CN114191090A - Obliquely-adjustable slave end supporting device of interventional surgical robot - Google Patents
Obliquely-adjustable slave end supporting device of interventional surgical robot Download PDFInfo
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- CN114191090A CN114191090A CN202111319345.XA CN202111319345A CN114191090A CN 114191090 A CN114191090 A CN 114191090A CN 202111319345 A CN202111319345 A CN 202111319345A CN 114191090 A CN114191090 A CN 114191090A
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- connecting unit
- limiting groove
- slave end
- interventional surgical
- adjustable
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- 238000013016 damping Methods 0.000 claims description 15
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
A tiltable adjustable interventional surgical robot slave end supporting device is arranged on an operating bed and comprises a connecting part for installing an interventional surgical robot slave end device, wherein the connecting part comprises a first connecting unit and a second connecting unit which is rotatably connected with the first connecting unit; the second linkage unit is equipped with the locating part, the locating part is equipped with adjustable rod core and adjustment handle, first linkage unit is equipped with the spacing groove, adjustable rod core bottom is located the spacing inslot rotates first linkage unit, the adjustable rod core is followed the inclination of spacing groove slip in order to adjust the operation robot slave end equipment intervenes, has satisfied the demand to the angle and the position of interveneeing operation robot slave end equipment during the operation to have easy operation's characteristic.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a tiltable adjustable slave end supporting device of an interventional operation robot.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, the incision (puncture point) of the digital technology is only the size of rice grains, and the digital technology can treat a plurality of diseases which cannot be treated in the past, need surgical treatment or have poor curative effect in internal treatment without cutting human tissues, such as tumors, hemangioma, various kinds of bleeding and the like. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
In order to reduce the radiation hazard of X-ray exposure in the traditional Chinese medicine growth period of the interventional operation, a master-slave interventional operation robot which is operated remotely is developed for the engineering. The slave end equipment of the master-slave interventional surgical robot can work in a radiation environment, and a doctor controls the slave end equipment through the master end outside the radiation environment.
Generally, it is installed on the operation bed to intervene surgical robot slave end equipment before the operation, according to patient's health information and operation position adjustment intervene surgical robot slave end equipment inclination angle and position for the operation bed, after the operation is accomplished, operating personnel need to put in order to intervene surgical robot slave end equipment and accomodate, will intervene surgical robot slave end equipment and move the one end of operation bed, and in order to realize the accurate delivery of pipe seal wire, it is longer to intervene surgical robot slave end equipment all designs, be not convenient for directly accomodate, consequently need provide an intervene surgical robot slave end equipment strutting arrangement, supplementary the putting in order to intervene surgical robot slave end equipment and accomodate.
Disclosure of Invention
Based on this, for the diversified demand of rotating and removing that satisfies the operation robot slave end equipment of interveneeing, provide a neotype operation robot slave end strutting arrangement of interveneeing.
A tiltable adjustable interventional surgical robot slave end supporting device is arranged on an operating bed and comprises a connecting part for installing an interventional surgical robot slave end device, wherein the connecting part comprises a first connecting unit and a second connecting unit which is rotatably connected with the first connecting unit; the second connecting unit is provided with a limiting part, the limiting part is provided with an adjustable rod core and an adjusting handle, the first connecting unit is provided with a limiting groove, the bottom end of the adjustable rod core is located in the limiting groove, the first connecting unit is rotated, and the adjustable rod core slides along the limiting groove to adjust the inclination angle of the slave end equipment of the interventional surgical robot.
Furthermore, the limiting groove comprises a first limiting groove and a second limiting groove which are arranged at intervals, and the adjustable rod core is switched in the first limiting groove and the second limiting groove.
Further, when the adjustable rod core is located in the first limiting groove, the rotation angle of the first connecting unit relative to the second connecting unit is a first angle range.
Further, when the adjustable rod core is located in the second limiting groove, the rotation angle of the first connecting unit relative to the second connecting unit is a second angle range.
Further, the first limiting groove and the second limiting groove are both arc-shaped.
Furthermore, the first limiting groove and the second limiting groove are located on the same circumference.
Further, the first connecting unit and the second connecting unit are connected through a connecting shaft.
Furthermore, the connecting shaft is sleeved with a driving gear and fixed with the first connecting unit, the second connecting unit is provided with a damping wheel meshed with the driving gear, and the damping wheel is used for preventing the first connecting unit from rotating relative to the second connecting unit.
Further, the damping wheels are at least two and are used for preventing the first connecting unit from rotating clockwise and anticlockwise relative to the second connecting unit.
Further, the damping wheels are symmetrically distributed on the circumference of the driving gear.
In summary, the present invention provides a tiltable interventional surgical robot slave end supporting device connected to an interventional surgical robot slave end device through a connecting portion, and when the first connecting unit rotates relative to the second connecting unit, the rotation range of the first connecting unit is limited by the cooperation of a limiting member and a limiting groove, so that the interventional surgical robot slave end device mounted on the connecting portion has different inclination angles relative to an operating table, thereby satisfying the requirements for the angle and position of the interventional surgical robot slave end device during surgery, and having the characteristic of simple operation.
Drawings
FIG. 1 is a schematic structural view of a slave-end supporting device of a tiltable adjustable interventional surgical robot according to the present invention;
FIG. 2 is a schematic structural diagram of a connecting portion according to the present invention;
FIG. 3 is a schematic view of a position limiting element according to the present invention;
fig. 4 is a schematic structural diagram of the base of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The far end of the operation bed is the end close to the head of the patient, and the far end opposite to the far end is the near end.
As shown in fig. 1, the obliquely adjustable slave end supporting device of the interventional surgical robot provided by the embodiment of the invention comprises a connecting part 1, a supporting arm 2, a supporting column 3 and a base 4, wherein the connecting part 1 comprises a first connecting unit 11 and a second connecting unit 12, wherein a front end of the first connecting unit 11 is provided with a wire guide and is connected with a slave end device of the interventional surgical robot, and a control button for controlling the slave end supporting device of the interventional surgical robot is arranged on the slave end device of the interventional surgical robot.
As shown in fig. 2 to fig. 3, the connection portion 1 of the adjustable tilting slave end supporting device of the interventional surgical robot according to the embodiment of the present invention includes a first connection unit 11 and a second connection unit 12, which are connected by a connection shaft 125, the first connection unit 11 is sleeved on one end of the connection shaft 125, the second connection unit 12 is sleeved on the other end of the connection shaft 125 and is fixedly connected to the connection shaft 125, a driving gear 121 is sleeved on the connection shaft 125, the driving gear 121 is fixedly mounted on the first connection unit 11, and one end of the second connection unit 12 sleeved on the connection shaft 125 abuts against the driving gear 121.
The second connecting unit 12 is provided with a damping wheel 122, and the damping wheel 122 is engaged with the driving gear 121. In this embodiment, the two damping wheels 122 are respectively installed on two sides of the driving gear 121, and the damping of the damping wheels 122 is large enough, so that the first connecting unit 11 is stationary relative to the second connecting unit 12 when no external force is applied, and the first connecting unit 11 rotates relative to the second connecting unit 12 under the damping action of the damping wheels 122 when a certain external force is applied.
The second connection unit 12 is further provided with a limiting member 123, the first connection unit 11 is provided with a limiting groove 124, the limiting member 123 is provided with an adjustable rod core 1232 and an adjusting handle 1231, the bottom end of the adjustable rod core 1232 is located in the limiting groove 124, the first connection unit 11 is rotated, the adjustable rod core 1232 slides along the direction of the limiting groove 124, and the adjusting handle 1231 drives the bottom end of the adjustable rod core 1232 located in the limiting groove 124 to be away from the limiting groove 124.
The limiting groove 124 includes a first limiting groove 1241 and a second limiting groove 1242 arranged at an interval, and the adjustable rod core 1232 may be respectively located in the first limiting groove 1241 and the second limiting groove 1242 and switched therebetween. In this embodiment, the first limiting groove 1241 and the second limiting groove 1242 are both arc-shaped and located on the same circumference (with the connecting shaft 125 as a center). When the slave-end supporting device of the interventional surgical robot is installed on an operating bed to support slave-end equipment of the interventional surgical robot, and the slave-end equipment of the interventional surgical robot is ready to work, the bottom end of the adjustable rod core 1232 is positioned in the first limiting groove 1241, the first connecting unit 11 is rotated, the adjustable rod core 1232 slides along the direction of the first limiting groove 1241, and the rotating angle of the first connecting unit 11 relative to the second connecting unit 12 is a first angle range, such as 0-30 degrees, namely a working angle range, so that the working position of the slave-end equipment of the interventional surgical robot is adjusted; when the interventional operation robot is withdrawn from the operation bed or moved to the near end of the operation bed from the end supporting device, and the interventional operation robot needs to be stored in the end equipment, the adjusting handle 1231 is pulled, the first connecting unit 11 is rotated, the bottom end of the adjustable rod core 1232 is moved to the position opposite to the second limiting groove 1242, the adjustable rod core 1232 is released, the bottom end of the adjustable rod core 1232 is inserted into the second limiting groove 1242, the first connecting unit 11 is continuously rotated, the rotating angle of the first connecting unit 11 relative to the second connecting unit 12 is in a second angle range, such as 40-90 degrees, namely, the storage angle range, so that the slave end equipment of the interventional operation robot is adjusted to be in the storage position, such as the slave end equipment of the interventional operation robot is vertically arranged, namely, the slave end equipment of the interventional operation robot is vertically arranged with the operation bed. In other embodiments, the first limiting groove 1241 and the second limiting groove 1242 may also be located on two circumferences (with the connecting shaft 125 as a center) with different radii.
As shown in fig. 4, the base 4 of the obliquely adjustable slave-end supporting device of the interventional surgical robot according to the embodiment of the present invention includes a supporting plate 55, wherein a concave sliding sleeve 53 for fixing the supporting plate 55 is installed on the supporting plate 55, and the concave sliding sleeve 53 is installed at one side of the operating table in a sleeving manner, so as to push the slave-end supporting device of the interventional surgical robot and support the slave-end equipment of the interventional surgical robot to slide along the direction of the operating table.
The other end of the supporting plate 55 is provided with a main pulley 51, and the main pulley 51 assists the interventional operation slave end supporting device to slide along the direction of the operating table.
The auxiliary pulleys 52 are installed at two ends of the concave sliding sleeve 53, the auxiliary pulleys 52 assist the interventional operation to slide along the direction of the operating table from the end supporting device, the plurality of auxiliary pulleys 52 are symmetrically installed at two ends of the concave sliding sleeve 53, and for example, 4 auxiliary pulleys 52 are symmetrically installed at two ends of the concave sliding sleeve 53.
The concave sliding sleeve 53 is also provided with a fixing bolt handle 54, the fixing bolt handle 54 is closed, and the slave end supporting device of the interventional operation robot is positioned relative to the operating table.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (10)
1. The utility model provides an intervention operation robot from end strutting arrangement that tilting adjustment is installed on the operation table which characterized in that: the connecting part is used for installing slave end equipment of the interventional operation robot and comprises a first connecting unit and a second connecting unit which is rotatably connected with the first connecting unit; the second connecting unit is provided with a limiting part, the limiting part is provided with an adjustable rod core and an adjusting handle, the first connecting unit is provided with a limiting groove, the bottom end of the adjustable rod core is located in the limiting groove, the first connecting unit is rotated, and the adjustable rod core slides along the limiting groove to adjust the inclination angle of the slave end equipment of the interventional surgical robot.
2. A tilt adjustable interventional surgical robotic slave end support device according to claim 1, wherein: the limiting groove comprises a first limiting groove and a second limiting groove which are arranged at intervals, and the adjustable rod core is switched in the first limiting groove and the second limiting groove.
3. A tilt adjustable interventional surgical robotic slave end support device according to claim 2, wherein: when the adjustable rod core is positioned in the first limiting groove, the rotating angle of the first connecting unit relative to the second connecting unit is a first angle range.
4. A tilt adjustable interventional surgical robotic slave end support device according to claim 2, wherein: when the adjustable rod core is positioned in the second limiting groove, the rotation angle of the first connecting unit relative to the second connecting unit is in a second angle range.
