CN114469384A - Multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery - Google Patents
Multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery Download PDFInfo
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- CN114469384A CN114469384A CN202210141090.0A CN202210141090A CN114469384A CN 114469384 A CN114469384 A CN 114469384A CN 202210141090 A CN202210141090 A CN 202210141090A CN 114469384 A CN114469384 A CN 114469384A
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention belongs to the technical field of a mirror holding arm, and discloses a multi-degree-of-freedom mirror holding arm for laparoscopic minimally invasive surgery. According to the invention, the angle adjustment between the second mechanical arm and the first mechanical arm is realized by utilizing the triangle internal angle and the law, a servo motor is not needed for control and a servo system is not needed in the whole process, instead, hydraulic oil is used as a power source and the pressure of the hydraulic oil is converted into the angle change between the two mechanical arms, the action of the mechanical arms can be conveniently controlled only by controlling the pumping in and the sucking out of the hydraulic oil, the cost is lower, the structure is reliable, the angle can be accurately controlled through the accurate control of the hydraulic oil, the precision same as that of the servo motor is achieved, the service life is longer, and the popularization is facilitated.
Description
Technical Field
The invention relates to the technical field of a lens holding arm, in particular to a multi-degree-of-freedom lens holding arm for laparoscopic minimally invasive surgery.
Background
Laparoscopic surgery is a newly developed minimally invasive method and is a necessary trend for the development of future surgical methods. With the rapid advance of industrial manufacturing technology, the fusion of related subjects lays a firm foundation for developing new technology and new method, and additionally, doctors perform more and more skillful operations, so that many past open operations are replaced by intracavity operations, the operation selection opportunities are greatly increased, the traditional method of the posterior laparoscopic operation is to make three small 1 cm cuts in the waist of a patient, insert a pipeline-shaped working channel called trocar respectively, and perform all the following operations through the three pipelines; the same steps as those of an open surgery are completed by a specially-made lengthened surgical instrument under the television monitoring, the same surgical effect is achieved, in a common laparoscopic minimally invasive surgery, a lens holding arm is often needed to achieve shooting, assist in surgical operation and the like, so that in the laparoscopic minimally invasive surgery process, the used lens holding arm is extremely important, and generally directly relates to the quality of the surgery.
In order to realize auxiliary operations such as shooting in minimally invasive surgery, the prior art generally modifies the traditional mechanical arm equipment into a mirror holding arm suitable for minimally invasive surgery, the common mirror holding arm is generally formed by combining three mechanical arms, and each mechanical arm can rotate, meanwhile, the mechanical arm at the bottom can also directly rotate, the movement with high degree of freedom is realized through the action of a plurality of joints, the shooting requirement is met, however, in order to achieve a higher degree of freedom, a servo motor is generally used as a joint transmission device in the prior art, but because the requirement on the stability of the mechanical arm in the minimally invasive surgery is extremely high, when the servo motor is adopted, the stability of the mechanical arm is influenced to a certain extent because the servo motor is in a high-load state and needs to be controlled by a program, meanwhile, a plurality of servo motors and servo control systems all bring cost rise, and use cost is increased.
In common abdominal cavity minimal access surgery, except that need adopt to hold the mirror arm to shoot the affected part and conduct to the demand of monitor, it can carry out the centre gripping to some parts to generally still need to hold the mirror arm and satisfy the action that some hands are difficult to accomplish, the mirror arm part that holds that adopts at present possesses the clamping function, but the power source of its adoption is mainly servo motor, even realize the centre gripping with servo motor control arm lock, not only need the user to study servo system, and because the arm lock needs to be continuously applied the clamp force to by the centre gripping object in the clamping process, lead to servo motor to be in the locked rotor state for a long time, long-time locked rotor state very easily leads to servo motor to burn, cause the influence easily to the operation process.
Based on the technical scheme, the invention designs the multi-degree-of-freedom endoscope holding arm for the laparoscopic minimally invasive surgery to solve the problems.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery comprises a first mechanical arm, a base is arranged below the first mechanical arm, a second mechanical arm is movably arranged at the top end of the first mechanical arm through a rotating shaft, a third mechanical arm is movably arranged at the top end of the second mechanical arm, a mounting plate is fixedly arranged on the position, close to the top end, of the right side of the second mechanical arm, an oil storage tank is embedded and mounted inside the mounting plate, a fixing sleeve is fixedly communicated with the bottom end of the oil storage tank, a movable rod is arranged below the fixing sleeve, a movable block is fixedly mounted below the movable rod, a fixing seat is arranged at the bottom end of the movable block, the bottom end of the fixing seat is fixedly connected with the middle of the top end of the first mechanical arm, a clamping device is fixedly mounted at the front end of the third mechanical arm, an oil delivery pipe is fixedly communicated with the top end of the oil storage tank, and the other end of the oil delivery pipe is fixedly communicated with the top end of the clamping device, and a valve is arranged between the oil delivery pipe and the oil storage tank.
As a further technical scheme of the invention, the movable block is rotatably connected with the fixed seat through a rotating shaft, the top end of the movable rod penetrates through the bottom end of the fixed sleeve and is fixedly provided with a piston plate positioned in the fixed sleeve, and the piston plate is movably sleeved with the fixed sleeve.
