CN206880734U - Robot supporting construction applied to micro-wound surgical operation - Google Patents
Robot supporting construction applied to micro-wound surgical operation Download PDFInfo
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- CN206880734U CN206880734U CN201621448253.6U CN201621448253U CN206880734U CN 206880734 U CN206880734 U CN 206880734U CN 201621448253 U CN201621448253 U CN 201621448253U CN 206880734 U CN206880734 U CN 206880734U
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Abstract
It the utility model is related to a kind of surgery assistor tool.A kind of robot supporting construction applied to micro-wound surgical operation, including support frame, are provided with support arm on support frame, and support arm is made up of multiple swivels being sequentially connected；Control panel is provided with support frame simultaneously, control panel is connected with the control centre on support frame, operating theater instruments is connected with by cable in control centre, operating theater instruments is provided with control button, control button transmits control signals to control centre, each rotational structure rotation of control centre's control support arm.The utility model provides one kind and can carry out helping mirror instead of clinician, automaticity is high, the endoscope of clamping on the support structure can be finely adjusted, can also possess clamping drag hook and tissue is pulled open, easy to operate control is simply applied to the robot supporting construction of micro-wound surgical operation；It is high to solve machine construction cost present in prior art, it is impossible to be finely adjusted, technical problem inconvenient for operation.
Description
Technical field
A kind of surgery assistor tool is the utility model is related to, more particularly to one kind acts on behalf of clinical doctor in micro-wound surgical operation
Shi Jinhang helps the robot supporting construction of the operations such as mirror.
Background technology
At present, when carrying out the Minimally Invasive Surgeries such as laparoscope, in addition to the operative doctor of operator, it is also necessary to a full-time doctor
Laparoscope is helped, is responsible for angle, the depth into intracavitary of control laparoscope, to control the field of view of laparoscope, Huo Zhe
Side operates corresponding apparatus and helps operating doctor to pull open tissue.The visual field to be observed is passed through language performance by operating doctor
To lifting-mirror doctor, the requirement of field of view is realized by the operation of lifting-mirror doctor.But sometimes lifting-mirror doctor can not completely or
The idea of operating doctor is understood in time, causes the delay of operating time；Meanwhile up to a few houres help mirror during, help mirror
The labor intensity of doctor is also big, and arm is easily tired.Meanwhile under clinician's situation in short supply, it is special to waste a personnel
Help mirror to seem excessively to waste, for the personnel of saving, it is also desirable to which a kind of apparatus completes this work.The import occurred currently on the market
Leonardo da Vinci's robotic surgical system, the RMB of system value several ten million, price is high, and doctor's operation difficulty is big, popularization effect
Fruit is bad.It is micro- and conventional endoscope clamp standoff product, only support function, regulation must use manual, regulation trouble
Adjust difficulty big, not up to clinical operation requirement.Such as Chinese patent：" snakelike mirror supporter（CN201410589670.1）", including help
Mirror holder, the holding up mirror holder include fix bar, and an at least fix bar arranges, the fix bar arranges are set in the fix bar
One end be fixed in fix bar, one end of fix bar arranges is provided for gripping the mirror body fixed body of laparoscope.
Utility model content
The utility model provides one kind and can carry out helping mirror instead of clinician, and automaticity is high, and clamping can propped up
Endoscope on support structure is finely adjusted, and can also possess clamping drag hook and tissue is pulled open, and easy to operate control simply should
Robot supporting construction for micro-wound surgical operation；It is high to solve machine construction cost present in prior art, it is impossible to enter
Row fine setting, technical problem inconvenient for operation.
Above-mentioned technical problem of the present utility model is that solved by following technical proposals：One kind is applied to minimally invasive surgery hand
The robot supporting construction of art, including support frame, are provided with support arm on described support frame, and described support arm is by multiple
The swivel being sequentially connected is formed, and the swivel for forming the bottom of support arm is connected with support arm, forms support arm most
The swivel of upper end is provided with location locking mechanism；Control panel is provided with simultaneously on support frame, control panel is with being arranged on
Control centre on support frame is connected, and operating theater instruments is connected with by cable in control centre, and operating theater instruments is provided with control
Button, control button transmit control signals to control centre, each rotational structure rotation of control centre's control support arm.Doctor
Life can pass through the rotation between control button control each swivel of support arm in operating theater instruments in operation apparatus
Angle, the location locking mechanism on the swivel of support arm the top can be to endoscope or remaining auxiliary operation apparatus
For example drag hook etc. is positioned and fixed, so as to which the control command sent by control centre according to the idea of doctor adjusts support
The angle of arm, automaticity is high, at the same time it can also accurately perform the order of doctor, improves the accuracy and facility of operation
Property.
Preferably, described support arm is made up of six swivels, it is vertical between adjacent two swivels
Arrange, can mutually be rotated between two adjacent swivels.Each swivel is connected with a stepper motor, stepping electricity
Machine is controlled by control centre.Each swivel individually controls, and control effect is good, and each swivel can mutually turn
It is dynamic, so as to realize that support arm can be rotated at ± 360 °, meet the requirement of surgical doctor.
