includes a third servo motor 121 and a rotating block 122, the third servo motor 121 is fixedly installed on the strip-shaped plate 112, the rotating block 122 is fixedly installed on an output shaft of the third servo motor 121, the first arm 13 is installed on the rotating block 122, and the angle of the first arm 13 is conveniently adjusted through the rotating block 122 installed on the output shaft of the third servo motor 121.
In this embodiment, preferably, the second adjusting mechanism 18 includes an electric push rod 181, a connecting rod 182, two first hinged seats 183 and two second hinged seats 184, the two first hinged seats 183 are respectively installed on the surgical console 17 and the protective cover 19, two ends of the connecting rod 182 are respectively hinged on the two first hinged seats 183, the two second hinged seats 184 are respectively installed on the surgical console 17 and the connecting rod 182, two ends of the electric push rod 181 are both hinged on the two second hinged seats 184, the position of the protective cover 19 is conveniently adjusted through the hinged connecting rod 182 on the two first hinged seats 183, and the position of the connecting rod 182 is conveniently adjusted through the hinged electric push rod 181 on the two second hinged seats 184.
In this embodiment, preferably, the surfaces of the operation table 17 and the protective cover 19 are both provided with a silica gel layer 20, and the silica gel layer 20 is favorable for improving the comfort of the operation table 17 and the protective cover 19 and improving the protection of the patient.
In this embodiment, preferably, a plurality of third servo electric cylinders 21 are symmetrically installed on a side surface of the operating table 17, wherein a protective bracket 22 is installed on two third servo electric cylinders 21, and the third servo electric cylinders 21 are used for conveniently adjusting the height of the protective bracket 22 to prevent the patient from falling off the operating table 17.
In this embodiment, preferably, the protective bracket 22 is provided with symmetrical fixing blocks 23, the fixing blocks 23 are provided with guide rods 24, the guide rods 24 are slidably mounted on the operation console 17, and the guide rods 24 are slidably mounted on the operation console 17, so that the stability of movement of the protective bracket 22 is greatly improved.
In this embodiment, preferably, a plurality of reinforcing rods 2 are installed on the protective bracket 22 and distributed at equal intervals, and the installed plurality of reinforcing rods 2 are beneficial to improving the structural strength of the protective bracket 22.
The working principle and the using process of the invention are as follows:
when the head and neck tumor surgical robot is used, a patient lies on a surgical operation table 17, the position of a protective cover 19 is adjusted through a second adjusting mechanism 18 to clamp the head of the patient, the horizontal moving position of a hollow column 5 is adjusted through a moving mechanism 4, an output shaft of a servo hydraulic cylinder 6 outputs upwards, the telescopic height of an adjusting column 7 in the hollow column 5 is adjusted, the overall working height of the robot is adjusted, the horizontal rotating angle of the robot is adjusted through a first adjusting mechanism 8, the horizontal displacement distance between a first mechanical arm 13 and a second mechanical arm 14 is adjusted through a first servo electric cylinder 9, the heights of the first mechanical arm 13 and the second mechanical arm 14 are finely adjusted through a height assembly 11, the horizontal angle of the second mechanical arm 14 of the first mechanical arm 13 is adjusted through a rotating assembly 12, the first mechanical arm 13 and the second mechanical arm 14 are started to drive a surgical instrument 15 to perform surgery on the patient, while the intracranial conditions are known by the vision sensor 16.
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 (10)
1. Neck tumour surgical robot, including mounting panel (3) and be used for the installation bottom plate (1) of mounting panel (3), its characterized in that: the mounting plate (3) is provided with a moving mechanism (4), the moving mechanism (4) is provided with an hollow column (5), a servo hydraulic cylinder (6) is installed in the hollow column (5), an output end of the servo hydraulic cylinder (6) is provided with an adjusting column (7), the servo hydraulic cylinder (6) is slidably installed in the hollow column (5), the hollow column (5) is internally provided with a first adjusting mechanism (8), the first adjusting mechanism (8) is provided with a first servo electric cylinder (9), the output end of the first servo electric cylinder (9) is provided with an L-shaped plate (10), the L-shaped plate (10) is provided with a height component (11), and two ends of the height component (11) are fixedly provided with rotating components (12);
two install first arm (13) and second arm (14) on runner assembly (12) respectively, first arm (13) with all install surgical instruments (15) on second arm (14), first arm (13) with all install visual sensor (16) on second arm (14), operation panel (17) are installed to one side of bottom plate (1), install two second adjustment mechanism (18) on operation panel (17), two install protection casing (19) on second adjustment mechanism (18).
2. The head and neck tumor surgical robot of claim 1, wherein: moving mechanism (4) include lead screw (41), guide arm (42), first servo motor (43) and remove slider (44), the both ends of lead screw (41) are all installed through the bearing rotation on mounting panel (3), the both ends of guide arm (42) are all fixed on mounting panel (3), first servo motor (43) pass through the shaft coupling with lead screw (41) transmission is connected, first servo motor (43) fixed mounting be in on mounting panel (3), remove slider (44) threaded connection in on lead screw (41), and slidable mounting be in on guide arm (42), install hollow post (5) on removing slider (44).
