CN114521966A - Medical manipulator for abdominal cavity operation - Google Patents
Medical manipulator for abdominal cavity operation Download PDFInfo
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- CN114521966A CN114521966A CN202210141787.8A CN202210141787A CN114521966A CN 114521966 A CN114521966 A CN 114521966A CN 202210141787 A CN202210141787 A CN 202210141787A CN 114521966 A CN114521966 A CN 114521966A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Surgical Instruments (AREA)
Abstract
The invention discloses a medical manipulator for abdominal cavity surgery, which comprises a fixed handle, wherein a pair of movable shafts are rotatably arranged at the bottom of the fixed handle, one end of the fixed handle is fixedly connected with an operation panel, one end of the operation panel is fixedly connected with a connecting rod, one end of the connecting rod is fixedly connected with a transmission cavity, an auxiliary rod is fixedly connected onto the surface of the transmission cavity, an adjusting device is rotatably arranged in the operation panel and comprises a first adjusting wheel and a second adjusting wheel, and the first adjusting wheel and the second adjusting wheel are symmetrically arranged; compared with the prior art, the adjustable forceps have the advantages that the transmission shaft can drive the transmission wheel to move by stirring the adjusting wheel, the first transmission belt and the second transmission belt in the annular groove can move, the direction of the operation forceps can be changed, the situation of dead angles in the specific operation process is reduced, a doctor can be helped to accurately cut off focuses in a body, and the operation efficiency can be further improved.
Description
Technical Field
The invention relates to the technical field of medical surgical instruments, in particular to a medical manipulator for abdominal cavity surgery.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under the harmful environment to protect the personal safety, thus being widely applied to various industries.
Since many surgical operations are very delicate, precise and precise, and the requirements for the operations during the operations are very high, the patients are often operated by using the surgical manipulator, but the operation of the surgical manipulator is still limited by the surgical manipulator, so that the operation is not flexible, more operation time is spent, and the time and energy for operating the operation of the surgeon are greatly increased.
Disclosure of Invention
The invention aims to provide a medical manipulator for abdominal cavity operation, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a medical manipulator for abdominal cavity operation comprises a fixed handle, a pair of movable shafts are rotatably arranged at the bottom of the fixed handle, one end of the fixed handle is fixedly connected with an operation panel, one end of the operation panel is fixedly connected with a connecting rod, one end of the connecting rod is fixedly connected with a transmission chamber, the surface of the transmission chamber is fixedly connected with an auxiliary rod, the interior of the operation panel is rotatably provided with an adjusting device which comprises a first adjusting wheel and a second adjusting wheel, the first adjusting wheel and the second adjusting wheel are symmetrically arranged, one side of the operating panel close to the fixed handle is movably provided with a pair of limit keys, the inner wall of the limit key is fixedly connected with a buffer shaft, the inside of the buffer shaft is fixedly connected with a limit ball, buffer grooves are formed in the surfaces of the first adjusting wheel and the second adjusting wheel, and the limiting balls abut against the inner walls of the buffer grooves;
a support frame is fixedly connected between the first adjusting wheel and the second adjusting wheel, a pair of driving wheels is arranged inside the support frame, a plurality of semicircular grooves are formed in the surfaces of the driving wheels, a metal plate is arranged between the driving wheels and fixedly connected to the inner wall of the support frame, a fixing pipe is arranged inside the operation panel, and the fixing pipe is fixedly connected with the support frame;
fixed cover of auxiliary rod one end fixedly connected with, fixed cover one side is equipped with the rubber seal cover, when operating to the patient, can change operating forceps in the inside position and the direction of patient through the adjusting device who adjusts operating panel surface, can reduce the inflexible condition of operation appear in the operation in-process, can save doctor's operation time, can reduce the condition that the doctor appears tired out leading to the error appearing.
Preferably, one end of the transmission wheel, which is far away from the metal plate, is fixedly connected with a transmission shaft, the transmission shaft is rotatably arranged in the operation panel, the transmission shafts at two ends are respectively fixedly connected with the inner walls of the first adjusting wheel and the second adjusting wheel, a pair of compression rods are arranged at the bottom of the transmission wheel, the compression rods are symmetrically arranged, the transmission shaft can drive the transmission wheel to move along with the shifting of the adjusting device, the first transmission belt and the second transmission belt in the annular groove can move, the direction of the operation clamp can be changed, the dead angle in the specific operation process is reduced, a doctor can be helped to accurately cut off the focus in the body, and the operation efficiency can be further improved;
the utility model discloses a surgical operation's annular groove, including drive wheel, annular groove, limiting plate, fixed ball one end fixedly connected with arc, the drive wheel has seted up a plurality of draw-in grooves on the surface, the annular groove has been seted up on the drive wheel lateral wall, a plurality of limiting plates of fixedly connected with on the annular groove inner wall, the limiting plate cross-section is "L" form and is the setting of annular array on the annular groove inner wall, a plurality of fixed balls of limiting plate one end fixedly connected with, the fixed ball has the magnetism of attracting mutually between having, fixed ball one end fixedly connected with arc, and arc one end offsets with the annular groove inner wall, and pivoted in-process appears at the drive wheel, can extrude first drive belt and second drive belt surface, makes its laminating inside the annular groove under the effect of arc, can guarantee the precision in the operation process, can improve the success rate of operation.
