CN206979510U - Transurethral electric drive multiple degrees of freedom surgery systems - Google Patents
Transurethral electric drive multiple degrees of freedom surgery systems Download PDFInfo
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- CN206979510U CN206979510U CN201621267847.7U CN201621267847U CN206979510U CN 206979510 U CN206979510 U CN 206979510U CN 201621267847 U CN201621267847 U CN 201621267847U CN 206979510 U CN206979510 U CN 206979510U
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Abstract
A kind of transurethral electric drive multiple degrees of freedom surgery systems are the utility model is related to, including a surgical instrument with degrees of freedom and an operation tool drives unit, surgical instrument with degrees of freedom include flexible a non-individual body mechanical arm and a mechanical arm driving device；Flexible non-individual body mechanical arm includes a first segment non-individual body, one second section non-individual body and a surgical clamp；First segment non-individual body includes four first structure bones be arrangeding in parallel at equal intervals, multiple the first space discs being spacedly distributed and first stator, the rear end of first structure bone is connected with mechanical arm driving device, and the front end of first structure bone is fixedly connected after sequentially passing through each first space disc with the first stator；Second section non-individual body includes four the second structural bones be arrangeding in parallel at equal intervals, multiple the second space discs being spacedly distributed and second stator, the rear end of second structural bone is connected with mechanical arm driving device, and the front end of the second structural bone is fixedly connected after sequentially passing through each first space disc, the first stator and each second space disc with the second stator.
Description
Technical field
A kind of transurethral electric drive multiple degrees of freedom surgery systems are the utility model is related to, belong to medical instruments field.
Background technology
In modern medical service field, Minimally Invasive Surgery is when reducing the postoperative pain of patient and complication, shortening in hospital
Between, improve postoperative scar situation etc. and achieve success.In the field, the Intuitive of successful commercialization at present
The porous laparoscopic surgery robots of da Vinci that Surgical companies are developed disclosure satisfy that the requirement of a variety of Minimally Invasive Surgeries.But
With reaching its maturity and the higher and higher requirement of patient for medical technology, occur through human body natural's cavity operation (natural
Orifice trans-luminal endoscopic surgery, NOTES), it is characterized in not needing any otch, surgical device
Tool needs to carry out clamping the surgical actions such as suture by reaching art portion after a long and narrow complicated body cavities.At present, including
The existing operating robot of major part including da Vinci is because of the limit of its rigid structure, apparent size and the free degree configuration etc.
System, it is difficult to meet the technical requirements performed the operation through human body natural's cavity, the urological surgery put to good use particularly with per urethra.By
Be typically smaller than 8mm in urethra diameter, there is no at present in world wide company develop can transurethral operating robot, therefore,
The urology procedure that per urethra is put to good use is as the important branch performed the operation through human body natural's cavity, with high novelty and extensively
General social application value.
The content of the invention
In view of the above-mentioned problems, the purpose of this utility model, which is to provide a kind of per urethra that is applied to, implements the transurethral of operation
Electric drive multiple degrees of freedom surgery systems.
To achieve the above object, the utility model uses following technical scheme：A kind of transurethral electric drive multiple degrees of freedom
Surgery systems, it is characterised in that：It includes a surgical instrument with degrees of freedom and an operation tool drives unit, wherein, more freely
Degree operation tool includes flexible a non-individual body mechanical arm and a mechanical arm driving device；The flexible non-individual body mechanical arm includes one
First segment non-individual body and one second section non-individual body；The first segment non-individual body includes four first structures be arrangeding in parallel at equal intervals
Bone, multiple the first space discs being spacedly distributed and first stator, rear end and the machinery of the first structure bone
Arm drive device connects, the front end of the first structure bone sequentially pass through after each first space disc with first stator
It is fixedly connected；The second section non-individual body includes four the second structural bones be arrangeding in parallel at equal intervals, multiple is spacedly distributed
Second space disc and second stator, the rear end of second structural bone is connected with the mechanical arm driving device, described
The front end of second structural bone sequentially pass through after each first space disc, first stator and each second space disc with
Second stator is fixedly connected；The mechanical arm driving device includes a housing and four knots for being located at the enclosure interior
Structure bone drive component；Each structural bone drive component and two first structure bones or two through the housing forward end
Second structural bone described in root connects；Each structural bone drive component includes one first pedestal, a first shaft coupling male, one
Binodal Hooks coupling universal coupling, a connecting rod, two first pressing plates and two first sliding blocks；It is provided between the front-end and back-end of the housing
Four guide rails, it is slidably connected two simultaneously on each guide rail and belongs to described the of the different structural bone drive components
One sliding block；The pedestal is fixedly connected between two guide rails and with the rear end of the housing, and the first shaft coupling is public
Head is fixedly connected positioned at the rear end of the housing and with one end of one first power transmission shaft, and first power transmission shaft turns with the housing
Dynamic connection, the other end of first power transmission shaft are fixedly connected with one end of the binodal Hooks coupling universal coupling, and the binodal is universal
The other end of axle device is fixedly connected on the middle part of the connecting rod by a second driving shaft, and the second driving shaft passes through a bearing
It is rotatably supported on first pedestal；Slidably and rotatably connection one described first is pressed respectively at the both ends of the connecting rod
Plate, each first pressing plate are fixedly connected with the rear end of a first structure bone or second structural bone；Described in two
First pressing plate is fixedly connected with first sliding block respectively；The operation tool driver element include a straight-line motion mechanism,
One fixed pedestal, a group of motors, a connection outer cover and a sterile barrier；The fixed pedestal is fixedly connected on the linear motion
In the move portion of mechanism, the group of motors is fixedly connected with rear side of the fixed pedestal, the group of motors includes multiple motors；
The connection outer cover is fixedly connected on the front side of the fixed pedestal and ring cover on the group of motors output end periphery；It is described
Connection outer cover is connected by the sterile barrier with the housing, and the output end of each motor is connected by a shaft coupling male and female
Fitting is connected with a first shaft coupling male.
The front end of described second section non-individual body is provided with surgical clamp, the rear end of the surgical clamp control line of the surgical clamp according to
It is secondary from center through second stator, each second space disc, first stator, after each first space disc
It is connected with the surgical clamp drive component in the housing；The surgical clamp drive component includes one second pedestal, one first
Guiding sleeve, a second shaft coupling male, a screw rod, a nut, one second pressing plate and a guide rod；The guide rod is fixedly connected on
It is slidably connected between the front and rear end of the housing and with the nut, the front end of second pedestal and the housing is fixed
Connection, the second shaft coupling male are located at the rear end of the housing and are fixedly connected with one end of the screw rod, the screw rod
Both ends be connected with the housing into rotation, the screw rod is parallel with the guide rod, and the nut and the screw flight coordinate,
The nut is fixedly connected with second pressing plate, and second pressing plate is fixedly connected with the rear end of the surgical clamp control line；
First guiding sleeve is arranged between the front end of the housing and second pedestal, and the surgical clamp control line is from described
Passed through in first guiding sleeve, the second motor is fixedly connected with the fixed pedestal, the output end of second motor is led to
Shaft coupling male-female coupling part is crossed to be connected with second shaft coupling male.
The sterile barrier is in one end closing, the tubular structure of open at one end, the blind end insertion institute of the sterile barrier
After stating connection outer cover, the housing is inserted in the opening end of the sterile barrier, the housing, the sterile barrier and the company
Outer cover three is met to connect by a quick-connect machanism；Each shaft coupling male-female coupling part is rotatably connected on the sterile barrier
Blind end on.
Each structural bone drive component also includes a micro-adjusting mechanism, and the micro-adjusting mechanism includes two bolts, two cylindricalitys
Nut and two extension springs, each bolt are located at the outside of the housing, the bolt through the front end of the housing and bolt head
Rear end be connected through a screw thread one end of a cylindricality nut, the other end of the cylindricality nut passes through an extension spring and connected
One end of the connecting rod.
Two second guiding sleeves are set between the front end of the housing and each first pedestal；With each knot
Two first structure bones of structure bone drive component connection or second structural bone are worn from two second guiding sleeve
Cross.
The quick-connect machanism is spring box, and the spring box is fixedly connected on the outside of the connection outer cover, in institute
State sterile barrier, be correspondingly arranged a connecting hole respectively on the housing；A guiding is provided with the inside of the barrel of the sterile barrier
It is raised；The housing is provided with a guide groove being engaged with the guide protrusions in the side wall of rear end.