3. The head and neck tumor surgical robot of claim 1, wherein: first adjustment mechanism (8) include second servo motor (81) and mount pad (82), second servo motor (81) fixed mounting be in adjust on post (7), mount pad (82) fixed mounting be in on the output shaft of second servo motor (81), first servo electric cylinder (9) fixed mounting be in on mount pad (82).
4. The head and neck tumor surgical robot of claim 1, wherein: height subassembly (11) include second servo electric cylinder (111) and strip shaped plate (112), second servo electric cylinder (111) fixed mounting be in on L template (10), strip shaped plate (112) fixed mounting be in on the output shaft of second servo electric cylinder (111), rotating assembly (12) are installed on strip shaped plate (112).
5. The head and neck tumor surgical robot of claim 4, wherein: the rotating assembly (12) comprises a third servo motor (121) and a rotating block (122), the third servo motor (121) is fixedly installed on the strip-shaped plate (112), the rotating block (122) is fixedly installed on an output shaft of the third servo motor (121), and the first mechanical arm (13) is installed on the rotating block (122).
6. The head and neck tumor surgical robot of claim 1, wherein: the second adjusting mechanism (18) comprises an electric push rod (181), a connecting rod (182), two first hinged seats (183) and two second hinged seats (184), the first hinged seats (183) are installed on the operation operating platform (17) and the protective cover (19) respectively, the two ends of the connecting rod (182) are hinged to the two first hinged seats (183), the two second hinged seats (184) are installed on the operation operating platform (17) and the connecting rod (182) respectively, and the two ends of the electric push rod (181) are hinged to the two second hinged seats (184).
7. The head and neck tumor surgical robot of claim 1, wherein: and silica gel layers (20) are respectively arranged on the surfaces of the operation operating table (17) and the protective cover (19).
8. The head and neck tumor surgical robot of claim 1, wherein: a plurality of symmetrical third servo electric cylinders (21) are arranged on the side surface of the operation operating platform (17), wherein two third servo electric cylinders (21) are provided with protective brackets (22).
9. The head and neck tumor surgical robot of claim 8, wherein: be provided with symmetrical fixed block (23) on protective bracket (22), install guide bar (24) on fixed block (23), guide bar (24) slidable mounting be in on operation panel (17).
10. The head and neck tumor surgical robot of claim 8, wherein: and a plurality of reinforcing rods (2) distributed at equal intervals are arranged on the protective bracket (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111356190.7A CN114010322A (en) | 2021-11-16 | 2021-11-16 | Head and neck tumour operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111356190.7A CN114010322A (en) | 2021-11-16 | 2021-11-16 | Head and neck tumour operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN114010322A true CN114010322A (en) | 2022-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111356190.7A Pending CN114010322A (en) | 2021-11-16 | 2021-11-16 | Head and neck tumour operation robot |
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| CN (1) | CN114010322A (en) |
Citations (7)
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| CN203988757U (en) * | 2014-01-14 | 2014-12-10 | 杭州金鹭医疗器械有限公司 | The liftable Novel child bed of a kind of guardrail |
| CN105919766A (en) * | 2016-05-13 | 2016-09-07 | 郑晓梅 | Multifunctional movable bracket for nursing in vascular neurosurgery |
| CN110575258A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | medical surgical instrument and surgical robot |
| CN110680505A (en) * | 2019-09-20 | 2020-01-14 | 中国地质大学（武汉） | Eight-degree-of-freedom surgical manipulator with closed-loop connecting rod |
| CN110840675A (en) * | 2019-11-21 | 2020-02-28 | 杭州宸武科技有限公司 | Nursing sickbed |
| CN111643190A (en) * | 2020-06-10 | 2020-09-11 | 广州道源信息科技有限公司 | Control device of split type minimally invasive surgery robot |
| CN214434480U (en) * | 2020-11-23 | 2021-10-22 | 诺创智能医疗科技(杭州)有限公司 | Surgical robot |
-
2021
- 2021-11-16 CN CN202111356190.7A patent/CN114010322A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203988757U (en) * | 2014-01-14 | 2014-12-10 | 杭州金鹭医疗器械有限公司 | The liftable Novel child bed of a kind of guardrail |
| CN105919766A (en) * | 2016-05-13 | 2016-09-07 | 郑晓梅 | Multifunctional movable bracket for nursing in vascular neurosurgery |
| CN110680505A (en) * | 2019-09-20 | 2020-01-14 | 中国地质大学（武汉） | Eight-degree-of-freedom surgical manipulator with closed-loop connecting rod |
| CN110575258A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | medical surgical instrument and surgical robot |
| CN110840675A (en) * | 2019-11-21 | 2020-02-28 | 杭州宸武科技有限公司 | Nursing sickbed |
| CN111643190A (en) * | 2020-06-10 | 2020-09-11 | 广州道源信息科技有限公司 | Control device of split type minimally invasive surgery robot |
| CN214434480U (en) * | 2020-11-23 | 2021-10-22 | 诺创智能医疗科技(杭州)有限公司 | Surgical robot |
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