Preferably, one end of the compression rod is fixedly connected to the inner wall of the support ring, the surface of the compression rod is fixedly connected with the support plate, the surface of the support plate is provided with a limit groove, and the inner wall of the limit groove is provided with a rubber sheet;
fixedly connected with straight-bar on the backup pad surface, and the straight-bar is the spacing axle of fixedly connected with on the surface, spacing epaxial fixed connection elastic ring on the surface, and elastic ring surface and half slot inner wall offset, when the drive wheel is in quiescent condition, can make spacing axle and half slot inner wall offset, can play spacing effect, can play the shake of filtering operation in-process doctor's hand, can guarantee the stability of operation in-process apparatus, can lifting means's security.
Preferably, a limiting sleeve rod is fixedly connected to the inner wall of the fixing sleeve, a transmission gear ring is fixedly connected to one end, close to the auxiliary rod, of the limiting sleeve rod, a driving gear ring is meshed with the transmission gear ring, a straight rod is fixedly connected to the inner wall of the fixing sleeve, the driving gear ring is rotatably arranged on the surface of the straight rod, a movable sleeve rod is fixedly connected to the surface of the straight rod, and the movable sleeve rod is fixedly connected with the driving gear ring;
the surface of the driving gear ring is provided with an annular groove, a fixed disc is movably clamped in the annular groove and fixedly connected with the straight bar, an extrusion groove is formed in the annular groove, a plurality of circular grooves are formed in the extrusion groove, the surface of one end of the fixed disc is fixedly connected with an annular air bag, the other end of the fixed disc is abutted against a fixed disc, the diameter of the annular air bag is larger than the inner diameter of the extrusion groove, when the driving gear ring is in a static state, the annular air bag can be attached to the inside of the extrusion groove, the friction effect on the driving gear ring can be further enhanced, the stability of the driving gear ring in the static state can be ensured, the condition that an adjusting device needs to be pressed all the time in the operation process can be avoided, and the pressure of a doctor in the operation process can be reduced;
the utility model discloses a spacing loop bar, including auxiliary rod, transmission gear ring, drive gear ring, transmission gear ring, first drive belt, second drive belt and drive wheel transmission, the transmission of auxiliary rod has seted up the transmission hole on the surface, and the inside activity of transmission hole is equipped with the second drive belt, the second drive belt is connected with the drive wheel transmission, the transmission of the other end of second drive belt sets up in drive gear ring one side, along with the rotation of second drive belt, can make drive gear ring drive spacing loop bar appear rotating to can change the operating direction of operating tongs, compare doctor manual operation, have better precision, can with reduce the risk in the operation process, promote success efficiency.
Preferably, a rotating disc is rotatably arranged at one end of the auxiliary rod, a plurality of fixing rods are fixedly connected to the surface of the rotating disc, a connecting frame is fixedly connected among the fixing rods, and a fixing shaft is fixedly connected to one end of the connecting frame;
the fixed axle is inside to be seted up the transmission groove, and the transmission groove is "Y" form, the inside driving rope that is equipped with of rolling disc, and the driving rope is connected with the loose axle transmission, the activity of rolling disc both ends is equipped with first driving band, first driving band is connected with the drive wheel transmission, can drive the driving rope through the loose axle and appear moving, can make it appear removing in the inside of kelly, changes the shape of extrusion gasbag.
Preferably, a plurality of hinge rings are arranged in the rubber sealing sleeve, hinge blocks are fixedly connected to the surfaces of the hinge rings, the hinge blocks are symmetrically arranged, friction grooves are formed in the surfaces of the hinge rings, a pair of limiting end blocks are fixedly connected to the inner walls of the hinge rings, one end of each hinge ring on one side is fixedly connected with a limiting sleeve rod, and a fixing plate is fixedly connected between the hinge rings on the other side;
the surface of the fixed plate is fixedly connected with an operating clamp, the inner wall of the operating clamp is fixedly connected with an anti-skid gasket, an extrusion air bag is arranged inside the operating clamp, two ends of the extrusion air bag are fixedly connected with an elastic rope, the surface of the hinging block is provided with a limiting clamping groove, a clamping rod is fixedly connected inside the limiting clamping groove, and a transmission rope penetrates through the clamping rod;
the inner wall of the extrusion air bag is fixedly connected with a pair of end blocks, the end blocks are fixedly connected with the transmission rope, a pair of hinge rods are fixedly connected inside the extrusion air bag, and a reset spring is fixedly connected between the hinge rods.
Preferably, a movable plate is arranged inside the hinge ring, the movable plate is U-shaped, a fixed ring is arranged between the movable plates, the fixed ring is fixedly connected with the inner wall of the limiting sleeve rod, a pair of arc-shaped grooves are formed in the surface of the fixed ring, the movable plate penetrates through the arc-shaped grooves, a reset plate is arranged on one side of the fixed ring, one end of the reset plate is fixedly connected with a straight rod, and one end of the straight rod is fixedly connected with one end of the fixed shaft;
the utility model discloses a reset plate, including reset plate, a pair of metal axle of fixedly connected with, a pair of metal piece of fixedly connected with, a pair of sheetmetal of fixedly connected with, the action of the hinge of the joint ring appears in the action of friction force, and the action of metal axle sets up in the reset plate both sides, reset plate fixedly connected with gag lever post on the surface, the fixedly connected with lantern ring on the gag lever post, the action of first drive belt sets up inside the lantern ring, a pair of sheetmetal of fixedly connected with on the first drive belt, sheetmetal and fly leaf inner wall fixed connection, set up the compression groove on the fly leaf outer wall, pivoted in-process appears in first drive belt, can drive the sheetmetal and appear the motion, can make the fly leaf drive transmission ball appear rotating, can make the hinge ring appear the motion under the effect of friction force.