When the angle adjusting device is used, when the angle between the first mechanical arm and the second mechanical arm needs to be controlled to finish the action of the mechanical arm, the valve between the fixed sleeve and the oil storage tank can be opened, hydraulic oil in the oil storage tank can enter the inside of the fixed sleeve and give pressure to the top end of a piston plate in the fixed sleeve, the piston plate and the movable rod can be pushed to move downwards relative to the fixed sleeve at the moment, because the whole length of the second mechanical arm and the first mechanical arm is unchanged, the length of the fixed sleeve and the movable rod which are overlapped with each other is increased, according to the law that the triangle inner angle and the invariability are met, the included angle between the second mechanical arm and the first mechanical arm is increased, at the moment, the movable rod can rotate relative to the fixed seat under the driving of the movable block, the second mechanical arm rotates relative to one end of the first mechanical arm immediately, the angle adjustment is finished, otherwise, the hydraulic oil in the fixed sleeve is recovered through the valve and flows into the oil storage tank again, and the clamp between the second mechanical arm and the first mechanical arm can be reduced And (6) angle, realizing action adjustment.
Through being provided with oil storage tank and fixed cover, and be equipped with hydraulic oil in the inside of oil storage tank, realize the inside of the fixed cover of hydraulic oil injection and then realize the motion of movable rod through opening the valve, and utilize triangle-shaped interior angle and law to realize the angle modulation between second arm and the first arm, whole in-process need not to use servo motor to control and do not need servo, and then adopt hydraulic oil as power source and change the pressure of hydraulic oil into the angle change between two arms, the action of the control arm that only need the pump income and the suction of control hydraulic oil can be convenient, the cost is lower and the structure is reliable, also can carry out accurate control to the angle through the accurate control to hydraulic oil, reached the precision the same with servo motor, and the life-span is higher, do benefit to the popularization.
As a further technical scheme, the top end of the fixed sleeve is fixedly communicated with the bottom end of the oil storage tank, a valve is arranged between the oil storage tank and the fixed sleeve, and the oil storage tank, the fixed sleeve and the movable rod are parallel to the second mechanical arm.
Because the oil storage tank and the fixed sleeve as well as the movable rod and the second mechanical arm are in parallel relation, when the first mechanical arm and the second mechanical arm rotate relatively, the connecting point of the first mechanical arm and the second mechanical arm can be utilized as an axis to rotate, the movable rod can rotate relative to the fixed seat, the axis is a rotating shaft connected with the movable block and the fixed seat, and the parallel relation with the second mechanical arm is always kept in the rotating process, so that the stability of angle adjustment between the second mechanical arm and the first mechanical arm is ensured.
As a further technical scheme, the clamping device comprises an installation seat, the back surface of the installation seat is fixedly connected with the front end of the third mechanical arm, a movable frame is movably installed at the front end of the installation seat through a rotating shaft, a fixed cylinder is fixedly installed at the front end of the movable frame, and the other end of the oil delivery pipe is fixedly communicated with the top end of the fixed cylinder.
According to a further technical scheme, an oil storage pipe is fixedly sleeved in the fixed cylinder, an oil delivery hole is formed in the position, close to the right side, of the outer side surface of the oil storage pipe, the oil delivery hole penetrates through the outer side surface of the fixed cylinder and is fixedly communicated with the oil delivery pipe, a push block is movably sleeved in the oil storage pipe, a push rod is fixedly installed at the left end of the push block, and a movable plate is fixedly installed at the left end of the push rod, penetrates through the left end of the oil storage pipe.
Can pass through the inside of defeated oil pipe pump income oil transmission hole with hydraulic oil through opening the inside oil pump that is located the oil storage tank to through the inside of defeated oil hole entering oil storage pipe, because the output of oil transmission hole is located the right-hand member of ejector pad, so can exert pressure to the one end of ejector pad when hydraulic oil gets into the inside of oil storage pipe, can drive the relative oil storage pipe of push rod and move to the left side, and drive the relative oil storage pipe of fly leaf and move to the left side, realize power transmission.
Through the oil circuit of rational design, the inside hydraulic oil of accessible oil storage tank provides power source for clamping device, changes the pressure of the inside hydraulic oil of oil storage tank into clamping device's kinetic energy, realizes mechanical action, provides power for follow-up operation.
As a further technical scheme, a movable groove is formed in the middle of the fixed cylinder, the oil storage pipe is located inside the movable groove, the movable plate is movably clamped with the movable groove, a limiting groove is formed in the outer side surface of the movable groove at an equal angle, a limiting seat is fixedly mounted on the outer side surface of the movable plate at an equal angle, and the limiting seat is movably clamped with the limiting groove.
As a further technical scheme of the invention, a first fixing rod is fixedly arranged on the outer side surface of the fixing barrel at an equal angle, one end of the first fixing rod is movably connected with a clamping arm through a rotating shaft, a through groove is formed in the position, close to the right side, of the top end of the clamping arm, a second fixing rod is movably connected inside the through groove through a rotating shaft, and the other end of the second fixing rod is movably connected with the inside of the limiting seat.
