CN203388943U - Mechanical arm for minimally invasive surgery - Google Patents
Mechanical arm for minimally invasive surgery Download PDFInfo
- Publication number
- CN203388943U CN203388943U CN201320465264.5U CN201320465264U CN203388943U CN 203388943 U CN203388943 U CN 203388943U CN 201320465264 U CN201320465264 U CN 201320465264U CN 203388943 U CN203388943 U CN 203388943U
- Authority
- CN
- China
- Prior art keywords
- active operation
- operation arm
- minimally invasive
- rotary joint
- invasive surgery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a mechanical arm for a minimally invasive surgery. The mechanical arm comprises a primary motion end portion, a secondary motion end portion and an active motion arm combination. The primary motion end portion comprises a minimally invasive surgery control panel, a secondary motion end control key, a monitor, a mouse, a keyboard and a plurality of primary motion hands. The secondary motion end control key, the monitor, the mouse, the keyboard and the primary motion hands are respectively fixed on the minimally invasive surgery control panel. The secondary motion end portion comprises a connecting line, a stand column, a monitor and three rotary joints. The connecting line is respectively connected with the primary motion end portion and the secondary motion end portion. The monitor is arranged on the stand column. The active motion arm combination comprises a radiating fan, an electric cabinet and four forth rotary joints, the electric cabinet is connected with the rotary joints, and the radiating fan is arranged in the electric cabinet. The four forth rotary joints are respectively arranged on the electric cabinet. By the aid of the mechanical arm, a doctor can be assisted to perform the minimally invasive surgery for a patient, trauma of the patient can be relieved, the patient can recover quickly, and the mechanical arm is high in surgery precision.
Description
Technical field
This utility model relates to a kind of armarium, relates in particular to a kind of Minimally Invasive Surgery mechanical arm.
Background technology
Minimally Invasive Surgery mechanical arm on the market involves great expense, and the step of manufacture is very loaded down with trivial details, and maintenance cost is very high.Motility is low, inaccurate coordination, bulky, only has at present the U.S., France, Germany, Britain, Poland, Japan, Korea S etc. have all carried out the research of minimally invasive surgical operation robot in succession, and produced a series of model machine, but these model machines are mostly identical with the mechanism having existed or similar, lack novelty, China aspect robotic assisted surgery still in the starting stage, the robot system having existed can only play auxiliary positioning in operation process, can not be applied to clinical operation, therefore developing a set of novel minimally invasive surgical operation robot system with independent intellectual property right has very important meaning to filling up the blank in China Gai field.
Utility model content
The purpose of this utility model: a kind of Minimally Invasive Surgery mechanical arm is provided, can assists doctor to implement Minimally Invasive Surgery to patient.
To achieve these goals, the technical solution of the utility model is:
A mechanical arm, comprises main operation end Fen,Cong operating side part and the combination of active operation arm; Described main operation end is divided and is comprised Minimally Invasive Surgery control station ,Cong operating side control button, monitor, mouse, keyboard and a plurality of main manipulator; From operating side, controlling button, monitor, mouse, keyboard and a plurality of main manipulator is separately fixed at described Minimally Invasive Surgery control station; Described divides and comprises connecting line, column, monitor and three rotary joints from operative end; Described connecting line connects respectively described Fen Jicong operating side, main operation end part; Described monitor is arranged on described column; Described active operation arm combination comprises radiator fan, electric cabinet and four the 4th rotary joints, and described electric cabinet is connected with described rotary joint, and described fan is arranged in described electric cabinet; Four described the 4th rotary joints are separately positioned on described electric cabinet.
Above-mentioned Minimally Invasive Surgery mechanical arm, wherein, the main manipulator described in each is provided with six main manipulator rotary joints.
Above-mentioned Minimally Invasive Surgery mechanical arm, wherein, described main operation end is divided and is also comprised foot switch.
Above-mentioned Minimally Invasive Surgery mechanical arm, wherein, three described rotary joints comprise the first rotary joint, the second rotary joint and the 3rd rotary joint, between the first described rotary joint and the second rotary joint, by first connecting rod, connect, between the second described rotary joint and the 3rd rotary joint, by second connecting rod, connect, the 3rd described rotary joint is connected with described electric cabinet.
Above-mentioned Minimally Invasive Surgery mechanical arm, wherein, described column is provided with slide block, and described slide block is connected with the first described rotary joint, and described three rotary joints and described slide block are along the upper and lower synchronous slide of described column.
Above-mentioned Minimally Invasive Surgery mechanical arm, wherein, four described the 4th rotary joints are connected respectively four active operation arms, each active operation arm has four active operation arm modules and five active operation arm rotary joints, four described active operation arm modules are divided into the first active operation arm module, the second active operation arm module, the 3rd active operation arm module and the 4th active operation arm module, the first described active operation arm module is connected with the 4th described rotary joint by described active operation arm rotary joint, the first described active operation arm module, the second active operation arm module, between the 3rd active operation arm module and the 4th active operation arm module, by described active operation arm rotary joint, connect respectively.
Above-mentioned Minimally Invasive Surgery mechanical arm, wherein, the combination of described active operation arm also comprises four operation tool grip slippers, three clamping operation tools and active operation arm clamping endoscope, between the 4th described active operation arm module and operation tool grip slipper by the corresponding connection of described active operation arm rotary joint; Described active operation arm clamping endoscope is arranged on from left to right in the 4th active operation arm module described in the 3rd, and three described clamping operation tools are separately positioned in the 4th active operation arm module described in another three.
This utility model can assist doctor to carry out Minimally Invasive Surgery to patient, can allow patient trauma little, recovers fast, and operation precision is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model Minimally Invasive Surgery mechanical arm.
Fig. 2 is the structural representation that the main operation end of this utility model Minimally Invasive Surgery mechanical arm is divided.
Fig. 3 is the structural representation from operating side part of this utility model Minimally Invasive Surgery mechanical arm.
Fig. 4 is the structural representation of the active operation arm combination of this utility model Minimally Invasive Surgery mechanical arm.
The specific embodiment
Below in conjunction with accompanying drawing, further illustrate embodiment of the present utility model.
Refer to accompanying drawing 1 to shown in accompanying drawing 4, a kind of Minimally Invasive Surgery mechanical arm, comprises that main operation end divides 1 ,Cong operating side part 2 and active operation arm combination 3; Described main operation end divides 1 to comprise Minimally Invasive Surgery control station 10,Cong operating side control button 11, monitor 12, mouse 13, keyboard 14 and a plurality of main manipulator 15; From operating side, controlling button 11, monitor 12, mouse 13, keyboard 14 and a plurality of main manipulator 15 is separately fixed at described Minimally Invasive Surgery control station 10; Described comprises connecting line 20, column 21, monitor 22 and three rotary joints from operating side part 2; Described connecting line 20 connects respectively described main operation end and divides 1 Ji Cong operating side part 2; Described monitor 22 is arranged on described column 21, while carrying out for operative doctor 5 real time monitorings operations situation; Described active operation arm combination 3 comprises radiator fan 30, electric cabinet 31 and four the 4th rotary joints 32, and described electric cabinet 31 is connected with described rotary joint, and described fan 30 is arranged in described electric cabinet 31; Four described the 4th rotary joints 32 are separately positioned on described electric cabinet 31.Electric cabinet 31 is brains of Minimally Invasive Surgery mechanical arm, any step of operative doctor 5 every operations, capital converts through the internal circuit of electric cabinet 31 each mechanical part and each module that the signal of telecommunication is controlled active operation arm combination 3 to, the heat that the circuit of electric cabinet 31 inside produces carrys out radiating and cooling by radiator fan 30, to guarantee that Minimally Invasive Surgery mechanical arm can not cause because circuit temperature is too high fault, allow operation carry out smoothly, reduce fault rate.Main operation end divides 1 can have one or morely, and a plurality of main operations end divides 1 by connecting line 20Yu Cong operating side part 2, to connect respectively.
Described main operation end divides 1 also to comprise foot switch 17, for controlling main operation end, divides 1 opening and closing, controlling and is stopping operation and continue operation.
Three described rotary joints comprise the first rotary joint 23, the second rotary joint 24 and the 3rd rotary joint 25, between the first described rotary joint 23 and the second rotary joint 24, by first connecting rod 26, connect, between the second described rotary joint 24 and the 3rd rotary joint 25, by second connecting rod 27, connect, the 3rd described rotary joint 25 is connected with described electric cabinet 31.
Described column 21 is provided with slide block 28, and described slide block 28 is connected with the first described rotary joint 23, and described three rotary joints and described slide block 28 are along described column synchronous slide Shang Xia 21.
Four described the 4th rotary joints 32 are connected respectively four active operation arms, each active operation arm has four active operation arm modules and five active operation arm rotary joints 40, four described active operation arm modules are divided into the first active operation arm module 33, the second active operation arm module 34, the 3rd active operation arm module 35 and the 4th active operation arm module 36, the first described active operation arm module 33 is connected with the 4th described rotary joint 32 by described active operation arm rotary joint 40, the first described active operation arm module 33, the second active operation arm module 34, between the 3rd active operation arm module 35 and the 4th active operation arm module 36, by described active operation arm rotary joint 40, connect respectively.Active operation arm rotary joint 40 between the first active operation arm module 33 and the second active operation arm module 34 and the 3rd active operation arm module 35 is being controlled moving up and down of active operation arm, and the active operation arm rotary joint 40 between the 3rd active operation arm module 35 and the 4th active operation arm module 36 is being controlled the side-to-side movement of active operation arm.