Preferably, transmission balls are movably arranged between the movable plates, elastic shafts are fixedly connected inside the hinged rings, the transmission balls are rotatably arranged on the elastic rods, movable rings are arranged between the transmission balls and fixedly connected to the elastic shafts, reset shafts are arranged between the transmission balls, one ends of the reset shafts are fixedly connected between the fixed plates and the movable rings, a plurality of steering sleeves are fixedly connected to the reset shafts, pull ropes are inserted into two ends of each steering sleeve, one ends of the pull ropes are fixedly connected between the transmission balls, the pull ropes are symmetrically arranged, and a plurality of transmission grooves are formed in the surfaces of the transmission balls;
the inner wall of the movable plate is fixedly connected with a plurality of extrusion shafts, the surfaces of the extrusion shafts are abutted against the inner wall of the transmission groove, an arc-shaped extrusion groove is formed in the surface of the movable plate, the inner wall of the arc-shaped extrusion groove is abutted against the extrusion end block to cause position deviation of the hinge ring, the position of the operating forceps can be changed, the extrusion shafts can be extruded with the inner wall of the hinge ring after being expanded, a stabilizing effect can be achieved, and the operation efficiency can be further improved;
preferably, the fixed handle is fixedly connected with a limit box, the movable shaft is movably arranged in the limit box, a reset groove and a toggle groove are arranged in the limit box, a connecting groove is arranged between the reset groove and the toggle groove, a one-way baffle is fixedly connected in the connecting groove, a pair of reset rods are movably inserted in the movable shaft, the reset rods are movably arranged in the toggle groove, the movable shaft is fixedly connected with a metal spring and fixedly connected with the inner wall of the limit box, the movable shaft is fixedly connected with an elastic rope, a friction block is fixedly connected on the movable shaft, a plurality of limit expansion plates are fixedly connected at the top of the inner wall of the limit box, a plurality of top plates are fixedly arranged between the limit expansion plates, the inner wall of the limit box is fixedly connected with the top plates, the limit expansion plates penetrate through the top plates, and the bottoms of the top plates are abutted against the surfaces of the friction blocks, the elastic rope can move by stirring the movable shaft, so that the operating pliers can be controlled, the movable rod can be limited by the limiting expansion plate, the clamping force can be adjusted according to different conditions, the movable shaft can be pulled downwards to clamp the reset rod in the reset groove, the movable shaft can be reset by means of the action of the metal spring, and a doctor of a main knife of the doctor can operate conveniently.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the transmission shaft can drive the transmission wheel to move by stirring the adjusting wheel, the first transmission belt and the second transmission belt in the annular groove can move, the direction of the operating forceps can be changed, the situation of dead angles in the specific operation process is reduced, a doctor can be helped to accurately cut off focuses in vivo, and the operation efficiency can be further improved;
2. according to the invention, in the process that the driving wheel rotates, the surfaces of the first driving belt and the second driving belt can be extruded by virtue of the magnetic force between the fixing balls, and the driving wheels are attached to the inner part of the annular groove under the action of the arc-shaped plate, so that the precision in the operation process can be ensured, and the success rate of the operation can be improved;
3. according to the invention, when the driving wheel is in a static state, the limiting shaft can be abutted against the inner wall of the semicircular groove, so that the limiting effect can be achieved, the shaking of the hands of a doctor in the filtering operation process can be achieved, the stability of instruments in the operation process can be ensured, and the safety of equipment can be improved;
4. according to the invention, in the process of rotation of the first transmission belt, the metal sheet can be driven to move, the movable plate can drive the transmission ball to rotate, so that the hinged ring can deviate in position, the position of the operating forceps can be changed, the extrusion shaft and the hinged rod can be mutually extruded after expansion, the operation efficiency can be further improved, the limiting function can be realized on the adjusting device by pressing the limiting key in the operation process, the angle of the internal operating forceps can be in a fixed state, and the condition that the position deviates in other operations can be avoided;
5. according to the invention, the driving gear ring can drive the limiting sleeve rod to rotate through the rotation of the second driving belt, so that the operation direction of the operating forceps can be changed, compared with the manual operation of a doctor, the accuracy is better, the risk in the operation process can be reduced, and the success efficiency is improved;
6. according to the invention, when the driving gear ring is in a static state, the annular air bag can be attached to the inside of the extrusion groove, so that the friction action on the driving gear ring can be further enhanced, the stability of the driving gear ring in the static state can be ensured, the condition that the adjusting wheel needs to be pressed all the time in the operation process is avoided, and the pressure of a doctor in the operation process can be reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the operation panel according to the present invention;
FIG. 3 is a schematic view of a support plate according to the present invention;
FIG. 4 is a schematic view of a driving wheel according to the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is a schematic view of the internal structure of the fixing sleeve of the present invention;
