CN114191090B - But intervention operation robot from end strutting arrangement of inclination adjustment - Google Patents
But intervention operation robot from end strutting arrangement of inclination adjustment Download PDFInfo
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- CN114191090B CN114191090B CN202111319345.XA CN202111319345A CN114191090B CN 114191090 B CN114191090 B CN 114191090B CN 202111319345 A CN202111319345 A CN 202111319345A CN 114191090 B CN114191090 B CN 114191090B
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- connecting unit
- limiting groove
- slave end
- rod core
- adjustable rod
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- 238000013016 damping Methods 0.000 claims description 13
- 238000002560 therapeutic procedure Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 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
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001575 pathological effect 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
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (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)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Manipulator (AREA)
Abstract
An interventional operation robot slave end supporting device capable of being adjusted in an inclined mode is arranged on an operation table and comprises a connecting part used for installing interventional operation robot slave end equipment, 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 positioned in the limiting groove and rotates the first connecting unit, and the adjustable rod core slides along the limiting groove to adjust the inclination angle of the interventional operation robot slave end equipment, so that the requirement of the operation on the angle and the position of the interventional operation robot slave end equipment during operation is met, and the adjustable rod core has the characteristic of simplicity in operation.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a slave end supporting device of an interventional operation robot capable of being adjusted in an inclined mode.
Background
The interventional therapy is a minimally invasive therapy performed by using modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.
The interventional therapy adopts a digital technology, so that the visual field of doctors is expanded, the hands of the doctors are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the interventional therapy has the size of rice grains, and can treat a plurality of diseases which cannot be treated in the past, are required to be treated by surgery or have poor medical treatment curative effects, such as tumors, hemangiomas, various bleeding and the like without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is a development trend of future medicine.
In order to reduce the radiation hazard of X-rays exposed in the growing period of the traditional Chinese medicine in the interventional operation, a remotely operated master-slave interventional operation robot is developed for the engineering. The slave end equipment of the master-slave interventional operation robot can work in a radiation environment, and a doctor controls the slave end equipment through the master end outside the radiation environment.
The auxiliary end equipment of the interventional operation robot is required to be arranged on an operation table before general operation, the inclination angle and the position of the auxiliary end equipment of the interventional operation robot relative to the operation table are adjusted according to the body information and the operation position of a patient, after the operation is finished, operators need to store the auxiliary end equipment of the interventional operation robot in a returning mode, the auxiliary end equipment of the interventional operation robot moves to one end of the operation table, in order to realize accurate delivery of a catheter guide wire, the auxiliary end equipment of the interventional operation robot is designed to be longer, and direct storage is inconvenient, so that the auxiliary end equipment supporting device of the interventional operation robot is required to be provided, and storage of the auxiliary end equipment of the interventional operation robot is assisted.
Disclosure of Invention
Based on the above, in order to meet the requirement of multidirectional rotation and movement of the auxiliary equipment of the interventional operation robot, a novel auxiliary end supporting device of the interventional operation robot is provided.
An interventional operation robot slave end supporting device capable of being adjusted in an inclined mode is arranged on an operation table and comprises a connecting part used for installing interventional operation robot slave end equipment, 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 positioned 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 operation robot.
Further, the limiting grooves comprise 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, a 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, a rotation angle of the first connecting unit relative to the second connecting unit is in a second angle range.
Further, the first limit groove and the second limit groove are arc-shaped.
Further, the first limit groove and the second limit groove are located on the same circumference.
Further, the first connection unit and the second connection unit are connected through a connection shaft.
Further, the driving gear is sleeved on the connecting shaft and fixed with the first connecting unit, the damping wheel meshed with the driving gear is arranged on the second connecting unit, 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, according to the incline-adjustable interventional operation robot slave end supporting device, the connecting part is connected with the interventional operation robot slave end equipment, when the first connecting unit rotates relative to the second connecting unit, the rotation range of the first connecting unit is limited by utilizing the cooperation of the limiting piece and the limiting groove, so that the interventional operation robot slave end equipment arranged at the connecting part has different incline angles relative to the operation bed, the requirements of the operation on the angle and the position of the interventional operation robot slave end equipment are met, and the incline-adjustable interventional operation robot slave end supporting device has the characteristic of simplicity in operation.
Drawings
FIG. 1 is a schematic view of a tilt adjustable interventional surgical robot slave end support device according to the present invention;
FIG. 2 is a schematic view of the structure of the connecting part of the present invention;
FIG. 3 is a schematic view of the structure of the limiting member of the present invention;
Fig. 4 is a schematic structural view 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 will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The distal end of the operating table is the end close to the head of the patient, and the opposite end far away from the head of the patient is the proximal end.
As shown in fig. 1, the auxiliary end supporting device of the interventional operation robot capable of being adjusted in an inclined manner 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, the front end of the first connecting unit 11 is provided with a wire slot and is connected with auxiliary end equipment of the interventional operation robot, and a control button for controlling the auxiliary end supporting device of the interventional operation robot is arranged on the auxiliary end equipment of the interventional operation robot.
As further shown in fig. 2 to 3, in the connection part 1 of the slave end supporting device of the insertion surgical robot capable of being adjusted in an inclined manner, the first connection unit 11 is connected with the second connection unit 12 through the connection shaft 125, the first connection unit 11 is sleeved at one end of the connection shaft 125, the second connection unit 12 is sleeved at the other end of the connection shaft 125 and is fixedly connected with the connection shaft 125, the connection shaft 125 is sleeved with the driving gear 121, the driving gear 121 is fixedly installed on the first connection unit 11, and one end of the second connection unit 12 sleeved on the connection shaft 125 is abutted against the driving gear 121.