Described active operation arm combination 3 also comprises a plurality of operation tool grip slipper 37, three clamping operation tools 38 and active operation arm clamping endoscopies 39, between the 4th described active operation arm module 36 and operation tool grip slipper 37 by the corresponding connections of described active operation arm rotary joint 40; Described active operation arm clamping endoscope 39 is arranged on from left to right in the 4th active operation arm module 36 described in the 3rd, and three described clamping operation tools 38 are separately positioned in the 4th active operation arm module 36 described in another three.The 4th described active operation arm module 36 and the active operation arm rotary joint 40 between operation tool grip slipper 37 are being controlled and are being moved up and down, the inside sight while monitoring to patient's 4 operation by active operation arm clamping endoscope 39.
This utility model divides the moving up and down of each active operation arm of 1 control active operation arm combination 3 all around by main operation end, such as, if operative doctor 5 catches main manipulator 15 to draw to the left or to the right, will control active operation arm and combine 3 corresponding active operation arms and do corresponding motion, reach and allow clamping operation tool 38 do movement to the left or to the right around a fulcrum.
In sum, this utility model can assist doctor to carry out Minimally Invasive Surgery to patient, can allow patient trauma little, recovers fast, and operation precision is high.
Claims (7)
1. a Minimally Invasive Surgery mechanical arm, is characterized in that: comprise that main operation end divides (1) ,Cong operating side part (2) and active operation arm combination (3); Described main operation end divides (1) to comprise Minimally Invasive Surgery control station (10) ,Cong operating side control button (11), monitor (12), mouse (13), keyboard (14) and a plurality of main manipulator (15); From operating side, controlling button (11), monitor (12), mouse (13), keyboard (14) and a plurality of main manipulator (15) is separately fixed at described Minimally Invasive Surgery control station (10); Described comprises connecting line (20), column (21), monitor (22) and three rotary joints from operating side part (2); Described connecting line (20) connects respectively described main operation end and divides (1) Ji Cong operating side part (2); Described monitor (22) is arranged on described column (21); Described active operation arm combination (3) comprises radiator fan (30), electric cabinet (31) and four the 4th rotary joints (32), described electric cabinet (31) is connected with described rotary joint, and described fan (30) is arranged in described electric cabinet (31); Four described the 4th rotary joints (32) are separately positioned on described electric cabinet (31).
2. Minimally Invasive Surgery mechanical arm according to claim 1, is characterized in that: the main manipulator described in each (15) is provided with six main manipulator rotary joints (16).
3. Minimally Invasive Surgery mechanical arm according to claim 1, is characterized in that: described main operation end divides (1) also to comprise foot switch (17).
4. Minimally Invasive Surgery mechanical arm according to claim 1, it is characterized in that: three described rotary joints comprise the first rotary joint (23), the second rotary joint (24) and the 3rd rotary joint (25), between described the first rotary joint (23) and the second rotary joint (24), by first connecting rod (26), connect, between described the second rotary joint (24) and the 3rd rotary joint (25), by second connecting rod (27), connect, the 3rd described rotary joint (25) is connected with described electric cabinet (31).
5. Minimally Invasive Surgery mechanical arm according to claim 4, it is characterized in that: described column (21) is provided with slide block (28), described slide block (28) is connected with described the first rotary joint (23), and described three rotary joints and described slide block (28) are along the upper and lower synchronous slide of described column (21).
6. Minimally Invasive Surgery mechanical arm according to claim 1, it is characterized in that: four described the 4th rotary joints (32) are connected respectively four active operation arms, each active operation arm has four active operation arm modules and five active operation arm rotary joints (40), four described active operation arm modules are divided into the first active operation arm module (33), the second active operation arm module (34), the 3rd active operation arm module (35) and the 4th active operation arm module (36), the first described active operation arm module (33) is connected with the 4th described rotary joint (32) by described active operation arm rotary joint (40), the first described active operation arm module (33), the second active operation arm module (34), between the 3rd active operation arm module (35) and the 4th active operation arm module (36), by described active operation arm rotary joint (40), connect respectively.
7. Minimally Invasive Surgery mechanical arm according to claim 6, it is characterized in that: described active operation arm combination (3) also comprises four operation tool grip slippers (37), three clamping operation tools (38) and active operation arm clamping endoscope (39), between the 4th described active operation arm module (36) and operation tool grip slipper (37) by described active operation arm rotary joint (40) correspondence connection; Described active operation arm clamping endoscope (39) is arranged on the 4th active operation arm module (36) described in the 3rd from left to right and goes up, and described three clamping operation tools (38) are separately positioned in the 4th active operation arm module (36) described in another three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320465264.5U CN203388943U (en) | 2013-08-01 | 2013-08-01 | Mechanical arm for minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320465264.5U CN203388943U (en) | 2013-08-01 | 2013-08-01 | Mechanical arm for minimally invasive surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203388943U true CN203388943U (en) | 2014-01-15 |
Family
ID=49900508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320465264.5U Expired - Fee Related CN203388943U (en) | 2013-08-01 | 2013-08-01 | Mechanical arm for minimally invasive surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203388943U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109222860A (en) * | 2018-09-20 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Adjustable endoscope, motion arm, from operation equipment and operating robot |
| CN109222862A (en) * | 2018-09-20 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Endoscope, motion arm, from operation equipment and operating robot |
| CN112353361A (en) * | 2020-09-21 | 2021-02-12 | 南京速锋医疗科技有限公司 | 3D (three-dimensional) pleuroperitoneal cavity mirror system based on master-slave integrated intelligent mirror holding robot |
| CN113081289A (en) * | 2021-04-06 | 2021-07-09 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
-
2013
- 2013-08-01 CN CN201320465264.5U patent/CN203388943U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109222860A (en) * | 2018-09-20 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Adjustable endoscope, motion arm, from operation equipment and operating robot |
| CN109222862A (en) * | 2018-09-20 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Endoscope, motion arm, from operation equipment and operating robot |
| CN109222862B (en) * | 2018-09-20 | 2021-02-19 | 深圳市精锋医疗科技有限公司 | Endoscope, operation arm, slave operation device, and surgical robot |
| CN109222860B (en) * | 2018-09-20 | 2021-09-24 | 深圳市精锋医疗科技有限公司 | Adjustable endoscope, operation arm, slave operation device and surgical robot |
| CN112353361A (en) * | 2020-09-21 | 2021-02-12 | 南京速锋医疗科技有限公司 | 3D (three-dimensional) pleuroperitoneal cavity mirror system based on master-slave integrated intelligent mirror holding robot |
| CN113081289A (en) * | 2021-04-06 | 2021-07-09 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
| CN113081289B (en) * | 2021-04-06 | 2022-10-25 | 山东威高手术机器人有限公司 | Main operation arm for surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203388943U (en) | Mechanical arm for minimally invasive surgery | |
| CN105431104B (en) | Medical system and its control method | |
| US9155592B2 (en) | Virtual measurement tool for minimally invasive surgery | |
| US20160206387A1 (en) | Estimation of a position and orientation of a frame used in controlling movement of a tool | |
| CN105407827A (en) | Medical system and control method for same | |
| EP3713508A1 (en) | Systems and methods for master/tool registration and control for intuitive motion | |
| WO2010036493A1 (en) | Method for graphically providing continuous change of state directions to a user of a medical robotic system | |
| CN105030479A (en) | Ankle rehabilitation robot based on three-freedom-degree parallel mechanism | |
| CN207708010U (en) | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery | |
| CN109431602A (en) | A kind of porous minimally invasive robot system and its application method based on flexible surgical arm | |
| CN103006329B (en) | Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof | |
| CN203417225U (en) | Electric surgery stapling instrument | |
| CN113208731A (en) | Binocular vision system-based hand and eye calibration method for surgical puncture robot | |
| KR20200030209A (en) | Multi degree-of-freedom laparoscopic apparatus using disposable surgical robot tool | |
| CN103496411A (en) | Double-foot leg four-bar linkage humanoid robot | |
| CN103895008A (en) | Space three-dimensional translation parallel robot mechanism only containing revolute pairs | |
| CN204397985U (en) | The clamping manipulator of irregularly shaped bone cutting equipment | |
| CN110149907A (en) | A kind of spring leaf terminal executor of picking robot | |
| CN103481278A (en) | Three-translational spatial parallel robot mechanism | |
| CN104200730A (en) | Device, method and system for virtual laparoscopic surgery | |
| CN110464464A (en) | A kind of urological surgery robot arm | |
| CN203495118U (en) | Riveting device capable of continuous processing | |
| CN203863900U (en) | Extreme cold and extreme hot shaping machine | |
| Bai et al. | Kinematic analysis of a mechanism with dual remote centre of motion and its potential application | |
| CN105030481A (en) | Redundant drive three-degree-of-freedom ankle rehabilitation medical robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140115 Termination date: 20140801 |
|
| EXPY | Termination of patent right or utility model |