FIG. 7 is a schematic view of the internal structure of the rubber sealing boot of the present invention;
FIG. 8 is an enlarged view of a portion of the invention at B in FIG. 7
FIG. 9 is a schematic view of the internal structure of the squeeze bag of the present invention
FIG. 10 is a schematic view of the drive gear of the present invention;
FIG. 11 is a schematic view of a fixing plate according to the present invention;
fig. 12 is a schematic view of the internal structure of the hinge ring of the present invention;
FIG. 13 is a schematic view of the inside cross section of a stop collar rod of the present invention;
FIG. 14 is a schematic view, partially in section, of a spacing device in accordance with the present invention;
FIG. 15 is a schematic view of the internal structure of the spacing box of the present invention;
in the figure: 1. fixing a handle; 2. an operation panel; 3. an auxiliary lever; 4. a rubber sealing sleeve; 5. operating the pliers; 6. a driving wheel; 7. a limiting box; 11. a movable shaft; 12. a connecting rod; 13. a transmission chamber; 21. An adjustment device; 211. a first regulating wheel; 212. a second regulating wheel; 22. a limiting key; 221. a buffer shaft; 23. a fixed tube; 24. a compression rod; 25. a limiting shaft; 26. a support plate; 261. a limiting groove; 31. Fixing a sleeve; 32. a limiting sleeve rod; 33. a drive gear ring; 34. a drive gear ring; 341. fixing the disc; 342. an annular groove; 343. extruding a groove; 344. an annular air bag; 35. a first drive belt; 36. rotating the disc; 361. fixing the rod; 362. a connecting frame; 37. a second belt; 38. a fixed shaft; 41. a hinge loop; 42. a hinged block; 43. a clamping rod; 44. a drive ball; 441. a reset shaft; 442. a transmission groove; 45. A movable plate; 451. a metal sheet; 46. a compression groove; 47. a reset plate; 471. a limiting rod; 48. a fixing ring; 49. a steering sleeve; 491. pulling a rope; 51. extruding the air bag; 52. a fixing plate; 53. an anti-slip gasket; 54. a hinged lever; 55. a return spring; 61. a drive shaft; 62. a ring groove; 63. a limiting plate; 64. fixing the ball; 71. a reset groove; 72. a poking groove; 73. a reset lever; 74. spacing expansion plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-11, the present invention provides a technical solution: a medical manipulator for abdominal cavity surgery comprises a fixed handle 1, wherein a pair of movable shafts 11 is rotatably arranged at the bottom of the fixed handle 1, one end of the fixed handle 1 is fixedly connected with an operating panel 2, one end of the operating panel 2 is fixedly connected with a connecting rod 12, one end of the connecting rod 12 is fixedly connected with a transmission chamber 13, an auxiliary rod 3 is fixedly connected onto the surface of the transmission chamber 13, an adjusting device 21 is rotatably arranged inside the operating panel 2, the adjusting device 21 comprises a first adjusting wheel 211 and a second adjusting wheel 212, the first adjusting wheel 211 and the second adjusting wheel 212 are symmetrically arranged, one side of the operating panel 2, which is close to the fixed handle 1, is movably provided with a pair of limit keys 22, the inner walls of the limit keys 22 are fixedly connected with a buffer shaft 221, a limit ball is fixedly connected inside the buffer shaft 221, buffer grooves are formed in the surfaces of the first adjusting wheel 211 and the second adjusting wheel 212, and the limit ball abuts against the inner walls of the buffer grooves;
a support frame is fixedly connected between the first adjusting wheel 211 and the second adjusting wheel 212, a pair of driving wheels 6 are arranged inside the support frame, a plurality of semicircular grooves are formed in the surfaces of the driving wheels 6, metal plates are arranged between the driving wheels 6 and fixedly connected to the inner walls of the support frame, a fixed pipe 23 is arranged inside the operation panel 2, and the fixed pipe 23 is fixedly connected with the support frame;
the fixed sleeve 31 is fixedly connected to one end of the auxiliary rod 3, the rubber sealing sleeve 4 is arranged on one side of the fixed sleeve 31, when a patient is operated, the position and the direction of the operating forceps 5 in the patient can be changed by adjusting the adjusting device 21 on the surface of the operating panel 2, and the situation that the operation is not flexible in the operation process can be reduced.
One end of the transmission wheel 6, which is far away from the metal plate, is fixedly connected with a transmission shaft 61, the transmission shaft 61 is rotatably arranged in the operation panel 2, the transmission shafts 61 at the two ends are respectively and fixedly connected with the inner walls of the first adjusting wheel 211 and the second adjusting wheel 212, the bottom of the transmission wheel 6 is provided with a pair of compression rods 24, the compression rods 24 are symmetrically arranged, the transmission shaft 61 can drive the transmission wheel 6 to move along with the adjustment device 21 is pulled, the first transmission belt 35 and the second transmission belt 37 in the ring groove 62 can move, and the direction of the operation clamp 5 can be changed;
a plurality of draw-in grooves have been seted up on the surface to drive wheel 6, annular 62 has been seted up on the 6 lateral walls of drive wheel, a plurality of limiting plates 63 of fixedly connected with on the annular 62 inner wall, limiting plate 63 cross-section is "L" form and is the setting of annular array on the annular 62 inner wall, a plurality of fixing balls 64 of limiting plate 63 one end fixedly connected with, fixing ball 64 has the magnetism of inhaling mutually between having, fixing ball 64 one end fixedly connected with arc, and arc one end offsets with annular 62 inner wall, pivoted in-process appears in drive wheel 6, can be with the help of the magnetic force between the fixing ball 64, can extrude first drive belt 35 and second drive belt 37 surface, make its laminating inside annular 62 under the effect of arc, can guarantee the precision in the operation process.