When the inside of oil storage pipe is gone into to hydraulic oil pump, can drive the relative movable groove of fly leaf and control the displacement, displacement about the spacing seat of fly leaf lateral surface also can be relative spacing groove this moment, and because the internally mounted of spacing seat has the second dead lever, so when spacing seat is to the left side displacement, the top of second dead lever can take place to deflect to the right side, when the second dead lever further takes place to deflect, can touch the right-hand member that leads to the groove, the arm lock can take place to deflect to the inboard relative first dead lever under the drive of first dead lever this moment, can realize pressing from both sides tight operation through four arm locks, and when the suction is located the inside hydraulic oil of oil storage pipe, the fly leaf can move to the right side this moment and then finally drive the arm lock and deflect to the outside, can realize relaxing the operation through four arm locks.
Through being provided with oil storage pipe and defeated oil pipe, utilize defeated oil pipe to be linked together between oil storage pipe and the oil storage tank, and install the arm lock at the lateral surface of fixed cylinder, utilize the inside hydraulic oil of oil storage tank to carry the inside of oil storage pipe into the kinetic energy of push rod with the pressure of hydraulic oil, and the effect through the second dead lever will be changed the kinetic energy of controlling the displacement into tight strength of clamp, avoided the tradition to hold and use servo motor for a long time in the mirror arm and keep clamping device clamp force and the locked-rotor state that causes, change and adopt the hydraulic oil of accurate pump income to realize clamping device's opening and shutting, the higher and tight stability of clamp of life, be fit for the minimal access surgery occasion, the pump income and the suction that utilize hydraulic oil have not only realized arm angle's adjustment and have realized accurate stable clamp effect simultaneously, do benefit to and use at the operation scene.
As a further technical solution of the present invention, a magnetic ring is fixedly installed on the front surface of the movable plate, and a pressing rod located on the front surface of the movable plate is connected to the inside of the magnetic ring in an adsorbing manner.
When hydraulic oil pump goes into the oil storage pipe or by the inside of suction oil storage pipe, the ejector pad and the push rod that are located the oil storage pipe inside this moment can control the displacement thereupon, and can drive the left and right sides displacement of fly leaf when the push rod is controlled the displacement, and can select the pressure push rod of suitable specification according to the actual demand before accurate pressing operation, and will press and adsorb between push rod and the magnetic ring and accomplish the installation, can drive when the fly leaf is controlled the displacement and press the left and right sides displacement of push rod, and then utilize and press the push rod to replace the staff to accomplish accurate operation such as pressing.
Through the installation between the pressing rod and the magnetic ring of suitable specification, utilize required hydraulic oil to come as the power source of pressing down the action in the centre gripping action, not only need not to use transmission parts such as extra servo motor to accomplish the operation of pressing down, but also the comparatively accurate operation of pressing down of time, and it is higher to press down the precision, avoid the tradition to hold the mirror arm and need the action of a plurality of joints to realize accurate operation, the cost is lower, and execution efficiency is higher, the pump income and the suction that utilize hydraulic oil have not only realized the accurate adjustment of arm angle and clamping device's stable centre gripping and have realized comparatively accurate pressing down, the professional operation of comparatively complicacy among the adaptation operation process.
As a further technical scheme of the invention, a heating pipe is fixedly installed inside the oil storage tank in a spiral shape, the other end of the first mechanical arm is movably connected with a movable seat through a rotating shaft, an installation groove is formed in the middle of the top end of the base, a motor is fixedly installed inside the installation groove, and the top end of an output shaft of the motor is fixedly connected with the bottom end of the movable seat.
When using, the accessible is opened and is located the inside heating pipe of oil storage tank and heats the hydraulic oil that is located oil storage tank inside to guarantee that the mobility of the inside hydraulic oil of oil storage tank can not cause the influence to follow-up operation, the motor is opened to the accessible simultaneously, uses the rotation that the motor drove the whole arm in base top to satisfy rotation demand on a large scale, satisfies the operation under the different environment.
As a further technical scheme of the invention, the outer side surface of the base is fixedly provided with the ear plates at equal angles, and the inner side surfaces of the ear plates are provided with fixing holes.
Before use, the device may be mounted by means of lugs located inside the base and using fixing bolts to secure the device in place.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the oil storage tank and the fixed sleeve are arranged, hydraulic oil is filled in the oil storage tank, the hydraulic oil is injected into the fixed sleeve by opening the valve so as to realize the movement of the movable rod, the angle adjustment between the second mechanical arm and the first mechanical arm is realized by utilizing the triangle inner angle and law, the whole process is controlled without using a servo motor and a servo system, the hydraulic oil is used as a power source, the pressure of the hydraulic oil is converted into the angle change between the two mechanical arms, the action of the mechanical arms can be conveniently controlled only by controlling the pumping-in and the pumping-out of the hydraulic oil, the cost is lower, the structure is reliable, the angle can be accurately controlled by accurately controlling the hydraulic oil, the precision same as that of the servo motor is achieved, the service life is longer, and the popularization is facilitated.