Preferably, described operating theater instruments is abdominal cavity pincers, control structure is provided with the operating portion front end of abdominal cavity pincers, it is described
Control structure include push-button socket, push-button socket is fixed on the operating portion of abdominal cavity pincers by button latch frame, is provided with push-button socket
Circuit board, there are control button, control button and circuit board electrical connection in the installed in front of push-button socket, circuit board is connected with cable
Line.Facilitate the fixation and dismounting of button part, abdominal cavity pincers can be used alone, and can also be provided with after control structure in robot
Used in supporting construction, improve the adaptability of product, while on original abdominal cavity pincers mechanism is not changed, facilitate doctor quick
Grasp, and can easily operate support arm simultaneously.
Preferably, the location locking mechanism on described swivel includes locking main body, connected in locking main body
There is bracket, chuck is provided with the front end of bracket.Endoscope or drag hook to be mounted etc. are needed using bracket carrying, then utilizes lock
Tight main body fixes the components such as the endoscope on bracket or drag hook, prevents from coming off.
Preferably, described support frame includes support post, support underframe, support underframe are provided with below support post
For cross, roller is respectively equipped with four angles of support underframe.Support effect is good, is moved easily and operates.
Preferably, being provided with control panel on support frame, control panel is connected with control centre, is set on control panel
There is shift knob.
Therefore, the robot supporting construction of the present utility model applied to micro-wound surgical operation possesses following advantages：Utilize
The anglec of rotation for the controlling organization control support arm being connected in operating theater instruments, is fixed on support arm by location locking mechanism
The device of auxiliary, such as in peep or drag hook, surgical doctor can easily adjust the angle of support arm according to the demand of oneself,
So as to reach the requirement of oneself, automaticity is high, and fine setting in place, while can also play a part of support, eliminates assistant doctor
The trouble of teacher, uses manpower and material resources sparingly, good operation effect.
Brief description of the drawings
Fig. 1 is the schematic diagram of the robot supporting construction of the present utility model applied to micro-wound surgical operation.
Fig. 2 is the enlarged diagram of abdominal cavity pincers in Fig. 1.
Fig. 3 is the rotation enlarged diagram of the control structure part of the abdominal cavity pincers in Fig. 2.
Fig. 4 is the endoscope clamp structure enlarged diagram in Fig. 1.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the technical scheme of utility model is described in further detail.
Embodiment：
As shown in figure 1, a kind of robot supporting construction applied to micro-wound surgical operation, including support frame, support frame bag
Support post 15 is included, support underframe 18 is provided with below support post 15, support underframe 18 is cross, in support underframe 18
Roller 17 is respectively equipped with four angles.Control centre 16 is fixedly arranged above in support underframe 18, control centre 16 is welded on support
On column 15, while control panel 14 is also welded with support post 15, control panel 14 is connected with control centre 16, control
Shift knob is provided with panel 14, shift knob is the button of controlling switch and emergent stopping.Connected on support post 15
There is support arm 3, support arm 3 is made up of six swivels 12, is arranged vertically between adjacent two swivels 12, two
Can mutually it be rotated between adjacent swivel 12.Each swivel 12 is connected with a stepper motor, stepper motor by
Control centre 16 controls.
As shown in Figures 2 and 3, abdominal cavity pincers 13 are connected with by cable in control centre, in the operating portion of abdominal cavity pincers 13
Front end is provided with control structure, and control structure includes push-button socket 5, and push-button socket 5 is fixed on button latch frame 8 by attachment screw 9.Press
The side of button lock frame is provided with through hole, is worn in through hole and is connected to lock-screw, the operating portion of abdominal cavity pincers is fixed on by lock-screw
On, fixed after lock-screw 6 passes through button latch frame by protective case 7.Circuit board is installed, before push-button socket in push-button socket
Side is provided with control button 1, and control button 1 electrically connects with circuit board 4, and circuit board 4 is connected with cable 10.Outside control button 1
It is enclosed with silica gel sheath 2.
As shown in figure 4, location locking mechanism is provided with the swivel of support arm the top, location locking mechanism bag
Locking main body 21 is included, bracket 19 is connected with locking main body 21, chuck 20 is provided with the front end of bracket 19.Endoscope 11 is located at
On bracket, then its telescope end is fixedly clamped by chuck.
Claims (8)
1. a kind of robot supporting construction applied to micro-wound surgical operation, including support frame, it is characterised in that：In described branch
Support is provided with support arm, and described support arm is made up of multiple swivels being sequentially connected, and forms the most lower of support arm
The swivel at end is connected with support arm, and the swivel for forming support arm the top is provided with location locking mechanism；Supporting
Control panel is provided with frame simultaneously, control panel is connected with the control centre on support frame, passes through electricity in control centre
Cable is connected with operating theater instruments, and operating theater instruments is provided with control button, and control button transmits control signals to control centre, control
Each rotational structure rotation of control support arm in center processed.