One end of the compression rod 24 is fixedly connected to the inner wall of the support ring, the surface of the compression rod 24 is fixedly connected with the support plate 26, the surface of the support plate 26 is provided with a limit groove 261, and the inner wall of the limit groove 261 is provided with a rubber sheet;
A limiting sleeve rod 32 is fixedly connected to the inner wall of the fixed sleeve 31, a transmission gear ring 33 is fixedly connected to one end, close to the auxiliary rod 3, of the limiting sleeve rod 32, a driving gear ring 34 is meshed with the transmission gear ring 33, a straight rod is fixedly connected to the inner wall of the fixed sleeve 31, the driving gear ring 34 is rotatably arranged on the surface of the straight rod, a movable sleeve rod is fixedly connected to the surface of the straight rod, and the movable sleeve rod is fixedly connected with the driving gear ring 34;
the surface of the driving gear ring 34 is provided with an annular groove 342, a fixed disc 341 is movably clamped in the annular groove 342, the fixed disc 341 is fixedly connected with the straight rod, an extrusion groove 343 is formed in the annular groove 342, the extrusion groove 343 is provided with a plurality of circular grooves, one end surface of the fixed disc 341 is fixedly connected with an annular air bag 344, the other end of the fixed disc 341 abuts against a fixed disc, the diameter of the annular air bag 344 is larger than the inner diameter of the extrusion groove 343, when the driving gear ring 34 is in a static state, the annular air bag 344 can be attached to the interior of the extrusion groove 343, the friction effect on the driving gear ring 34 can be further enhanced, and the stability of the driving gear ring 34 in the static state can be ensured;
the auxiliary rod 3 has seted up the transmission hole on the surface, and the inside activity of transmission hole is equipped with second drive belt 37, and second drive belt 37 is connected with the transmission of drive wheel 6, and the transmission of the 37 other end of second drive belt sets up in drive gear ring 34 one side, and along with the rotation of second drive belt 37, can make drive gear ring 34 drive stop collar lever 32 and appear rotating to can change the direction of operation pincers 5, compare doctor manual operation, have better precision.
A rotating disc 36 is rotatably arranged at one end of the auxiliary rod 3, a plurality of fixing rods 361 are fixedly connected to the surface of the rotating disc 36, a connecting frame 362 is fixedly connected between the fixing rods 361, and a fixing shaft 38 is fixedly connected to one end of the connecting frame 362;
the transmission groove is formed in the fixed shaft 38, the transmission groove is Y-shaped, the transmission rope is arranged in the rotating disc 36 and is in transmission connection with the movable shaft 11, the first transmission belt 35 is movably arranged at two ends of the rotating disc 36, the first transmission belt 35 is in transmission connection with the transmission wheel 6, the transmission rope can be driven by the movable shaft 11 to move, the transmission rope can move in the clamping rod 43, and the shape of the extrusion air bag 51 is changed.
A plurality of hinge rings 41 are arranged inside the rubber sealing sleeve 4, hinge blocks 42 are fixedly connected to the surfaces of the hinge rings 41, the hinge blocks 42 are symmetrically arranged, friction grooves are formed in the surfaces of the hinge rings 41, a pair of limiting end blocks are fixedly connected to the inner walls of the hinge rings 41, one end of one side of each hinge ring 41 is fixedly connected with the limiting sleeve rod 32, and a fixing plate 52 is fixedly connected between the hinge rings 41 on the other side;
the surface of the fixing plate 52 is fixedly connected with an operating clamp 5, the inner wall of the operating clamp 5 is fixedly connected with an anti-skid gasket 53, an extrusion air bag 51 is arranged inside the operating clamp 5, two ends of the extrusion air bag 51 are fixedly connected with elastic ropes, the surface of the hinge block 42 is provided with a limiting clamping groove, a clamping rod 43 is fixedly connected inside the limiting clamping groove, a transmission rope penetrates through the clamping rod 43, the limiting key 22 is pressed down in the operating process to limit the adjusting device 21, the angle of the internal operating clamp 5 can be in a fixed state, and the situation that the position is deviated when other operations are carried out is avoided;
a pair of end blocks are fixedly connected to the inner wall of the extrusion air bag 51 and fixedly connected with the transmission rope, a pair of hinge rods 54 are fixedly connected to the interior of the extrusion air bag 51, and a return spring 55 is fixedly connected between the hinge rods 54.
A movable plate 45 is arranged inside the hinged ring 41, the movable plate 45 is U-shaped, a fixed ring 48 is arranged between the movable plates 45, the fixed ring 48 is fixedly connected with the inner wall of the limiting sleeve rod 32, a pair of arc-shaped grooves are formed in the surface of the fixed ring 48, the movable plate 45 penetrates through the arc-shaped grooves, a reset plate 47 is arranged on one side of the fixed ring 48, a straight rod is fixedly connected to one end of the reset plate 47, and one end of the straight rod is fixedly connected to one end of the fixed shaft 38;
reset plate 47 inside activity and is equipped with first drive belt 35, a pair of metal axle of fixedly connected with on the first drive belt 35, and the metal axle activity sets up in the board 47 both sides that reset, reset plate 47 fixedly connected with gag lever post 471 on the surface, the fixedly connected with lantern ring on the gag lever post 471, the activity of first drive belt 35 sets up inside the lantern ring, a pair of sheetmetal 451 of fixedly connected with on the first drive belt 35, sheetmetal 451 and 45 inner wall fixed connection of fly leaf, compression groove 46 has been seted up on the fly leaf 45 outer wall, pivoted in-process appears in first drive belt 35, can drive the sheetmetal and appear the motion, can make fly leaf 45 drive transmission ball 44 appear rotating, can make articulated ring 41 appear the motion under the effect of friction force.
Driving balls 44 are movably arranged between the movable plates 45, an elastic shaft is fixedly connected inside the hinge ring 41, the driving balls 44 are rotatably arranged on the elastic rod, movable rings are arranged between the driving balls 44 and fixedly connected to the elastic shaft, reset shafts 441 are arranged between the driving balls 44, one ends of the reset shafts 441 are fixedly connected between the fixed plate 52 and the movable rings, a plurality of steering sleeves 49 are fixedly connected to the reset shafts 441, pull ropes 491 are inserted at two ends of the steering sleeves 49, one ends of the pull ropes 491 are fixedly connected between the driving balls 44, the pull ropes 491 are symmetrically arranged, and a plurality of driving grooves 442 are formed in the surfaces of the driving balls 44;
fixedly connected with a plurality of extrusion axles on the fly leaf 45 inner wall, and the extrusion axle surface offsets with the transmission groove 442 inner wall, and the arc extrusion groove has been seted up on the fly leaf 45 surface, and arc extrusion groove inner wall offsets with extrusion end block, appears the offset when articulated ring 41, can change the position of operation pincers 5, and the extrusion axle can with articulated ring 41 inner wall extrusion each other after the inflation, can play stable effect.
The fixed handle 1 is fixedly connected with a limit box 7, a movable shaft 11 is movably arranged inside the limit box 7, a reset groove 71 and a toggle groove 72 are arranged inside the limit box 7, a connecting groove is arranged between the reset groove 71 and the toggle groove 72, a one-way baffle is fixedly connected inside the connecting groove, a pair of reset rods 73 are movably inserted in the movable shaft 11, the reset rods 73 are movably arranged inside the toggle groove 72, the movable shaft 11 is fixedly connected with a metal spring which is fixedly connected with the inner wall of the limit box 7, the movable shaft 11 is fixedly connected with an elastic rope, a friction block is fixedly connected on the movable shaft 11, a plurality of limit expansion plates 74 are fixedly connected at the top of the inner wall of the limit box 7, a plurality of top plates are fixedly arranged between the limit expansion plates 74, the inner wall of the limit box 7 is fixedly connected with the top plates, the limit expansion plates 74 penetrate through the top plates, the bottom of the top plates are abutted against the surfaces of the friction blocks, the elastic rope can move by toggling the movable shaft 11, thereby can control operation pincers 5, and can carry on spacingly to the movable rod 11 through spacing expansion plate 74, can adjust the clamp force according to different situation, and pull the loose axle 11 downwards and can make the release link 73 card establish inside reset groove 71, can make the loose axle 11 reset with the help of metal spring's effect, the main knife doctor of being convenient for operates.
The working principle is as follows: firstly, when a patient is operated, the position and the direction of the operating forceps 5 in the patient can be changed by adjusting the adjusting device 21 on the surface of the operating panel 2, the situation of inflexible operation in the operation process can be reduced, the operation time of a doctor can be saved, the situation of error caused by fatigue of the doctor can be reduced, the driving wheel 6 can be driven by the driving shaft 61 to move along with the adjustment device 21 is pulled, the first driving belt 35 and the second driving belt 37 in the ring groove 62 can move, the direction of the operating forceps 5 can be changed, the situation of dead angle in the specific operation process can be reduced, the accurate excision of the focus in the body by the doctor can be helped, the operation efficiency can be further improved, meanwhile, in the rotating process of the driving wheel 6, the surfaces of the first driving belt 35 and the second driving belt 37 can be extruded by means of the magnetic force between the fixing balls 64, the arc-shaped plate is attached to the inner part of the annular groove 62 under the action of the arc-shaped plate, so that the precision in the operation process can be ensured, the success rate of the operation can be improved, the limiting shaft 25 can be abutted to the inner wall of the semicircular groove when the driving wheel 6 is in a static state, the limiting effect can be achieved, the shaking of hands of doctors in the filtering operation process can be achieved, the stability of instruments in the operation process can be ensured, and the safety of equipment can be improved;
then in the process that the first transmission belt 35 rotates, the metal sheet can be driven to move, the movable plate 45 can be driven to drive the transmission ball 44 to rotate, so that the hinged ring 41 can deviate in position, the position of the operation clamp 5 can be changed, the extrusion shaft can be extruded with the inner wall of the hinged ring 41 after being expanded, the operation efficiency can be further improved, the limiting key 22 can be pressed down in the operation process to limit the adjusting device 21, the angle of the internal operation clamp 5 can be in a fixed state, the situation that the position deviates in other operations is avoided, and along with the rotation of the second transmission belt 37, the driving gear ring 34 can be driven to drive the limiting sleeve rod 32 to rotate, so that the operation direction of the operation clamp 5 can be changed, and the operation precision is better compared with the manual operation of a doctor, risks in the operation process can be reduced, and success efficiency is improved;
finally, when the driving gear ring 34 is in a static state, the annular air bag 344 can be attached to the inside of the extrusion groove 343, so that the friction effect on the driving gear ring 34 can be further enhanced, the stability of the driving gear ring in the static state can be ensured, the condition that the adjusting device 21 needs to be pressed all the time in the operation process is avoided, and the pressure of a doctor in the operation process can be reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a medical manipulator for abdominal cavity operation, includes fixed handle (1), its characterized in that: the bottom of the fixed handle (1) is rotatably provided with a pair of movable shafts (11), one end of the fixed handle (1) is fixedly connected with an operation panel (2), one end of the operation panel (2) is fixedly connected with a connecting rod (12), one end of the connecting rod (12) is fixedly connected with a transmission chamber (13), the transmission chamber (13) is fixedly connected with an auxiliary rod (3) on the surface, the operation panel (2) is internally rotatably provided with an adjusting device (21), the adjusting device (21) comprises a first adjusting wheel (211) and a second adjusting wheel (212), the first adjusting wheel (211) and the second adjusting wheel (212) are symmetrically arranged, one side of the operation panel (2) close to the fixed handle (1) is movably provided with a pair of limit keys (22), the inner wall of the limit keys (22) is fixedly connected with a buffer shaft (221), and the inner part of the buffer shaft (221) is fixedly connected with a limit ball, buffer grooves are formed in the surfaces of the first adjusting wheel (211) and the second adjusting wheel (212), and the limiting balls abut against the inner walls of the buffer grooves;
a support frame is fixedly connected between the first adjusting wheel (211) and the second adjusting wheel (212), a pair of driving wheels (6) is arranged inside the support frame, a plurality of semicircular grooves are formed in the surfaces of the driving wheels (6), a metal plate is arranged between the driving wheels (6) and fixedly connected to the inner wall of the support frame, a fixing pipe (23) is arranged inside the operation panel (2), and the fixing pipe (23) is fixedly connected with the support frame;
the auxiliary rod (3) one end fixedly connected with fixed cover (31), fixed cover (31) one side is equipped with rubber seal cover (4).
2. The medical manipulator for abdominal cavity surgery as set forth in claim 1, wherein: one end, far away from the metal plate, of the driving wheel (6) is fixedly connected with a transmission shaft (61), the transmission shaft (61) is rotatably arranged in the operation panel (2), the transmission shafts (61) at two ends are respectively and fixedly connected with the inner walls of the first adjusting wheel (211) and the second adjusting wheel (212), a pair of compression rods (24) are arranged at the bottom of the driving wheel (6), and the compression rods (24) are symmetrically arranged;
the utility model discloses a quick-witted, including drive wheel (6), annular (62), limiting plate (63) and fixing ball (64), drive wheel (6) have seted up a plurality of draw-in grooves on the surface, annular (62) have been seted up on drive wheel (6) lateral wall, a plurality of limiting plates of fixedly connected with (63) on annular (62) inner wall, limiting plate (63) cross-section is "L" form and is the setting of annular array on annular (62) inner wall, a plurality of fixing balls of limiting plate (63) one end fixedly connected with (64), the magnetism that attracts has between fixing ball (64) has, fixing ball (64) one end fixedly connected with arc, and arc one end offsets with annular (62) inner wall.
3. The medical manipulator for abdominal cavity surgery as set forth in claim 2, wherein: one end of the compression rod (24) is fixedly connected to the inner wall of the support ring, the surface of the compression rod (24) is fixedly connected with a support plate (26), the surface of the support plate (26) is provided with a limit groove (261), and the inner wall of the limit groove (261) is provided with a rubber sheet;
the supporting plate (26) is fixedly connected with a straight rod on the surface, a limiting shaft (25) is fixedly connected to the surface of the straight rod, an elastic ring is fixedly connected to the surface of the limiting shaft (25), and the surface of the elastic ring is abutted to the inner wall of the semicircular groove.
4. The medical manipulator for abdominal cavity surgery as set forth in claim 1, wherein: the inner wall of the fixed sleeve (31) is fixedly connected with a limiting sleeve rod (32), one end, close to the auxiliary rod (3), of the limiting sleeve rod (32) is fixedly connected with a transmission gear ring (33), the transmission gear ring (33) is meshed with a driving gear ring (34), the inner wall of the fixed sleeve (31) is fixedly connected with a straight rod, the driving gear ring (34) is rotatably arranged on the surface of the straight rod, the surface of the straight rod is fixedly connected with a movable sleeve rod, and the movable sleeve rod is fixedly connected with the driving gear ring (34);
an annular groove (342) is formed in the surface of the driving gear ring (34), a fixed disc (341) is movably clamped in the annular groove (342), the fixed disc (341) is fixedly connected with the straight rod, an extrusion groove (343) is formed in the annular groove (342), a plurality of circular grooves are formed in the extrusion groove (343), an annular air bag (344) is fixedly connected to the surface of one end of the fixed disc (341), the other end of the fixed disc (341) abuts against the fixed disc, and the diameter of the annular air bag (344) is larger than the inner diameter of the extrusion groove (343);
the surface of the auxiliary rod (3) is provided with a transmission hole, a second transmission belt (37) is movably arranged in the transmission hole, the second transmission belt (37) is in transmission connection with the transmission wheel (6), and the other end of the second transmission belt (37) is arranged on one side of the driving gear ring (34).
5. The medical manipulator for abdominal cavity surgery as set forth in claim 4, wherein: a rotating disc (36) is rotatably arranged at one end of the auxiliary rod (3), a plurality of fixing rods (361) are fixedly connected to the surface of the rotating disc (36), a connecting frame (362) is fixedly connected between the fixing rods (361), and a fixing shaft (38) is fixedly connected to one end of the connecting frame (362);
the transmission groove is formed in the fixed shaft (38) and is Y-shaped, the transmission rope is arranged in the rotating disc (36) and is in transmission connection with the movable shaft (11), first transmission belts (35) are movably arranged at two ends of the rotating disc (36), and the first transmission belts (35) are in transmission connection with the transmission wheels (6).
6. The medical manipulator for abdominal cavity surgery as set forth in claim 1, wherein: a plurality of hinge rings (41) are arranged in the rubber sealing sleeve (4), hinge blocks (42) are fixedly connected to the surfaces of the hinge rings (41), the hinge blocks (42) are symmetrically arranged, friction grooves are formed in the surfaces of the hinge rings (41), a pair of limiting end blocks are fixedly connected to the inner walls of the hinge rings (41), one end of each hinge ring (41) at one side is fixedly connected with a limiting sleeve rod (32), and a fixing plate (52) is fixedly connected between the hinge rings (41) at the other side;
the surface of the fixing plate (52) is fixedly connected with an operating clamp (5), the inner wall of the operating clamp (5) is fixedly connected with an anti-skid gasket (53), an extrusion air bag (51) is arranged inside the operating clamp (5), two ends of the extrusion air bag (51) are fixedly connected with an elastic rope, a limiting clamping groove is formed in the surface of the hinging block (42), a clamping rod (43) is fixedly connected inside the limiting clamping groove, and a transmission rope penetrates through the clamping rod (43);
the inner wall of the extrusion air bag (51) is fixedly connected with a pair of end blocks, the end blocks are fixedly connected with the transmission rope, a pair of hinged rods (54) are fixedly connected inside the extrusion air bag (51), and a return spring (55) is fixedly connected between the hinged rods (54).
7. The medical manipulator for abdominal surgery as set forth in claim 6, wherein: a movable plate (45) is arranged inside the hinged ring (41), the movable plate (45) is U-shaped, a fixing ring (48) is arranged between the movable plates (45), the fixing ring (48) is fixedly connected with the inner wall of the limiting sleeve rod (32), a pair of arc-shaped grooves are formed in the surface of the fixing ring (48), the movable plate (45) penetrates through the arc-shaped grooves, a reset plate (47) is arranged on one side of the fixing ring (48), a straight rod is fixedly connected to one end of the reset plate (47), and one end of the straight rod is fixedly connected to the fixing shaft (38);
reset board (47) inside activity and be equipped with first drive belt (35), a pair of metal axle of fixedly connected with is gone up in first drive belt (35), and the metal axle activity sets up in the board (47) both sides that reset, reset board (47) fixedly connected with gag lever post (471) on the surface, the fixedly connected with lantern ring is gone up in gag lever post (471), first drive belt (35) activity sets up inside the lantern ring, a pair of sheetmetal (451) of fixedly connected with is gone up in first drive belt (35), sheetmetal (451) and fly leaf (45) inner wall fixed connection, compression groove (46) have been seted up on fly leaf (45) outer wall.
8. The medical manipulator for abdominal surgery as set forth in claim 7, wherein: the movable type steering mechanism is characterized in that transmission balls (44) are movably arranged between the movable plates (45), elastic shafts are fixedly connected inside the hinged rings (41), the transmission balls (44) are rotatably arranged on the elastic rods, movable rings are arranged between the transmission balls (44) and fixedly connected to the elastic shafts, reset shafts (441) are arranged between the transmission balls (44), one ends of the reset shafts (441) are fixedly connected between the fixed plates (52) and the movable rings, a plurality of steering sleeves (49) are fixedly connected to the reset shafts (441), pull ropes (491) are inserted at two ends of each steering sleeve (49), one ends of the pull ropes (491) are fixedly connected between the transmission balls (44), the pull ropes (491) are symmetrically arranged, and a plurality of transmission grooves (442) are formed in the surfaces of the transmission balls (44);
the movable plate (45) is characterized in that a plurality of extrusion shafts are fixedly connected to the inner wall of the movable plate (45), the surfaces of the extrusion shafts abut against the inner wall of the transmission groove (442), an arc-shaped extrusion groove is formed in the surface of the movable plate (45), and the inner wall of the arc-shaped extrusion groove abuts against the extrusion end block.
9. The medical manipulator for abdominal surgery of claim 1, wherein: the movable handle is characterized in that a limiting box (7) is fixedly connected inside the fixed handle (1), the movable shaft (11) is movably arranged inside the limiting box (7), a reset groove (71) and a toggle groove (72) are formed inside the limiting box (7), a connecting groove is formed between the reset groove (71) and the toggle groove (72), a one-way baffle is fixedly connected inside the connecting groove, a pair of reset rods (73) are movably inserted into the movable shaft (11), the reset rods (73) are movably arranged inside the toggle groove (72), a metal spring is fixedly connected to the movable shaft (11), the metal spring is fixedly connected to the inner wall of the limiting box (7), the movable shaft (11) is fixedly connected to an elastic rope, a friction block is fixedly connected to the movable shaft (11), a plurality of limiting expansion plates (74) are fixedly connected to the top of the inner wall of the limiting box (7), and a plurality of top plates are fixedly arranged between the limiting expansion plates (74), the inner wall of the limiting box (7) is fixedly connected with the top plate, the limiting expansion plate (74) penetrates through the top plate, and the bottom of the top plate is abutted to the surface of the friction block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210141787.8A CN114521966B (en) | 2022-02-16 | 2022-02-16 | Medical manipulator for abdominal cavity operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210141787.8A CN114521966B (en) | 2022-02-16 | 2022-02-16 | Medical manipulator for abdominal cavity operation |
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| CN114521966A true CN114521966A (en) | 2022-05-24 |
| CN114521966B CN114521966B (en) | 2023-06-27 |
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| EP0666057A2 (en) * | 1994-02-07 | 1995-08-09 | Ethicon, Inc. | Surgical stapling instrument |
| DE202005020964U1 (en) * | 2005-03-11 | 2007-01-04 | Olympus Winter & Ibe Gmbh | Medical instrument e.g. forceps, for use in e.g. surgery, has turning lever with holding device at its provision in unlocked rotational position, where holding device is designed for frictional holding of lever opposite to grip part |
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|---|---|
| CN114521966B (en) | 2023-06-27 |
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