A wireless radio frequency identification mark is fixedly connected with rear side of the housing；Blind end and institute in the sterile barrier
State the relative position of wireless radio frequency identification mark and one radio frequency identification module for reading and writing mounting groove is set；In the fixed pedestal
Front side is fixedly connected with a radio frequency identification module for reading and writing, and the radio frequency identification module for reading and writing, which penetrates the less radio-frequency, to be known
Spacing is left in other module for reading and writing mounting groove and between the wireless radio frequency identification mark.
The straight-line motion mechanism includes a fixed mount, and one second motor, institute are fixedly connected with one end of the fixed mount
The output shaft for stating the second motor is fixedly connected with one end of a leading screw, and the both ends of the leading screw are rotatablely connected with the fixed mount,
A rectangular nut is arranged on the leading screw, a fixed block is fixedly connected with the rectangular nut, it is fixed on the fixed block
Connect the fixed pedestal.
The integrated end of a guiding sleeve is provided with the inside of the housing forward end；One end of first guiding sleeve is fixed
It is connected in the vertical through hole at the integrated end of the guiding sleeve.
The integrated end of a guiding sleeve is provided with the inside of the housing forward end；One end of second guiding sleeve is fixed
It is connected in the vertical through hole at the integrated end of the guiding sleeve.
For the utility model due to taking above technical scheme, it has advantages below：1st, the utility model is by multiple degrees of freedom
Operation tool and an operation tool drives unit are formed, wherein, surgical instrument with degrees of freedom includes a flexible non-individual body mechanical arm
With a mechanical arm driving device, and flexible non-individual body mechanical arm can realize four spatially under the driving of driver element
The free degree is curved, while the surgical clamp for being arranged on flexible non-individual body mechanical arm front end can realize controllable folding, therefore, this reality
With the new requirement that can meet per urethra in the free degree and implement operation.2nd, the utility model be additionally provided with driver element with
The fine tuning structure of each structural bone drive component connection, thereby it is ensured that each first structure bone and the second structural bone are not having
Fixed initial position is always positioned in the state of dynamic input.3rd, the utility model is provided with one on the inside of housing forward end and drawn
The integrated end of guiding tube is fixed in the integrated end of conduit, multiple guiding sleeve one end, and the other end is connected to the base of structural bone drive component
On seat, each first structure bone and the second structural bone pass through from guiding sleeve, therefore, first structure bone of the present utility model
When doing push-and-pull campaign being driven by structural bone drive component with the second structural bone can with fixed space orbit in advance or
Retreat, so as to ensure the stability of operation.4th, it is sterile in the open end margin of sterile barrier to be fixedly connected with a circle for the utility model
Plastic sheeting, sterile barrier can separate the surgical instrument with degrees of freedom of sterilization and non-sterilization section together with sterile plastic sheet
Come to meet operation demand.5th, the utility model is provided with a guide protrusions on the inside of the barrel of sterile barrier, while in shell
Body is provided with a guide groove in the side wall of rear end, thus can be realized by the cooperation of guide protrusions and guide groove housing with
The rapid-aligning of sterile barrier.The utility model can be widely applied to the operation of per urethra implementation.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of the utility model surgical instrument with degrees of freedom；
Fig. 3 is structural representation of the utility model surgical instrument with degrees of freedom under another visual angle；
Fig. 4 is the structural representation of the utility model flexibility non-individual body mechanical arm；
Fig. 5 is the structural representation of the utility model mechanical arm driving device；
Fig. 6 is the structural representation of the utility model structural bone drive component；
Fig. 7 is structural representation of the utility model structural bone drive component under another visual angle；
Fig. 8 is the structural representation of the utility model surgical clamp drive component；
Fig. 9 is the structural representation of the utility model operation tool driver element；
Figure 10 is the utility model fixed pedestal, group of motors and the connection diagram for connecting outer cover；
Figure 11 is the structural representation of the utility model sterile barrier；
Figure 12 is structural representation of the utility model sterile barrier under another visual angle.
Embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.
As shown in figure 1, the utility model includes a surgical instrument with degrees of freedom 10 and an operation tool drives unit 20.Its
In, surgical instrument with degrees of freedom 10 includes a flexible mechanical arm driving device 40 of non-individual body mechanical arm 30 and one (such as Fig. 2, Fig. 3 institute
Show).