2. the robot supporting construction according to claim 1 applied to micro-wound surgical operation, it is characterised in that：Described
Support arm is made up of six swivels, is arranged vertically between adjacent two swivels, two adjacent swivels
Between can mutually rotate.
3. the robot supporting construction according to claim 1 or 2 applied to micro-wound surgical operation, it is characterised in that：Often
Individual swivel is all connected with a stepper motor, and stepper motor is controlled by control centre.
4. the robot supporting construction according to claim 1 or 2 applied to micro-wound surgical operation, it is characterised in that：Institute
The operating theater instruments stated is abdominal cavity pincers, and control structure is provided with the operating portion front end of abdominal cavity pincers, and described control structure includes button
Seat, push-button socket are fixed on the operating portion of abdominal cavity pincers by button latch frame, circuit board are provided with push-button socket, before push-button socket
Side is provided with control button, control button and circuit board electrical connection, and circuit board is connected with cable.
5. the robot supporting construction according to claim 3 applied to micro-wound surgical operation, it is characterised in that：Described
Operating theater instruments is abdominal cavity pincers, and control structure is provided with the operating portion front end of abdominal cavity pincers, and described control structure includes push-button socket, pressed
Button seat is fixed on the operating portion of abdominal cavity pincers by button latch frame, and circuit board is provided with push-button socket, is pacified in the front side of push-button socket
Equipped with control button, control button and circuit board electrical connection, circuit board are connected with cable.
6. the robot supporting construction according to claim 1 or 2 applied to micro-wound surgical operation, it is characterised in that：Institute
The location locking mechanism on swivel stated includes locking main body, bracket is connected with locking main body, in the front end of bracket
Provided with chuck.
7. the robot supporting construction according to claim 1 or 2 applied to micro-wound surgical operation, it is characterised in that：Institute
The support frame stated includes support post, support underframe is provided with below support post, support underframe is cross, in support underframe
Four angles on be respectively equipped with roller.
8. the robot supporting construction according to claim 1 or 2 applied to micro-wound surgical operation, it is characterised in that：
Control panel is provided with support frame, control panel is connected with control centre, and control panel is provided with shift knob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621448253.6U CN206880734U (en) | 2016-12-27 | 2016-12-27 | Robot supporting construction applied to micro-wound surgical operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621448253.6U CN206880734U (en) | 2016-12-27 | 2016-12-27 | Robot supporting construction applied to micro-wound surgical operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206880734U true CN206880734U (en) | 2018-01-16 |
Family
ID=61327878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621448253.6U Expired - Fee Related CN206880734U (en) | 2016-12-27 | 2016-12-27 | Robot supporting construction applied to micro-wound surgical operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206880734U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338841A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| WO2019200773A1 (en) * | 2018-04-17 | 2019-10-24 | 成都博恩思医学机器人有限公司 | Laparoscope-holding robot system for laparoscopic surgery |
| US11534254B2 (en) | 2017-07-31 | 2022-12-27 | Chengdu Borns Medical Robotics Inc. | Console for operating actuating mechanism |
| US11547505B2 (en) | 2020-10-23 | 2023-01-10 | Chengdu Borns Medical Robotics Inc. | Method for controlling a mechanical arm of a surgical robot following the movement of a surgical bed and a device therefor |
-
2016
- 2016-12-27 CN CN201621448253.6U patent/CN206880734U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11534254B2 (en) | 2017-07-31 | 2022-12-27 | Chengdu Borns Medical Robotics Inc. | Console for operating actuating mechanism |
| CN108338841A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| WO2019200773A1 (en) * | 2018-04-17 | 2019-10-24 | 成都博恩思医学机器人有限公司 | Laparoscope-holding robot system for laparoscopic surgery |
| CN108338841B (en) * | 2018-04-17 | 2021-03-23 | 成都博恩思医学机器人有限公司 | Laparoscopic surgery holds mirror robot system |
| EP3782573A4 (en) * | 2018-04-17 | 2022-01-26 | Chengdu Borns Medical Robotics Inc. | Laparoscope-holding robot system for laparoscopic surgery |
| US11357583B2 (en) * | 2018-04-17 | 2022-06-14 | Chengdu Borns Medical Robotics Inc. | Laparoscope-holding robot system for laparoscopic surgery |
| AU2018419295B2 (en) * | 2018-04-17 | 2023-04-13 | Chengdu Borns Medical Robotics Inc. | Laparoscope-holding robot system for laparoscopic surgery |
| US11547505B2 (en) | 2020-10-23 | 2023-01-10 | Chengdu Borns Medical Robotics Inc. | Method for controlling a mechanical arm of a surgical robot following the movement of a surgical bed and a device therefor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20181227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |