CN207356173U - Ophthalmologic operation robot - Google Patents
Ophthalmologic operation robot Download PDFInfo
- Publication number
- CN207356173U CN207356173U CN201720086143.8U CN201720086143U CN207356173U CN 207356173 U CN207356173 U CN 207356173U CN 201720086143 U CN201720086143 U CN 201720086143U CN 207356173 U CN207356173 U CN 207356173U
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- connecting rod
- fixed frame
- ophthalmologic operation
- operation robot
- sliding block
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Abstract
The utility model discloses a kind of ophthalmologic operation robot, it is characterised in that including：Fixed frame, the fixed frame are used for fixation and hold ophthalmic instruments；Cross-brace arm, is arranged on the cross-brace arm fixed frame adjustable tilt angle；The cross-brace arm is movably set.Ophthalmologic operation robot in the utility model, both the angle of inclination of fixed frame can have been adjusted, it can rotate again, it can also lift, and moved along horizontal both direction, so setting makes the Operations Requirements of its all directions that can meet in ophthalmologic operation, it is replaced human hand operation ophthalmic instruments.
Description
Technical field
It the utility model is related to a kind of ophthalmologic operation robot.
Background technology
Due to the complexity of eyeball structure, the performance accuracy requirement of ophthalmologic operation harshness is determined, plus what is be extremely limited
Operating space so that ophthalmologic operation becomes one of current most challenging field of surgery.In ophthalmic surgical procedures, it is necessary to by hand
The insertion intraocular operation of art instrument, surgical effect are subject to the restriction that the performance accuracy of doctor and physiology tremble.How ophthalmology is improved
Surgical procedure precision, and the influence for overcoming doctor's physiology to tremble, become the emphasis of current area of ophthalmic surgery research.
Utility model content
One of the purpose of this utility model is to overcome deficiency of the prior art, there is provided one kind can replace human hand to operate
Ophthalmologic operation robot.
In order to achieve the above object, the utility model is achieved through the following technical solutions：
Ophthalmologic operation robot, it is characterised in that including：
Fixed frame, the fixed frame are used for fixation and hold ophthalmic instruments；
Cross-brace arm, is arranged on the cross-brace arm fixed frame adjustable tilt angle；
The cross-brace arm is movably set.
Embodiment according to the present utility model, further includes first driving means, and the first driving means driving is described solid
Determine frame adjustment angle of inclination or set with adjusting the fixed frame angle of inclination by first transmission device.
Embodiment according to the present utility model, described first transmission device one end are set in which can move along a straight line, the other end with
The fixed frame connection；First transmission device adjusts the fixed frame angle of inclination of the other end to move along a straight line by one end
Transmission device.
Embodiment according to the present utility model, first transmission device include first connecting rod, second connecting rod, the 3rd company
Bar, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is installed on the cross-brace arm, and described second connects
Bar and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end is movably set, the other end
It is connected with the second connecting rod upper end；5th connecting rod is rotatably connected with the second connecting rod, third connecting rod；Institute
The 5th interlinking lever end is stated to be connected with the fixed frame；Described six-bar linkage one end is rotatably connected with third connecting rod, separately
One end is connected with fixed frame；During first connecting rod one end linear motion, the angle of inclination of the fixed frame is adjusted.
Embodiment according to the present utility model, the cross-brace arm set fluted, the first driving means setting
In in the groove；The first sliding block of linear motion is provided with the groove；The first driving means driving described first
Sliding block moves along a straight line；First sliding block is connected with described first transmission device one end.
Embodiment according to the present utility model, the first driving means are the first electric rotating machine, first electric rotating
Machine is connected with screw；First sliding block coordinates with the wire rod thread；First electric rotating machine drives the screw rotation,
First sliding block is driven along screw axial linear movement during the screw rotation.
Embodiment according to the present utility model, further includes the second driving device, and the cross-brace arm is rotatably mounted
In on the second sliding block；Second driving device drives the cross-brace arm rotatably to set or driven by the second transmission device
The cross-brace arm is moved rotatably to set.
Embodiment according to the present utility model, further includes the 3rd driving device；Second sliding block is liftably arranged at
On vertical supporting arm, the 3rd driving device directly drives the second sliding block lifting or by the 3rd actuator drives institute
The second sliding block is stated to set up and down.
Embodiment according to the present utility model, further includes four-drive device；The vertical supporting arm is horizontally moveablely
It is arranged in first base, the four-drive device directly drives the vertical supporting arm and sets with moving horizontally or by
Vertical supporting seat is set with moving horizontally described in four actuator drives.
Embodiment according to the present utility model, further includes the 5th driving device；The first base is set horizontally moveablely
It is placed in second base, the 5th driving device directly drives the first base and sets with moving horizontally or passed by the 5th
Dynamic device drives the first base to set with moving horizontally；The vertical supporting arm moves horizontally direction and first bottom
Seat to move horizontally direction vertical.
Ophthalmologic operation robot in the utility model, can not only adjust the angle of inclination of fixed frame, but also can rotate, also
It can lift, and be moved along horizontal both direction, the activity for making its all directions that can meet in ophthalmologic operation is so set
It is required that it is set to replace human hand operation ophthalmic instruments.First transmission device uses six connecting rod assemblies, can be driven first
The linear motion driving force of dynamic device output is converted to the driving force of the angle of inclination adjustment of driving fixed frame so that this practicality is new
Type both realizes the angle of inclination of adjustment ophthalmic instruments, simple in structure to be readily produced, assemble.The utility model can replace people
Hand operates ophthalmologic operation, adopts the movement of all directions for operating theater instruments of computerizeing control, can either control its kinematic accuracy,
Will not be trembled by the physiology of people influences, good operation effect and from ectocine.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model partial structural diagram.
Embodiment
The utility model is further illustrated with attached drawing with reference to embodiments.
As shown in Figure 1 and Figure 2, ophthalmologic operation robot, it includes fixed frame 10 and cross-brace arm 20.Fixed frame 10 is used
Ophthalmic instruments is held in fixation.It is arranged on cross-brace arm 20 10 adjustable tilt angle of fixed frame.The horizontal stroke
Fluted 21 are set to support arm 20.The first electric rotating machine 31 is provided with groove 21.First electric rotating machine 31 is connected with screw
41, the first sliding block 51 is set with screw 41.First sliding block 51 and 41 thread fitting of screw.First electric rotating machine 31 drives screw
41 rotations, can make the first sliding block 51 move linearly along the first leading screw 41 is axial.
20 one end of cross-brace arm is installed on the second sliding block 60, and the other end is provided with the first transmission device.First transmission
Device includes first connecting rod 71, second connecting rod 72, third connecting rod 73, fourth link 74, the 5th connecting rod 75 and six-bar linkage 76.Institute
Fourth link 74 is stated on the cross-brace arm 20, the 73 equal lower end of second connecting rod 72 and third connecting rod connects with the 4th
Bar 74 is rotatably coupled.Described 71 one end of first connecting rod is connected with the first sliding block 51, on the other end and the second connecting rod 72
End connection.5th connecting rod 75 is rotatably connected with the second connecting rod 72, third connecting rod 73.5th connecting rod
75 ends are connected with the fixed frame 10；Described 76 one end of six-bar linkage is rotatably connected with third connecting rod 73, another
End is connected with fixed frame 10.
The cross-brace arm 20 is rotatably mounted on the second sliding block 60.Second driving is installed on second sliding block 60
Device 32.Second driving device 32 drives the cross-brace arm 10 rotatably to set or driven by the second transmission device
The cross-brace arm 10 is moved rotatably to set.
Second sliding block 60 is liftably arranged on vertical supporting arm 61.Described is provided with vertical supporting arm 61
Three driving devices 33.3rd driving device 33 directly drives second sliding block 60 and lifts or by the 3rd actuator drives institute
The second sliding block 60 is stated to set up and down.
The vertical supporting arm 61 is arranged in first base 62 horizontally moveablely.The 4th is provided with first base 62
Driving device 34.The four-drive device 34 directly drives the vertical supporting arm 61 and sets with moving horizontally or by the 4th
Vertical supporting arm 61 is set with moving horizontally described in actuator drives.
The first base 62 is arranged in second base 63 horizontally moveablely.The 5th drive is provided with second base 63
Dynamic device 35.5th driving device 35 directly drives the first base 62 and sets with moving horizontally or by the 5th transmission
Device drives the first base 62 to set with moving horizontally；The vertical supporting arm 61 moves horizontally direction and described first
Base 62 to move horizontally direction vertical.
First driving means, the second driving device, the 3rd driving device, four-drive device in the utility model and
Five driving devices, can use the driving devices such as electric rotating machine, linear motor, cylinder.It is preferred that using electric rotating machine, more preferably adopt
With the driving device that computer can be utilized to control, such as servomotor.The first transmission device, the second transmission dress in the utility model
Put, the 3rd transmission device, the 4th transmission device and the 5th transmission device, can use feed screw nut, transmission belt, driving-chain, tooth
The transmission devices such as wheel, can also use reverse drive gear；It is preferred that use feed screw nut.
In use, as shown in Figure 1, ophthalmic instruments 80 is installed on fixed frame 10.Start the first electric rotating machine 31,
First electric rotating machine 31 drives the first sliding block 51 to move by screw 41.When first sliding block 51 moves, driving first connecting rod 71 moves
Dynamic, 71 movement of first connecting rod can be such that second connecting rod 72 and third connecting rod 73 is rotated relative to fourth link 74.Second connecting rod 72 and
Three-link 73 relative to fourth link 74 rotate when, can be made by the 5th connecting rod 75 and six-bar linkage 76 10 angle of inclination of fixed frame become
Change.Driven by the second driving device 32, can rotate fixed frame 10.Driven by the 3rd driving device 33, fixed frame can be made
10 liftings.Driven by 34 and the 5th driving device 35 of four-drive device, 10 in the horizontal direction two sides of fixed frame can be made
Move up.