As shown in figure 4, flexible non-individual body mechanical arm 30 of the present utility model includes a first segment non-individual body 301, one second
Save the surgical clamp 303 of non-individual body 302 and one.First segment non-individual body 301 includes four first structure bones be arrangeding in parallel at equal intervals
304th, multiple the first space discs 305 and first stator 306 being spacedly distributed, wherein, the rear end of first structure bone 304 with
Mechanical arm driving device 40 is connected and (is described in detail below), and front end is fixed after sequentially passing through each first space disc 305 with first
Piece 306 is fixedly connected.Second section non-individual body 302 include four the second structural bones 307 be arrangeding in parallel at equal intervals, it is multiple at equal intervals
The second space disc 308 and second stator 309 of distribution, wherein, the rear end of the second structural bone 307 and mechanical arm driving device
40 connections, front end are fixed after sequentially passing through each first space disc 305, the first stator 306 and each second space disc 308 with second
Piece 309 is fixedly connected.Surgical clamp 303 is arranged on the front end of the second section non-individual body 302, and the rear end of surgical clamp control line 310 is successively
From center through the second stator 309, each second space disc 308, the first stator 306, after each first space disc 305 with machinery
Arm drive device 40 connects.The flexible non-individual body mechanical arm 30 can realize that the motion that curves of spatially four frees degree is entered with one
To the free degree.Wherein,, can by two first structure bones 304 for cooperateing with push-and-pull to be separated by 180 ° in first segment non-individual body 301
Realize that one in the plane that two first structure bones 304 are formed curves the free degree, therefore include four first structures
The first segment non-individual body 301 of bone 304 can realize that two curve the free degree；Similarly, the second of four second structural bones 307 is included
Section non-individual body 302 can realize that two curve the free degree.Surgical clamp 303 can be realized open by the push-and-pull to surgical clamp control line 310
Close.
As shown in Fig. 2, Fig. 3 and Fig. 5, mechanical arm driving device 40 of the present utility model is located at including a housing 401, four
Structural bone drive component 402 and a surgical clamp drive component 403 inside housing 401 inside housing 401.Wherein,
Each structural bone drive component 402 and the two first structure bones 304 or two second structural bones 307 through the front end of housing 401
Connection；Surgical clamp drive component 403 is connected with the surgical clamp control line 310 through the front end of housing 401.As shown in Figure 6, Figure 7, often
One structural bone drive component 402 includes a pedestal 404, a shaft coupling male 405, a binodal Hooks coupling universal coupling 406, a connecting rod
407th, two pressing plates 408 and two sliding blocks 410.Four guide rails 409 are provided between the front-end and back-end of housing 410, at each
It is slidably connected two simultaneously on guide rail 409 and belongs to the sliding block 410 of different structure bone drive component 402.Pedestal 404 is located at two guide rails
Be fixedly connected between 409 and with the rear end of housing 401, shaft coupling male 405 be located at the rear end of housing 401 and with a power transmission shaft
411 one end is fixedly connected, and power transmission shaft 411 is rotatablely connected with housing 401, and the other end of power transmission shaft 411 is fixedly connected with binodal ten thousand
To one end of shaft coupling 406, the other end of binodal Hooks coupling universal coupling 406 is fixedly connected on connecting rod 407 by another power transmission shaft
Middle part, also, another power transmission shaft is rotatably supported on pedestal 404 by a bearing.The both ends of connecting rod 407 are respectively slidably and can
A pressing plate 408 is rotationally connected, the rear end fixation of each first structure bone 304 of pressing plate 408 and one or one second structural bone 307 connects
Connect.Two pressing plates 408 are fixedly connected with a sliding block 410 respectively.
As shown in figure 8, surgical clamp drive component 403 includes a pedestal 412, a guiding sleeve 413, a shaft coupling male
414th, a screw rod 415, a nut 416, a pressing plate 417 and a guide rod 418.Wherein, guide rod 418 is fixedly connected on housing 401
It is slidably connected between front and rear end and with nut 416, pedestal 412 is fixedly connected with the front end of housing 401, shaft coupling male
414 are located at the rear end of housing 401 and are fixedly connected with one end of screw rod 415, and the both ends of screw rod 415 rotate with housing 401 to be connected
Connect, screw rod 415 is parallel with guide rod 418, and nut 416 coordinates with the screw thread of screw rod 415, and nut 416 is fixedly connected with pressing plate 417, presses
Plate 417 is fixedly connected with the rear end of surgical clamp control line 310.Guiding sleeve 413 is arranged on front end and the pedestal 412 of housing 401
Between, surgical clamp control line 310 passes through from guiding sleeve 413, and guiding sleeve 413 is used to provide for surgical clamp control line 310
Fixed space orbit.When shaft coupling male 414 rotates, can drive screw 415 rotate and then drive nut 416 is along guide rod
418 move along a straight line, and so as to realize the push-and-pull to surgical clamp control line 310, finally realize the folding of surgical clamp 303.
As shown in Figure 9, Figure 10, operation tool driver element 20 of the present utility model includes a straight-line motion mechanism 201, one
Fixed pedestal 202, a group of motors 203, the one connection sterile barrier 205 of outer cover 204 and one.Fixed pedestal 202 is fixedly connected on directly
In the move portion of line movement mechanism 201, group of motors 203 is fixedly connected with the rear side of fixed pedestal 202, group of motors 203 includes five
Individual motor 206, the output end of each motor 206 pass through fixed pedestal 202.Connection outer cover 204 is fixedly connected on fixed pedestal 202
Front side and ring cover on group of motors 203 output end periphery.As shown in Figure 11, Figure 12, sterile barrier 205 in one end closing,
The tubular structure of open at one end, five shaft coupling male-female coupling parts 207 are rotatablely connected in the blind end of sterile barrier 205.It is sterile
After the blind end insertion connection outer cover 204 of barrier 205, housing 401 is inserted in the opening end of sterile barrier 205, and housing 401,
Sterile barrier 205 and the connection three of outer cover 204 are connected by a quick-connect machanism 208.Each shaft coupling male-female coupling part 207
Rear end be connected with the output end of a motor 206, front end is connected with the rear end of a shaft coupling male 405,414.
In above-described embodiment, a circle sterile plastic sheet, sterile screen are fixedly connected with the open end margin of sterile barrier 205
Barrier 205 can separate the surgical instrument with degrees of freedom 10 sterilized with non-sterilization section together with sterile plastic sheet, full
Foot operation demand.
In above-described embodiment, as shown in Fig. 3, Figure 10, Figure 12, a RFID (less radio-frequencies are fixedly connected with the rear side of housing 401
Identification) label 501；A RFID read-write module is set to pacify in the blind end of sterile barrier 205 position relative with RFID label tag 501
Tankage 502；A RFID read-write module 503 is fixedly connected with the front side of fixed pedestal 202, RFID read-write module 503 penetrates RFID
Module for reading and writing mounting groove 502 and leave spacing with RFID label tag 501.The effect of RFID label tag 501 is storage multiple degrees of freedom operation
The access times of instrument 10.In above-described embodiment, each structural bone drive component 402 also includes a micro-adjusting mechanism 419, as Fig. 6,
Shown in Fig. 7, micro-adjusting mechanism 419 includes two bolts 420, two cylindricality nuts 421 and two extension springs 422, wherein, each bolt 420 is worn
Cross the front end of housing 401 and bolt head is located at the outside of housing 401, the rear end of bolt 420 is connected through a screw thread a cylindricality nut 421
One end, the other end of cylindricality nut 421 passes through one end that an extension spring 422 connects connecting rod 407.The effect of micro-adjusting mechanism 419 is
Realize that the structural bone 307 of two first structure bones 304 or second that each structural bone drive component 402 is connected is defeated in no power
Enter and fixed initial position is remained under state.
In above-described embodiment, two guiding sleeves 423 can be set between the front end of housing 401 and each pedestal 404, with
The structural bone 307 of two first structure bones 304 or second that each structural bone drive component 402 connects is from above-mentioned two guiding sleeve
Passed through in 423, guiding sleeve 423 is used for the space orbit that fixation is provided for the structural bone 307 of first structure bone 304 or second.
In above-described embodiment, the integrated end 424 of a guiding sleeve, each guiding sleeve are provided with the inside of the front end of housing 401
413rd, 423 one end is fixedly connected with the vertical through hole at the integrated end 424 of guiding sleeve, and the integrated end 424 of guiding sleeve is used for
Guarantee is smoothly guided first structure bone 304, the second structural bone 307 and surgical clamp control line 310 by guiding sleeve 413,423
Into in flexible non-individual body mechanical arm 30.
In above-described embodiment, quick-connect machanism 208 can specifically use spring box, and spring box is fixedly connected on connection outer cover
204 outsides, are correspondingly arranged a connecting hole 209, the button on trip spring case respectively on sterile barrier 205, housing 401
When, it can move down through the connecting hole 209 on sterile barrier 205, housing 401 and recover to initial bit with the straight pin of button connects
Put, realize connection outer cover 204, sterile barrier 205 and the quick connection of the three of housing 401.
In above-described embodiment, a guide protrusions 210 are provided with the inside of the barrel of sterile barrier 205, correspondingly, in housing
401 are provided with a guide groove 211 in the side wall of rear end, and guide protrusions 210 and guide groove 211, which coordinate, can be achieved housing 401
With the rapid-aligning of sterile barrier 205.
In above-described embodiment, straight-line motion mechanism 201 includes a fixed mount 212, is fixedly connected in one end of fixed mount 212
One motor 213, the output shaft of motor 213 are fixedly connected with one end of a leading screw 214, and both ends and the fixed mount 212 of leading screw 214 rotate
Connection.A rectangular nut 215 is arranged on leading screw 214, a fixed block 216 is fixedly connected with rectangular nut 215, in fixed block
Fixed pedestal 202 is fixedly connected with 216.
The utility model is only illustrated with above-described embodiment, and structure, set location and its connection of each part are all can
With what is be varied from.It is all that individual part is carried out according to the utility model principle on the basis of technical solutions of the utility model
Improvement or equivalents, should not exclude outside the scope of protection of the utility model.
Claims (10)
- A kind of 1. transurethral electric drive multiple degrees of freedom surgery systems, it is characterised in that：It includes a surgical instrument with degrees of freedom With an operation tool drives unit, wherein, surgical instrument with degrees of freedom includes flexible a non-individual body mechanical arm and a mechanical arm and driven Dynamic device；The flexible non-individual body mechanical arm includes a first segment non-individual body and one second section non-individual body；The first segment non-individual body bag Four first structure be arrangeding in parallel at equal intervals bones, multiple the first space discs being spacedly distributed and first stator are included, The rear end of the first structure bone is connected with the mechanical arm driving device, and the front end of the first structure bone sequentially passes through each institute It is fixedly connected after stating the first space disc with first stator；The second section non-individual body be arranged in parallel at equal intervals including four The second structural bone, multiple the second space discs being spacedly distributed and second stator, the rear end of second structural bone It is connected with the mechanical arm driving device, the front end of second structural bone sequentially passes through each first space disc, described It is fixedly connected after one stator and each second space disc with second stator；The mechanical arm driving device includes a housing and four structural bone drive components for being located at the enclosure interior；Each institute Structural bone drive component is stated with two first structure bones through the housing forward end or two second structural bones to connect Connect；Each structural bone drive component includes one first pedestal, a first shaft coupling male, a binodal Hooks coupling universal coupling, one Connecting rod, two first pressing plates and two first sliding blocks；Four guide rails are provided between the front-end and back-end of the housing, at each It is slidably connected two simultaneously on the guide rail and belongs to first sliding block of the different structural bone drive components；The pedestal position It is fixedly connected between two guide rails and with the rear end of the housing, after the first shaft coupling male is located at the housing Hold and be fixedly connected with one end of one first power transmission shaft, first power transmission shaft is connected with the housing into rotation, and described first passes The other end of moving axis is fixedly connected with one end of the binodal Hooks coupling universal coupling, and the other end of the binodal Hooks coupling universal coupling passes through one Second driving shaft is fixedly connected on the middle part of the connecting rod, and the second driving shaft is rotatably supported in described first by a bearing On pedestal；The both ends of the connecting rod slidably and rotatably connect first pressing plate, each first pressing plate respectively It is fixedly connected with the rear end of a first structure bone or second structural bone；Two first pressing plates respectively with described in one First sliding block is fixedly connected；The operation tool driver element includes a straight-line motion mechanism, a fixed pedestal, a group of motors, a connection outer cover and one Sterile barrier；The fixed pedestal is fixedly connected in the move portion of the straight-line motion mechanism, after the fixed pedestal Side is fixedly connected with the group of motors, and the group of motors includes multiple motors；The connection outer cover is fixedly connected on the fixed base The front side and ring of seat cover on the periphery of the output end of the group of motors；The connection outer cover passes through the sterile barrier and the shell Body is connected, and the output end of each motor is connected by a shaft coupling male-female coupling part with a first shaft coupling male.