5. A tilt adjustable interventional surgical robotic slave end support device according to claim 2, wherein: the first limiting groove and the second limiting groove are arc-shaped.
6. A tilt adjustable interventional surgical robotic slave end support device according to claim 2, wherein: the first limiting groove and the second limiting groove are located on the same circumference.
7. A tilt adjustable interventional surgical robotic slave end support device according to claim 1, wherein: the first connecting unit and the second connecting unit are connected through a connecting shaft.
8. A tilt adjustable interventional surgical robotic slave end support device according to claim 7, wherein: the connecting shaft is sleeved with a driving gear and fixed with the first connecting unit, the second connecting unit is provided with a damping wheel meshed with the driving gear, and the damping wheel is used for preventing the first connecting unit from rotating relative to the second connecting unit.
9. A tilt adjustable interventional surgical robotic slave end support device according to claim 8, wherein: the damping wheels are at least two and are used for preventing the first connecting unit from rotating clockwise and anticlockwise relative to the second connecting unit.
10. A tilt adjustable interventional surgical robotic slave end support device according to claim 9, wherein: the damping wheels are symmetrically distributed on the circumference of the driving gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319345.XA CN114191090A (en) | 2021-11-09 | 2021-11-09 | Obliquely-adjustable slave end supporting device of interventional surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319345.XA CN114191090A (en) | 2021-11-09 | 2021-11-09 | Obliquely-adjustable slave end supporting device of interventional surgical robot |
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| Publication Number | Publication Date |
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| CN114191090A true CN114191090A (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111319345.XA Pending CN114191090A (en) | 2021-11-09 | 2021-11-09 | Obliquely-adjustable slave end supporting device of interventional surgical robot |
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| CN (1) | CN114191090A (en) |
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| WO2011058493A1 (en) * | 2009-11-12 | 2011-05-19 | Koninklijke Philips Electronics N.V. | A steering system and a catcher system |
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| CN205814428U (en) * | 2016-03-16 | 2016-12-21 | 北京理工大学 | A kind of pose mechanical conditioning type moveable platform |
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| CN107019559A (en) * | 2016-11-16 | 2017-08-08 | 温州医科大学附属眼视光医院 | Full-automatic ophthalmologic operation robot |
| CN208640842U (en) * | 2017-11-30 | 2019-03-26 | 中国人民解放军第三〇九医院 | Convenient for adjusting the cardiovascular intervention sting device of puncture angle |
| CN212699107U (en) * | 2020-06-23 | 2021-03-16 | 四川大学 | Robot for vascular intervention operation |
| CN112773566A (en) * | 2021-02-07 | 2021-05-11 | 潘湘斌 | Universal heart valvulopathy interventional instrument stabilizer |
-
2021
- 2021-11-09 CN CN202111319345.XA patent/CN114191090A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011058493A1 (en) * | 2009-11-12 | 2011-05-19 | Koninklijke Philips Electronics N.V. | A steering system and a catcher system |
| CN102596306A (en) * | 2009-11-12 | 2012-07-18 | 皇家飞利浦电子股份有限公司 | A steering system and a catcher system |
| CN102670309A (en) * | 2012-06-12 | 2012-09-19 | 北京航空航天大学 | Route adjusting device for fracture surgery |
| CN205814428U (en) * | 2016-03-16 | 2016-12-21 | 北京理工大学 | A kind of pose mechanical conditioning type moveable platform |
| CN106236275A (en) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | The operating theater instruments that a kind of cleft hand is swingable |
| CN107019559A (en) * | 2016-11-16 | 2017-08-08 | 温州医科大学附属眼视光医院 | Full-automatic ophthalmologic operation robot |
| CN208640842U (en) * | 2017-11-30 | 2019-03-26 | 中国人民解放军第三〇九医院 | Convenient for adjusting the cardiovascular intervention sting device of puncture angle |
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| CN112773566A (en) * | 2021-02-07 | 2021-05-11 | 潘湘斌 | Universal heart valvulopathy interventional instrument stabilizer |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |