CN114271943A - Operation mechanical arm - Google Patents
Operation mechanical arm Download PDFInfo
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- CN114271943A CN114271943A CN202111540913.9A CN202111540913A CN114271943A CN 114271943 A CN114271943 A CN 114271943A CN 202111540913 A CN202111540913 A CN 202111540913A CN 114271943 A CN114271943 A CN 114271943A
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- cantilever
- surgical
- instrument
- instrument sleeve
- surgical instruments
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Abstract
The invention discloses a surgical mechanical arm, which comprises a fixed plate fixed with a surgical robot, wherein a servo motor for driving a mechanical arm component to rotate is fixed on the fixed plate, the mechanical arm component also comprises a plurality of stages of cantilevers, the multistage cantilevers are movably connected, a detachable instrument sleeve is arranged on a last stage cantilever, a plurality of electric telescopic rods are uniformly arranged on an eccentric instrument disk driven by the servo motor in the instrument sleeve, the tail ends of the electric telescopic rods clamp different surgical instruments, the servo motor rotates, and the electric telescopic rods drive the surgical instruments to stretch, so that the switching of different surgical instruments is realized, the uncertainty caused by manual instrument replacement in the surgical process is avoided, and the surgical time is shortened.
Description
Technical Field
The invention relates to the technical field of medical operation robots, in particular to an operation mechanical arm.
Background
The operation robot is a complex integrating a plurality of modern high-tech means, is mainly used in the operation of modern medical system, enables a surgeon to operate a machine far away from an operation table, is completely different from the traditional operation concept, is a worthless revolutionary surgical tool in the field of world minimally invasive surgery, and in the operation of the surgical robot in medical diagnosis and treatment, the good design of a mechanical arm is often an important basis for the surgeon to realize accurate operation.
The mechanical arm of the existing medical diagnosis and treatment surgical robot can only clamp one surgical instrument, when a plurality of surgical instruments are needed to be used in the same operation, medical personnel often need to manually replace different surgical instruments, or the whole mechanical arm comprises a plurality of branches to clamp different instruments, the surgical instruments are replaced, the corresponding parameters are necessarily readjusted, the surgical instruments are frequently manually replaced, the smooth operation is not facilitated, and the time cost of the operation is increased.
Therefore, there is a need in the art for a surgical robotic arm that facilitates surgery by medical personnel while reducing the time required for the surgery.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a surgical mechanical arm, which solves the problems that the existing mechanical arm is single in clamping surgical instruments, and the surgical instruments on the mechanical arm are replaced manually in the surgical process, and the surgical time is prolonged due to readjustment and positioning of the surgical instruments.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to a surgical mechanical arm, which comprises a fixed plate fixed with a surgical robot, wherein a first servo motor for driving a cantilever mechanism to rotate is fixed on the fixed plate, and the surgical mechanical arm is characterized in that: the cantilever mechanism comprises a multi-stage cantilever which is movably connected, a detachable instrument sleeve is arranged at the lower end of the last stage cantilever, a plurality of surgical instruments which are called as required are arranged in the instrument sleeve, and after one surgical instrument in the instrument sleeve is positioned before an operation, different surgical instruments are replaced without being repositioned and directly called.
The invention is further improved in that: the utility model discloses a surgical instrument, including apparatus sleeve, instrument sleeve, first servo motor, second servo motor, first servo motor, second servo motor, first servo motor, second, first servo, second, and second, first servo, second, first and second, first and second, first, second, first and second, first and second, first, second, first, second, first, second, first, second, first, second, first, second, first, and second, and second, first, and second, first, second, and second, first, second, and second, first, second, and second, and second.
The invention is further improved in that: the cantilever mechanism comprises a first-stage cantilever, a second-stage cantilever and a third-stage cantilever, wherein the first-stage cantilever, the second-stage cantilever and the third-stage cantilever are sequentially connected in a rotating mode in an electric controllable mode through a steering engine.
The invention is further improved in that: the stepless cantilever is provided with a telescopic device, the lower end of the telescopic device is fixedly connected with the instrument sleeve, and the telescopic device drives the instrument sleeve to integrally move up and down.
The invention is further improved in that: the non-stage cantilever is provided with a slide rail, the other end of the connecting rod which is matched with the slide rail to slide is fixedly connected with the instrument sleeve, and the connecting rod slides on the slide rail to drive the instrument sleeve to move up and down.
The invention is further improved in that: the lower end of the two-stage cantilever is connected with a cantilever joint, the cantilever joint rotates around an axis R3, and the three-stage cantilever is rotatably connected with the cantilever joint.
The invention is further improved in that: the swinging of the cantilever, the rotation of the cantilever joint, the stretching and retracting of the non-stage cantilever, the sliding structure and the stretching and retracting of the surgical instrument are all controlled by electric connection.