- 2. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1, it is characterised in that：In the described second section The front end of non-individual body is provided with surgical clamp, and the rear end of the surgical clamp control line of the surgical clamp passes through described second from center successively Hand after stator, each second space disc, first stator, each first space disc with being located in the housing Art pincers drive component connection；The surgical clamp drive component includes one second pedestal, one first guiding sleeve, a second shaft coupling Male, a screw rod, a nut, one second pressing plate and a guide rod；The guide rod is fixedly connected on the front and rear end of the housing Between and be slidably connected with the nut, second pedestal is fixedly connected with the front end of the housing, the second shaft coupling Male is located at the rear end of the housing and is fixedly connected with one end of the screw rod, and the both ends of the screw rod turn with the housing Dynamic connection, the screw rod is parallel with the guide rod, and the nut coordinates with the screw flight, the nut and the described second pressure Plate is fixedly connected, and second pressing plate is fixedly connected with the rear end of the surgical clamp control line；First guiding sleeve is set Between the front end of the housing and second pedestal, the surgical clamp control line passes through from first guiding sleeve, Be fixedly connected with the second motor on the fixed pedestal, the output end of second motor by shaft coupling male-female coupling part with Second shaft coupling male connects.
- 3. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：It is described sterile Barrier is closed in one end, the tubular structure of open at one end, described after the blind end insertion connection outer cover of the sterile barrier Housing is inserted in the opening end of the sterile barrier, and the housing, the sterile barrier and the connection outer cover three pass through one Quick-connect machanism connects；Each shaft coupling male-female coupling part is rotatably connected on the blind end of the sterile barrier.
- 4. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：It is each described Structural bone drive component also includes a micro-adjusting mechanism, and the micro-adjusting mechanism includes two bolts, two cylindricality nuts and two extension springs, each The bolt is located at the outside of the housing through the front end of the housing and bolt head, and the rear end of the bolt is connected through a screw thread One end of the one cylindricality nut, the other end of the cylindricality nut connect one end of the connecting rod by an extension spring.
- 5. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：In the shell Two second guiding sleeves are set between the front end of body and each first pedestal；It is connected with each structural bone drive component Two first structure bones or second structural bone passed through from two second guiding sleeve.
- 6. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 3, it is characterised in that：The quick connection Mechanism is spring box, and the spring box is fixedly connected on the outside of the connection outer cover, on the sterile barrier, the housing A connecting hole is correspondingly arranged respectively；A guide protrusions are provided with the inside of the barrel of the sterile barrier；The housing is close to rear end Side wall on be provided with a guide groove being engaged with the guide protrusions.
- 7. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 3, it is characterised in that：In the housing Rear side is fixedly connected with a wireless radio frequency identification mark；Blind end and the wireless radio frequency identification mark phase in the sterile barrier To position set a radio frequency identification module for reading and writing mounting groove；One is fixedly connected with front side of the fixed pedestal wirelessly to penetrate Frequency identification module for reading and writing, the radio frequency identification module for reading and writing penetrate in the radio frequency identification module for reading and writing mounting groove and Spacing is left between the wireless radio frequency identification mark.
- 8. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：The straight line Motion includes a fixed mount, and one second motor, the output of second motor are fixedly connected with one end of the fixed mount Axle is fixedly connected with one end of a leading screw, and the both ends of the leading screw are rotatablely connected with the fixed mount, and one is arranged on the leading screw Rectangular nut, a fixed block is fixedly connected with the rectangular nut, the fixed pedestal is fixedly connected with the fixed block.
- 9. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 2, it is characterised in that：Before the housing The integrated end of a guiding sleeve is provided with the inside of end；One end of first guiding sleeve is fixedly connected on the guiding sleeve collection In Cheng Duan vertical through hole.
- 10. transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 5, it is characterised in that：In the housing The integrated end of a guiding sleeve is provided with the inside of front end；One end of second guiding sleeve is fixedly connected on the guiding sleeve In the vertical through hole at integrated end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621267847.7U CN206979510U (en) | 2016-11-23 | 2016-11-23 | Transurethral electric drive multiple degrees of freedom surgery systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113199461A (en) * | 2021-05-24 | 2021-08-03 | 山东大学 | Construction operation mechanical arm based on flexible continuum and auxiliary operation device |
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| CN113199461A (en) * | 2021-05-24 | 2021-08-03 | 山东大学 | Construction operation mechanical arm based on flexible continuum and auxiliary operation device |
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