2. According to the invention, the oil storage pipe and the oil delivery pipe are arranged, the oil delivery pipe is used for communicating the oil storage pipe and the oil storage tank, the clamping arm is arranged on the outer side surface of the fixed cylinder, hydraulic oil in the oil storage tank is delivered to the interior of the oil storage pipe to convert the pressure of the hydraulic oil into the kinetic energy of the push rod, and the kinetic energy of left and right displacement is converted into clamping force under the action of the second fixed rod, so that the phenomenon that the clamping device keeps the clamping force for a long time to cause a locked-rotation state in the traditional endoscope holding arm due to the fact that a servo motor is used for the long time is avoided, and the clamping device is opened and closed by adopting the accurately pumped hydraulic oil.
3. According to the invention, through the installation between the pressing rod and the magnetic ring with proper specifications, the hydraulic oil required in the clamping action is used as a power source of the pressing action, so that the pressing operation is completed without using additional transmission parts such as a servo motor and the like, meanwhile, the time is relatively accurate, the pressing precision is relatively high, the phenomenon that the traditional microscope arm needs a plurality of joints to realize accurate operation is avoided, the cost is relatively low, the execution efficiency is relatively high, the accurate adjustment of the angle of the mechanical arm and the stable clamping of the clamping device are realized by pumping and sucking the hydraulic oil, the relatively accurate pressing is realized, and the device is suitable for relatively complex professional operation in the operation process.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the base structure of the present invention;
fig. 3 is a cross-sectional view of the internal structure of the pouch of the present invention;
FIG. 4 is a schematic view of the clamping device of the present invention in isolation;
FIG. 5 is a sectional view showing the inner structure of the fixing cylinder according to the present invention;
FIG. 6 is an exploded view of the pressing rod structure of the present invention;
fig. 7 is a sectional view showing the internal structure of the oil storage tube according to the present invention;
fig. 8 is a sectional view showing an internal structure of the oil storage tank of the present invention.
In the figure: 1. a first robot arm; 2. a base; 3. an ear plate; 4. a fixing hole; 5. mounting grooves; 6. a motor; 7. a second mechanical arm; 8. a movable seat; 9. mounting a plate; 10. an oil storage tank; 11. heating a tube; 12. a fixed seat; 13. a movable block; 14. fixing a sleeve; 15. a piston plate; 16. a movable rod; 17. a third mechanical arm; 18. an oil delivery pipe; 19. a clamping device; 191. a mounting seat; 192. a movable frame; 193. a fixed cylinder; 194. a movable groove; 195. a limiting groove; 196. an oil transfer hole; 197. a movable plate; 198. a limiting seat; 199. clamping arms; 1910. a first fixing lever; 1911. a through groove; 1912. a second fixing bar; 1913. an oil storage tube; 1914. a push rod; 1915. a push block; 1916. a magnetic ring; 1917. the lever is pressed.
Detailed Description
As shown in fig. 1, 2 and 3, in the embodiment of the present invention, a multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery includes a first mechanical arm 1, a base 2 is disposed below the first mechanical arm 1, a second mechanical arm 7 is movably mounted at the top end of the first mechanical arm 1 through a rotating shaft, a third mechanical arm 17 is movably mounted at the top end of the second mechanical arm 7, a mounting plate 9 is fixedly mounted at a position on the right side of the second mechanical arm 7 near the top end, an oil storage tank 10 is mounted in the mounting plate 9 in an embedded manner, a fixing sleeve 14 is fixedly communicated with the bottom end of the oil storage tank 10, a movable rod 16 is disposed below the fixing sleeve 14, a movable block 13 is fixedly mounted below the movable rod 16, a fixing seat 12 is disposed at the bottom end of the movable block 13, the bottom end of the fixing seat 12 is fixedly connected with the middle portion of the top end of the first mechanical arm 1, and a clamping device 19 is fixedly mounted at the front end of the third mechanical arm 17, fixed intercommunication in the top of oil storage tank 10 has defeated oil pipe 18, the other end of defeated oil pipe 18 and the fixed intercommunication in clamping device 19's top, install the valve between defeated oil pipe 18 and the oil storage tank 10, movable block 13 rotates with fixing base 12 through the pivot to be connected, the bottom and the fixed mounting that fixed cover 14 was run through on the top of movable rod 16 are located the inside piston plate 15 of fixed cover 14, the activity cup joints between piston plate 15 and the fixed cover 14, can install the reset spring that is used for reseing between movable rod 16 and the fixed cover 14, the internally mounted of oil storage tank 10 has the oil pump that is used for pump oil and oil absorption.
The first embodiment:
when the angle between the first mechanical arm 1 and the second mechanical arm 7 needs to be controlled to complete the motion of the mechanical arm, the valve between the fixed sleeve 14 and the oil storage tank 10 can be opened, hydraulic oil in the oil storage tank 10 can enter the fixed sleeve 14 and apply pressure to the top end of the piston plate 15 in the fixed sleeve 14, at this time, the piston plate 15 and the movable rod 16 can be pushed to move downwards relative to the fixed sleeve 14, at this time, because the whole length of the second mechanical arm 7 and the first mechanical arm 1 is unchanged, the length of the mutual superposition of the fixed sleeve 14 and the movable rod 16 is increased, according to the law of the unchanged interior angle of a triangle, the included angle between the second mechanical arm 7 and the first mechanical arm 1 is increased, at this time, the movable rod 16 can rotate relative to the fixed seat 12 under the driving of the movable block 13, the second mechanical arm 7 rotates relative to one end of the first mechanical arm 1, and the angle adjustment is completed, otherwise, the hydraulic oil in the valve recovery fixing sleeve 14 flows into the oil storage tank 10 again, so that the included angle between the second mechanical arm 7 and the first mechanical arm 1 can be reduced, and the action adjustment is realized.
Through being provided with oil storage tank 10 and fixed cover 14, and be equipped with hydraulic oil in the inside of oil storage tank 10, realize the inside of the fixed cover 14 of hydraulic oil injection and then realize the motion of movable rod 16 through opening the valve, and utilize triangle-shaped interior angle and law to realize the angle modulation between second arm 7 and the first arm 1, whole in-process need not to use servo motor to control and do not need servo, and it changes the angle between two arms to adopt hydraulic oil as power source and change the pressure of hydraulic oil into, the action of the pump income and the suction control arm that only need control hydraulic oil can be convenient, the cost is lower and the structure is reliable, also can carry out accurate control to the angle through the accurate control to hydraulic oil, reached the precision the same with servo motor, and the life-span is higher, do benefit to the popularization.
As shown in fig. 1 and 3, the top end of the fixing sleeve 14 is fixedly communicated with the bottom end of the oil storage tank 10, a valve is arranged between the oil storage tank 10 and the fixing sleeve 14, and the oil storage tank 10, the fixing sleeve 14 and the movable rod 16 are parallel to the second mechanical arm 7.
Because the oil storage tank 10, the fixed sleeve 14, the movable rod 16 and the second mechanical arm 7 are in parallel relation, when the first mechanical arm 1 and the second mechanical arm 7 rotate relatively, the connecting point of the first mechanical arm 1 and the second mechanical arm 7 can be used as an axis to rotate, the movable rod 16 can rotate relative to the fixed seat 12, the axis is a rotating shaft connected with the movable block 13 and the fixed seat 12, and the parallel relation between the movable rod and the second mechanical arm 7 is always kept in the rotating process, so that the stability of angle adjustment between the second mechanical arm 7 and the first mechanical arm 1 is ensured.
As shown in fig. 4, 5 and 7, the clamping device 19 includes an installation base 191, a back surface of the installation base 191 is fixedly connected with a front end of the third mechanical arm 17, a movable frame 192 is movably installed at a front end of the installation base 191 through a rotating shaft, a fixed cylinder 193 is fixedly installed at a front end of the movable frame 192, the other end of the oil delivery pipe 18 is fixedly communicated with a top end of the fixed cylinder 193, an oil storage pipe 1913 is fixedly sleeved inside the fixed cylinder 193, an oil delivery hole 196 is formed in a position, close to the right side, of an outer side surface of the oil storage pipe 1913, the oil delivery hole 196 penetrates through the outer side surface of the fixed cylinder 193 and is fixedly communicated with the oil delivery pipe 18, a push block 1915 is movably sleeved inside the oil storage pipe 1913, a push rod 1914 is fixedly installed at a left end of the push block 1915, a left end of the push rod 1914 penetrates through a left end of the oil storage pipe 1913 and is fixedly installed with a movable plate 197, and a return spring for returning can be installed between the oil storage pipe 1913 and the push rod 1914.
Hydraulic oil can be pumped into the oil delivery hole 196 through the oil delivery pipe 18 by starting an oil pump positioned in the oil storage tank 10, and enters the oil storage pipe 1913 through the oil delivery hole 196, and because the output end of the oil delivery hole 196 is positioned at the right end of the push block 1915, when the hydraulic oil enters the oil storage pipe 1913, pressure is applied to one end of the push block 1915, so that the push rod 1914 can be driven to move leftwards relative to the oil storage pipe 1913, and the movable plate 197 is driven to move leftwards relative to the oil storage pipe 1913, so that power transmission is realized.
Through the oil circuit of rational design, the inside hydraulic oil of accessible oil storage tank 10 provides the power source for clamping device 19, changes the pressure of the inside hydraulic oil of oil storage tank 10 into clamping device 19's kinetic energy, realizes mechanical action, provides power for follow-up operation.
As shown in fig. 4, 5 and 6, a movable groove 194 is formed in the middle of the fixed cylinder 193, the oil storage pipe 1913 is located inside the movable groove 194, the movable plate 197 is movably clamped with the movable groove 194, a limit groove 195 is formed in the outer side surface of the movable groove 194 at an equal angle, a limit seat 198 is fixedly installed on the outer side surface of the movable plate 197 at an equal angle, the limit seat 198 is movably clamped with the limit groove 195, a first fixing rod 1910 is fixedly installed on the outer side surface of the fixed cylinder 193 at an equal angle, one end of the first fixing rod 1910 is movably connected with a clamping arm 199 through a rotating shaft, a through groove 1911 is formed in the position, close to the right side, of the top end of the clamping arm 199, a second fixing rod 1912 is movably connected inside the through a rotating shaft in the through groove 1911, and the other end of the second fixing rod 1912 is movably connected with the inside of the limit seat 198.
Second embodiment:
when hydraulic oil is pumped into the oil storage pipe 1913, the movable plate 197 is driven to move left and right relative to the movable groove 194, at this time, the limiting seat 198 on the outer side surface of the movable plate 197 can also move left and right relative to the limiting groove 195, and because the second fixing rod 1912 is installed inside the limiting seat 198, when the limiting seat 198 moves to the left, the top end of the second fixing rod 1912 deflects to the right, when the second fixing rod 1912 further deflects, the right end of the through groove 1911 is touched, at this time, the clamping arm 199 can deflect inward relative to the first fixing rod 1910 under the driving of the first fixing rod 1910, the clamping operation can be realized through the four clamping arms 199, and when the hydraulic oil located inside the oil storage pipe 1913 is sucked, at this time, the movable plate 197 can move to the right to finally drive the clamping arm 199 to deflect outward, and the loosening operation can be realized through the four clamping arms 199.
Through being provided with oil storage pipe 1913 and defeated oil pipe 18, it is linked together between oil storage pipe 1913 and the oil storage tank 10 to utilize defeated oil pipe 18, and install arm lock 199 at the lateral surface of fixed cylinder 193, utilize the inside hydraulic oil of oil storage tank 10 to carry the inside of oil storage pipe 1913 and change the pressure of hydraulic oil into the kinetic energy of push rod 1914, and through the effect of second dead lever 1912 with the kinetic energy of displacement about changing into the power of clamping, avoided using servo motor long time in the traditional mirror arm of holding to make clamping device keep the clamping force and the locked-rotor state that causes, change and adopt the hydraulic oil of accurate pump-in to realize opening and shutting of clamping device, life is higher and press from both sides tightly stably, be fit for the minimal access surgery occasion, utilize the pump-in and the suction of hydraulic oil not only to realize the adjustment of arm angle but also realized accurate stable clamping effect, be favorable to using at the operation scene.
As shown in fig. 6, a magnetic ring 1916 is fixedly mounted on the front surface of the movable plate 197, and a pressing rod 1917 located on the front surface of the movable plate 197 is connected to the inside of the magnetic ring 1916 in an adsorbing manner.
Third embodiment:
when hydraulic oil is pumped into the oil storage pipe 1913 or sucked out of the oil storage pipe 1913, the push block 1915 and the push rod 1914 inside the oil storage pipe 1913 can move left and right, and the push rod 1914 can move left and right to drive the movable plate 197 to move left and right, so that before precise pressing operation, a pressing rod 1917 with a proper specification can be selected according to actual requirements, and the pressing rod 1917 and the magnetic ring 1916 are adsorbed to complete installation, and when the movable plate 197 moves left and right to drive the pressing rod 1917 to move left and right, so that the pressing rod 1917 can be used to replace human hands to complete precise operations such as pressing.
Through the installation between the pressure pole 1917 and the magnetic ring 1916 of suitable specification, utilize required hydraulic oil to come as the power source of pressing the action in the centre gripping action, not only need not to use transmission parts such as extra servo motor to accomplish the operation of pressing, but also the comparatively accurate operation of pressing of time, and it is higher to press the precision, avoid the tradition to hold the mirror arm and need the action of a plurality of joints to realize accurate operation, the cost is lower, and the efficiency of execution is higher, the pump income and the suction that utilize hydraulic oil have not only realized the accurate adjustment of arm angle and clamping device's stable centre gripping and have realized comparatively accurate pressing, the comparatively complicated professional operation in the adaptation operation process.
As shown in fig. 2 and 8, the inside of oil storage tank 10 is heliciform fixed mounting and has heating pipe 11, and the other end of first arm 1 has a sliding seat 8 through pivot swing joint, and mounting groove 5 has been seted up at the middle part on 2 tops of base, and the inside fixed mounting of mounting groove 5 has motor 6, the top of the output shaft of motor 6 and the bottom fixed connection of sliding seat 8.
When using, the accessible is opened and is located the inside heating pipe 11 of oil storage tank 10 and heats the hydraulic oil that is located oil storage tank 10 inside to guarantee that the mobility of the inside hydraulic oil of oil storage tank 10 can not cause the influence to follow-up operation, motor 6 is opened to the accessible simultaneously, uses motor 6 to drive the rotation of the whole arm in base 2 top and satisfies rotation demand on a large scale, satisfies the operation under the different environment.
As shown in fig. 1, the outer side surface of the base 2 is fixedly provided with ear plates 3 at equal angles, and the inner side surfaces of the ear plates 3 are provided with fixing holes 4.
Before use, the device may be mounted by means of the ear plate 3 located inside the base 2 and using fixing bolts to secure the device in place.
The working principle and the using process are as follows:
before the device is used, the device can be installed by fixing the device at a proper position through the lug plate 3 positioned in the base 2 and the fixing bolt, when the device is used, hydraulic oil positioned in the oil storage tank 10 can be heated by opening the heating pipe 11 positioned in the oil storage tank 10, so that the flowability of the hydraulic oil in the oil storage tank 10 cannot influence subsequent operation, and meanwhile, the motor 6 can be started to drive the rotation of the whole mechanical arm at the top end of the base 2 to meet the rotation requirement in a large range and meet the operation under different environments;
when the angle between the first mechanical arm 1 and the second mechanical arm 7 needs to be controlled to complete the motion of the mechanical arm, the valve between the fixed sleeve 14 and the oil storage tank 10 can be opened, hydraulic oil in the oil storage tank 10 can enter the fixed sleeve 14 and apply pressure to the top end of the piston plate 15 in the fixed sleeve 14, at this time, the piston plate 15 and the movable rod 16 can be pushed to move downwards relative to the fixed sleeve 14, at this time, because the whole length of the second mechanical arm 7 and the first mechanical arm 1 is unchanged, the length of the mutual superposition of the fixed sleeve 14 and the movable rod 16 is increased, according to the law of the unchanged interior angle of a triangle, the included angle between the second mechanical arm 7 and the first mechanical arm 1 is increased, at this time, the movable rod 16 can rotate relative to the fixed seat 12 under the driving of the movable block 13, the second mechanical arm 7 rotates relative to one end of the first mechanical arm 1, the angle adjustment is finished, otherwise, the included angle between the second mechanical arm 7 and the first mechanical arm 1 can be reduced by recycling the hydraulic oil in the fixed sleeve 14 through the valve and flowing into the oil storage tank 10 again, and the action adjustment is realized;
because the oil storage tank 10, the fixed sleeve 14, the movable rod 16 and the second mechanical arm 7 are in parallel relation, when the first mechanical arm 1 and the second mechanical arm 7 rotate relatively, the connecting point of the first mechanical arm 1 and the second mechanical arm 7 is used as an axis for rotating, the movable rod 16 rotates relative to the fixed seat 12, the axis is a rotating shaft connected with the movable block 13 and the fixed seat 12, and the parallel relation with the second mechanical arm 7 is always kept in the rotating process, so that the stability of angle adjustment between the second mechanical arm 7 and the first mechanical arm 1 is ensured;
when hydraulic oil is pumped into the oil storage pipe 1913, the movable plate 197 is driven to move left and right relative to the movable groove 194, at this time, the limiting seat 198 on the outer side surface of the movable plate 197 can also move left and right relative to the limiting groove 195, and because the second fixing rod 1912 is installed inside the limiting seat 198, when the limiting seat 198 moves to the left, the top end of the second fixing rod 1912 deflects to the right, when the second fixing rod 1912 further deflects, the right end of the through groove 1911 is touched, at this time, the clamping arm 199 can deflect inward relative to the first fixing rod 1910 under the driving of the first fixing rod 1910, the clamping operation can be realized through the four clamping arms 199, and when the hydraulic oil in the oil storage pipe 1913 is sucked out, at this time, the movable plate 197 can move to the right to finally drive the clamping arm 199 to deflect outward, and the loosening operation can be realized through the four clamping arms 199;
when hydraulic oil is pumped into the oil storage pipe 1913 or sucked out of the oil storage pipe 1913, the push block 1915 and the push rod 1914 inside the oil storage pipe 1913 can move left and right, and the push rod 1914 can move left and right to drive the movable plate 197 to move left and right, so that before precise pressing operation, a pressing rod 1917 with a proper specification can be selected according to actual requirements, and the pressing rod 1917 and the magnetic ring 1916 are adsorbed to complete installation, and when the movable plate 197 moves left and right to drive the pressing rod 1917 to move left and right, so that the pressing rod 1917 can be used to replace human hands to complete precise operations such as pressing.
Claims (10)
1. A multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery comprises a first mechanical arm (1) and is characterized in that: the utility model discloses a manipulator, including first arm (1), second arm (7), third arm (17), mounting panel (9), oil storage tank (10), fixed cover (14) of bottom of oil storage tank (10), movable rod (16) below fixed cover (14), the below fixed mounting of movable rod (16) has movable block (13), the bottom of movable block (13) is equipped with fixing base (12), the bottom of fixing base (12) and the middle part fixed connection on first arm (1) top, the front end fixed mounting of third arm (17) has clamping device (19), an oil delivery pipe (18) is fixedly communicated with the top end of the oil storage tank (10), the other end of the oil delivery pipe (18) is fixedly communicated with the top end of the clamping device (19), and a valve is installed between the oil delivery pipe (18) and the oil storage tank (10).
2. The multi-degree-of-freedom endoscope holding arm for the laparoscopic minimally invasive surgery according to claim 1, characterized in that: the movable block (13) is rotatably connected with the fixed seat (12) through a rotating shaft, the top end of the movable rod (16) penetrates through the bottom end of the fixed sleeve (14) and is fixedly provided with a piston plate (15) located inside the fixed sleeve (14), and the piston plate (15) is movably sleeved with the fixed sleeve (14).