The second connection unit 12 is provided with a damper wheel 122, and the damper wheel 122 is engaged with the driving gear 121. In this embodiment, two damping wheels 122 are respectively mounted on two sides of the driving gear 121, and 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 damping action of the damping wheels 122 when a certain external force is applied.
The second connecting unit 12 is further provided with a limiting piece 123, the first connecting unit 11 is provided with a limiting groove 124, the limiting piece 123 is provided with an adjustable rod core 1232 and an adjustable handle 1231, the bottom end of the adjustable rod core 1232 is located in the limiting groove 124, the first connecting unit 11 is rotated, the adjustable rod core 1232 slides along the direction of the limiting groove 124, and the adjustable handle 1231 is pulled to drive 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 which are disposed at intervals, and the adjustable lever core 1232 can be respectively located in the first limiting groove 1241 and the second limiting groove 1242 and can be switched between them. In this embodiment, the first and second limiting grooves 1241 and 1242 are arc-shaped and located on the same circumference (with the connecting shaft 125 as the center). When the auxiliary end supporting device of the interventional operation robot is installed on an operation table and supports auxiliary end equipment of the interventional operation robot, and the auxiliary end equipment of the interventional operation robot is ready to work, the bottom end of the adjustable rod core 1232 is positioned in the first limiting groove 1241 and rotates the first connecting unit 11, the adjustable rod core 1232 slides along the direction of the first limiting groove 1241, and the rotation 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 as to adjust the working position of the auxiliary end equipment of the interventional operation robot; when the interventional operation robot is withdrawn from the operation table or moved to the proximal end of the operation table from the end supporting device, the adjustment handle 1231 is pulled, the first connecting unit 11 is rotated, the bottom end of the adjustable rod core 1232 is moved to a 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, and the rotation angle of the first connecting unit 11 relative to the second connecting unit 12 is within a second angle range, for example, 40-90 degrees, namely, the storage angle range, so that the interventional operation robot is adjusted to be in the storage position, for example, the interventional operation robot is placed vertically from the end device, namely, is placed vertically to the operation table. In other embodiments, the first and second limiting grooves 1241 and 1242 may be located on two circumferences (centered on the connecting shaft 125) with different radii, respectively.
As further shown in fig. 4, the base 4 of the auxiliary end supporting device for the interventional operation robot capable of being adjusted in an inclined manner provided by the embodiment of the invention comprises a supporting plate 55, wherein a concave sliding sleeve 53 for fixing the supporting plate 55 is arranged on the supporting plate 55, the concave sliding sleeve 53 is sleeved on one side of an operating table, the auxiliary end supporting device for the interventional operation robot is pushed, and the auxiliary end device for the interventional operation robot is supported 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 auxiliary end supporting device of the interventional operation to slide along the direction of the operating bed.
Auxiliary pulleys 52 are arranged at two ends of the concave sliding sleeve 53, the auxiliary pulleys 52 assist the interventional operation slave end supporting device to slide along the direction of the operating bed, the auxiliary pulleys 52 are arranged at two ends of the concave sliding sleeve 53 symmetrically, and 4 auxiliary pulleys 52 are respectively arranged at two ends of the concave sliding sleeve 53 symmetrically.
The concave sliding sleeve 53 is also provided with a fixed bolt handle 54, the fixed bolt handle 54 is closed, and the auxiliary end supporting device of the interventional operation robot is positioned relative to the operation table.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. From end strutting arrangement of intervention operation robot that can incline to adjust installs on the operation table, its characterized in that: the connecting part comprises a first connecting unit and a second connecting unit which is rotatably connected with the first connecting unit, wherein the first connecting unit and the second connecting unit are connected through a connecting shaft, a driving gear is sleeved on the connecting shaft and fixed with the first connecting unit, a damping wheel meshed with the driving gear is arranged on the second connecting unit, and the damping wheel is used for preventing the first connecting unit from rotating relative to the second 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 positioned 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 operation robot.
2. A tilt adjustable interventional surgical robot slave end support device of claim 1, wherein: the limiting grooves comprise 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 robot slave end support device of claim 2, wherein: when the adjustable rod core is positioned in the first limiting groove, the rotation angle of the first connecting unit relative to the second connecting unit is in a first angle range.
4. A tilt adjustable interventional surgical robot slave end support device of 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 robot slave end support device of claim 2, wherein: the first limit groove and the second limit groove are arc-shaped.
6. A tilt adjustable interventional surgical robot slave end support device of claim 2, wherein: the first limit groove and the second limit groove are positioned on the same circumference.
7. A tilt adjustable interventional surgical robot slave end support device of claim 1, 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.
8. A tilt adjustable interventional surgical robot slave end support device of claim 7, 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 CN114191090B (en) | 2021-11-09 | 2021-11-09 | But intervention operation robot from end strutting arrangement of inclination adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319345.XA CN114191090B (en) | 2021-11-09 | 2021-11-09 | But intervention operation robot from end strutting arrangement of inclination adjustment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114191090A CN114191090A (en) | 2022-03-18 |
| CN114191090B true CN114191090B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111319345.XA Active CN114191090B (en) | 2021-11-09 | 2021-11-09 | But intervention operation robot from end strutting arrangement of inclination adjustment |
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| CN (1) | CN114191090B (en) |
Citations (8)
| 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 |
| 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 |
| 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/CN114191090B/en active Active
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 |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN114191090A (en) | 2022-03-18 |
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| SE01 | Entry into force of request for substantive examination | ||
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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. |
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