The invention has the beneficial effects that:
the utility model provides a surgical manipulator adopts eccentric structure design's apparatus sleeve, second servo motor's rotation to and electric telescopic handle drives the flexible of surgical instruments, thereby realizes the switching of different surgical instruments, has avoided the artifical uncertainty that changes the apparatus and bring of operation process, shortens operation time. Meanwhile, the triple-rod transmission between the fixing plate and the instrument sleeve further improves the degree of freedom of the executing end of the surgical instrument, can better execute the fixed-point movement required by the small-incision minimally invasive surgery, and is greatly beneficial to facilitating medical staff and relieving the pain of patients.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the upper rotating shaft of the present invention.
Fig. 3 is a bottom schematic view of the sleeve of the present invention.
Wherein: 1-fixing the plate; 2-a first servo motor; 3-a primary cantilever; 4-a secondary cantilever; 5-a cantilever joint; 6-three-stage cantilever; 61-a slide rail; 62-a connecting rod; 7-an instrument sleeve; 8-second servo motor; 9-instrument tray; 10, an electric telescopic rod; 11-a surgical instrument; 12-instrument outlet.
Detailed Description
For the purpose of enhancing understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings, which are provided for the purpose of illustration only and are not to be construed as limiting the scope of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all 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 scope of protection of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the combination or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-3, the present invention is a surgical robot arm, including a fixing plate 1 fixed to a surgical robot, a first servo motor 2 fixed to the fixing plate 1 for driving a cantilever mechanism to rotate, a first cantilever 3 coaxially connected to a lower portion of the first servo motor 2, the first cantilever 3 being driven by the first servo motor 2 to rotate around a shaft R1; one end of the secondary cantilever 4 is electrically and rotatably connected with the primary cantilever 3 through a steering engine and can swing around a shaft R2, the other end of the secondary cantilever is electrically and rotatably connected with a cantilever joint 5 through the steering engine, and the cantilever joint 5 can rotate around a shaft R3; one end of the third-stage cantilever 6 is electrically and controllably connected with the cantilever joint 5 through a steering engine and can rotate around a rotating shaft R4 under the driving of the cantilever joint 5; the third-stage cantilever 6 is provided with a slide rail, the other end of a connecting rod 62 which is matched with the slide rail 61 to slide is fixedly connected with an instrument sleeve 7, the connecting rod 62 slides on the slide rail 61 to drive the instrument sleeve 7 to move up and down, a plurality of surgical instruments 11 which can be called as required are arranged in the instrument sleeve 7, and after one surgical instrument 11 in the instrument sleeve 7 is positioned before an operation, different surgical instruments 11 are replaced without being relocated to be directly called; due to the design, the multi-degree-of-freedom mobile positioning of the surgical mechanical arm can be realized through the system control of the surgical robot, a plurality of surgical instruments are arranged in the instrument sleeve, and after a certain target surgical instrument in the instrument sleeve is positioned before surgery, different surgical instruments are replaced without being repositioned and directly taken; the uncertainty caused by manual instrument replacement in the operation process is avoided, and the operation time is shortened.
More preferably: the skew centre of a circle department of upper portion in apparatus sleeve 7 be provided with second servo motor 8, apparatus dish 9 is connected to second servo motor lower extreme, terminal circumference equipartition has 10 several of vertically electric telescopic handle under the apparatus dish 9, the terminal centre gripping of electric telescopic handle 9 has different surgical instruments 10, second servo motor 8 drives apparatus dish 9 and revolves around pivot R5 rotatoryly, in order to realize the switching of different surgical instruments 11, when rotatory when corresponding surgical instruments, electric telescopic handle 10 can extend surgical instruments 11 to apparatus sleeve 9 low side apparatus export 12 department and carry out corresponding operation work. Due to the design, flexible switching of different surgical instruments is realized, uncertainty caused by manual instrument replacement in the surgical process is avoided, and surgical time is shortened.
More preferably: the instrument sleeve 7 is a split type shell with a hollow upper column and a lower conical structure, the split type shell is connected through clamping, and an instrument outlet 12 through which a surgical instrument 11 penetrates is formed in the center of the conical bottom end of the instrument sleeve 7; by the design, the installation and the replacement of surgical instruments can be better realized, and the cleaning of the surgical instruments after the operation is convenient.
More preferably: the swinging of the cantilever, the rotation of the cantilever joint and the sliding of the instrument sleeve 7 are electrically and controllably connected; by the design, the large-range preliminary adjustment and the accurate fine adjustment of the surgical mechanical arm can be increased, the multi-degree-of-freedom adjustment of surgical instruments is realized, and the corresponding surgical posture can be adjusted according to the setting of the system during surgery.
More preferred example 2: the three-stage cantilever is provided with a telescopic device, the lower end of the telescopic device is fixedly connected with an instrument sleeve, the telescopic device drives the instrument sleeve to integrally move up and down, the telescopic device can be an electric push rod or an air cylinder and the like, and other structures are the same as the embodiment.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered by the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides a surgical manipulator, includes fixed plate (1) fixed with surgical robot be fixed with drive cantilever mechanism pivoted servo motor (2) on fixed plate (1), its characterized in that: the cantilever mechanism comprises a multi-stage cantilever which is movably connected, a detachable instrument sleeve (7) is arranged at the lower end of the last stage cantilever, a plurality of surgical instruments (11) which are called as required are arranged in the instrument sleeve (7), and after one surgical instrument (11) in the instrument sleeve (7) is positioned before an operation, different surgical instruments (11) are replaced without being repositioned and directly taken out.
2. A surgical robotic arm as claimed in claim 1, wherein: instrument sleeve (7) are the split type casing of awl column structure under the hollow upper prop, split type casing passes through the block and connects, instrument sleeve (7) toper bottom center is equipped with the apparatus export (12) that supplies surgical instruments (11) to wear out, the inside skew centre of a circle department of bottom surface is equipped with apparatus dish (9) on instrument sleeve (7) circular, apparatus dish (9) are rotatory by the controllable drive of second servo motor (8) established in instrument sleeve (7), terminal circumference equipartition has vertically electric telescopic handle (10) several under apparatus dish (9), different surgical instruments (11) of electric telescopic handle (10) terminal centre gripping, the rotatory switching that realizes different surgical instruments of second servo motor (8) drive apparatus dish (9), surgical instruments (11) revolve extremely when apparatus export (12) is directly over, electric telescopic handle (10) extend surgical instruments (11) to apparatus export (12) department and carry out corresponding operation And (6) working.
3. A surgical robotic arm as claimed in claim 1, wherein: the cantilever mechanism comprises a first-stage cantilever (3), a second-stage cantilever (4) and a third-stage cantilever (6), wherein the first-stage cantilever (3), the second-stage cantilever (4) and the third-stage cantilever (6) are connected in a controllable rotating mode through a steering engine in an electrical mode.
4. A surgical robotic arm as claimed in claim 1, wherein: the stepless cantilever is provided with a telescopic device, the lower end of the telescopic device is fixedly connected with the instrument sleeve (7), and the telescopic device drives the instrument sleeve (7) to integrally move up and down.
5. A surgical robotic arm as claimed in claim 1, wherein: the stepless cantilever is provided with a slide rail (61), the other end of a connecting rod (62) which is matched with the slide rail (61) to slide is fixedly connected with an instrument sleeve (7), and the connecting rod (62) slides on the slide rail (61) to drive the instrument sleeve (7) to move up and down.
6. A surgical robotic arm as claimed in claim 1, wherein: the lower end of the two-pole cantilever (4) is connected with a cantilever joint (5), the cantilever joint (5) rotates around an axis R3, and the three-level cantilever (6) is rotatably connected with the cantilever joint (5).
7. A surgical robotic arm as claimed in claim 1, wherein: the swinging of the cantilever, the rotation of the cantilever joint (5), the stretching and retracting of the non-stage cantilever, the sliding structure and the stretching and retracting of the surgical instrument (11) are all controlled by electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111540913.9A CN114271943A (en) | 2021-12-16 | 2021-12-16 | Operation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111540913.9A CN114271943A (en) | 2021-12-16 | 2021-12-16 | Operation mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114271943A true CN114271943A (en) | 2022-04-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111540913.9A Pending CN114271943A (en) | 2021-12-16 | 2021-12-16 | Operation mechanical arm |
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| Country | Link |
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| CN (1) | CN114271943A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281839A (en) * | 2022-09-02 | 2022-11-04 | 南华大学附属第一医院 | Surgical robot structure |
| GB2624792A (en) * | 2022-09-02 | 2024-05-29 | The First Affiliated Hospital Of Univ Of South China | Surgical robot structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204814184U (en) * | 2015-06-17 | 2015-12-02 | 杨明华 | Can automatic tool changing medical treatment operation robot arm |
| CN107951564A (en) * | 2017-12-15 | 2018-04-24 | 长沙志唯电子科技有限公司 | One kind can automatic tool changer medical operating robot arm |
| CN109176555A (en) * | 2018-10-12 | 2019-01-11 | 朱国志 | A kind of assembling processing integrated mechanical hand |
| CN110584786A (en) * | 2019-09-27 | 2019-12-20 | 杭州桐高创新科技有限公司 | Mechanical arm of medical diagnosis and treatment surgical robot |
-
2021
- 2021-12-16 CN CN202111540913.9A patent/CN114271943A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204814184U (en) * | 2015-06-17 | 2015-12-02 | 杨明华 | Can automatic tool changing medical treatment operation robot arm |
| CN107951564A (en) * | 2017-12-15 | 2018-04-24 | 长沙志唯电子科技有限公司 | One kind can automatic tool changer medical operating robot arm |
| CN109176555A (en) * | 2018-10-12 | 2019-01-11 | 朱国志 | A kind of assembling processing integrated mechanical hand |
| CN110584786A (en) * | 2019-09-27 | 2019-12-20 | 杭州桐高创新科技有限公司 | Mechanical arm of medical diagnosis and treatment surgical robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281839A (en) * | 2022-09-02 | 2022-11-04 | 南华大学附属第一医院 | Surgical robot structure |
| WO2024046181A1 (en) * | 2022-09-02 | 2024-03-07 | 南华大学附属第一医院 | Surgical robot structure |
| GB2624792A (en) * | 2022-09-02 | 2024-05-29 | The First Affiliated Hospital Of Univ Of South China | Surgical robot structure |
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