3. The multi-degree-of-freedom endoscope holding arm for the laparoscopic minimally invasive surgery according to claim 1, characterized in that: the top of fixed cover (14) and the bottom mounting intercommunication of oil storage tank (10), install the valve between oil storage tank (10) and fixed cover (14), oil storage tank (10) and fixed cover (14) and movable rod (16) all are parallel with second arm (7).
4. The multi-degree-of-freedom endoscope holding arm for the laparoscopic minimally invasive surgery according to claim 1, characterized in that: clamping device (19) are including mount pad (191), the back of mount pad (191) and the front end fixed connection of third arm (17), there is adjustable shelf (192) front end of mount pad (191) through pivot movable mounting, the front end fixed mounting of adjustable shelf (192) has a fixed cylinder (193), the other end of defeated oil pipe (18) and the fixed intercommunication in top of fixed cylinder (193).
5. The multi-degree-of-freedom endoscope arm for laparoscopic minimally invasive surgery according to claim 4, characterized in that: the fixed oil storage pipe (1913) that has cup jointed in inside of fixed section of thick bamboo (193), oil storage pipe (1913) lateral surface has seted up oil feed hole (196) on being close to the position on right side, oil feed hole (196) run through the lateral surface of fixed section of thick bamboo (193) and with defeated oil pipe (18) between fixed intercommunication, the inside activity of oil storage pipe (1913) has cup jointed ejector pad (1915), the left end fixed mounting of ejector pad (1915) has push rod (1914), the left end and the fixed mounting of the left end of oil storage pipe (1913) of penetrating of push rod (1914) have fly leaf (197).
6. The multi-degree-of-freedom endoscope arm for laparoscopic minimally invasive surgery according to claim 5, characterized in that: activity groove (194) have been seted up at the middle part of solid fixed cylinder (193), oil storage pipe (1913) are located the inside of activity groove (194), the joint that moves about between activity groove (194) and activity groove (197), spacing groove (195) have been seted up to the lateral surface isogonism of activity groove (194), angular fixed mounting such as the lateral surface of activity groove (197) has spacing seat (198), the joint that moves about between spacing seat (198) and spacing groove (195).
7. The multi-degree-of-freedom endoscope arm for laparoscopic minimally invasive surgery according to claim 4, characterized in that: the fixing device is characterized in that a first fixing rod (1910) is fixedly mounted on the outer side surface of the fixing barrel (193) at an equal angle, one end of the first fixing rod (1910) is movably connected with a clamping arm (199) through a rotating shaft, a through groove (1911) is formed in the position, close to the right side, of the top end of the clamping arm (199), a second fixing rod (1912) is movably connected inside the through groove (1911) through the rotating shaft, and the other end of the second fixing rod (1912) is movably connected with the inside of the limiting seat (198).
8. The multi-degree-of-freedom endoscope arm for laparoscopic minimally invasive surgery according to claim 5, characterized in that: the front surface of the movable plate (197) is fixedly provided with a magnetic ring (1916), and the inside of the magnetic ring (1916) is connected with a pressing rod (1917) positioned on the front surface of the movable plate (197) in an adsorption manner.
9. The multi-degree-of-freedom endoscope holding arm for the laparoscopic minimally invasive surgery according to claim 1, characterized in that: the inside of oil storage tank (10) is heliciform fixed mounting and has heating pipe (11), the other end of first arm (1) has adjustable seat (8) through pivot swing joint, mounting groove (5) have been seted up at the middle part on base (2) top, the inside fixed mounting of mounting groove (5) has motor (6), the top of motor (6) output shaft and the bottom fixed connection of adjustable seat (8).
10. The multi-degree-of-freedom endoscope holding arm for the laparoscopic minimally invasive surgery according to claim 1, characterized in that: the outer side face of the base (2) is fixedly provided with the ear plates (3) at equal angles, and the inner side faces of the ear plates (3) are provided with fixing holes (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210141090.0A CN114469384A (en) | 2022-02-16 | 2022-02-16 | Multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210141090.0A CN114469384A (en) | 2022-02-16 | 2022-02-16 | Multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114469384A true CN114469384A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210141090.0A Withdrawn CN114469384A (en) | 2022-02-16 | 2022-02-16 | Multi-degree-of-freedom endoscope holding arm for laparoscopic minimally invasive surgery |
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| Country | Link |
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| CN (1) | CN114469384A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116280526A (en) * | 2023-02-15 | 2023-06-23 | 宁夏金世纪包装印刷有限公司 | Four-claw shoe cloth inserting machine |
| CN116280526B (en) * | 2023-02-15 | 2024-05-28 | 宁夏金世纪包装印刷有限公司 | Four-claw shoe cloth inserting machine |
-
2022
- 2022-02-16 CN CN202210141090.0A patent/CN114469384A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116280526A (en) * | 2023-02-15 | 2023-06-23 | 宁夏金世纪包装印刷有限公司 | Four-claw shoe cloth inserting machine |
| CN116280526B (en) * | 2023-02-15 | 2024-05-28 | 宁夏金世纪包装印刷有限公司 | Four-claw shoe cloth inserting machine |
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Application publication date: 20220513 |