Ophthalmologic operation robot in the utility model, can not only adjust the angle of inclination of fixed frame, but also can rotate, also
It can lift, and be moved along horizontal both direction, the activity for making its all directions that can meet in ophthalmologic operation is so set
It is required that it is set to replace human hand operation ophthalmic instruments.First transmission device uses six connecting rod assemblies, can be driven first
The linear motion driving force of dynamic device output is converted to the driving force of the angle of inclination adjustment of driving fixed frame so that this practicality is new
Type both realizes the angle of inclination of adjustment ophthalmic instruments, simple in structure to be readily produced, assemble.The utility model can replace people
Hand operates ophthalmologic operation, adopts the movement of all directions for operating theater instruments of computerizeing control, can either control its kinematic accuracy,
Will not be trembled by the physiology of people influences, good operation effect and from ectocine.
Embodiment in the utility model is only used for illustrating the utility model, does not form to right
Limitation, other substantially equivalent replacements that those skilled in that art are contemplated that, in scope of protection of the utility model
It is interior.
Claims (10)
1. ophthalmologic operation robot, it is characterised in that including：
Fixed frame, the fixed frame are used for fixation and hold ophthalmic instruments；
Cross-brace arm, is arranged on the cross-brace arm fixed frame adjustable tilt angle；
The cross-brace arm is movably set.
2. ophthalmologic operation robot according to claim 1, it is characterised in that further include first driving means, described
One driving device drives the fixed frame adjustment angle of inclination or adjusts the fixed frame angle of inclination by the first transmission device
Ground is set.
3. ophthalmologic operation robot according to claim 2, it is characterised in that described first transmission device one end can straight line
Movement ground is set, and the other end is connected with the fixed frame；For first transmission device to be moved along a straight line by one end, adjustment is another
The transmission device at the fixed frame angle of inclination at end.
4. ophthalmologic operation robot according to claim 3, it is characterised in that first transmission device includes first and connects
Bar, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is installed on the laterally branch
In brace, the equal lower end of second connecting rod and third connecting rod is rotatably coupled with fourth link；Described first connecting rod one end can
Actively set, the other end is connected with the second connecting rod upper end；5th connecting rod and the second connecting rod, third connecting rod can
Connect in relative rotation；5th interlinking lever end is connected with the fixed frame；Described six-bar linkage one end can with third connecting rod
Connect in relative rotation, the other end is connected with fixed frame；During first connecting rod one end linear motion, the fixed frame is adjusted
Angle of inclination.
5. ophthalmologic operation robot according to claim 3, it is characterised in that the cross-brace arm setting is fluted,
The first driving means are arranged in the groove；The first sliding block of linear motion is provided with the groove；Described first
Driving device drives first sliding block to move along a straight line；First sliding block is connected with described first transmission device one end.
6. ophthalmologic operation robot according to claim 5, it is characterised in that the first driving means are the first rotation
Motor, first electric rotating machine are connected with screw；First sliding block coordinates with the wire rod thread；First electric rotating
Machine drives the screw rotation, and the screw drives first sliding block along screw axial linear movement when rotating.
7. ophthalmologic operation robot according to claim 1, it is characterised in that further include the second driving device, the horizontal stroke
It is rotatably mounted in support arm on the second sliding block；Second driving device drives the cross-brace arm rotatably to set
Or rotatably set by cross-brace arm described in the second actuator drives.
8. ophthalmologic operation robot according to claim 7, it is characterised in that further include the 3rd driving device；Described
Two sliding blocks are liftably arranged on vertical supporting arm, and the 3rd driving device directly drives the second sliding block lifting or logical
Second sliding block described in crossing the 3rd actuator drives is set up and down.
9. ophthalmologic operation robot according to claim 8, it is characterised in that further include four-drive device；It is described perpendicular
To support arm it is horizontally moveable be arranged in first base, the four-drive device directly drives the vertical supporting arm water
It is flat movably to set or set with moving horizontally by vertical supporting seat described in the 4th actuator drives.
10. ophthalmologic operation robot according to claim 9, it is characterised in that further include the 5th driving device；Described
One base is arranged in second base horizontally moveablely, and the 5th driving device directly drives the horizontal shifting of the first base
Set or set with moving horizontally by first base described in the 5th actuator drives dynamicly；The level of the vertical supporting arm
Moving direction and the first base to move horizontally direction vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720086143.8U CN207356173U (en) | 2017-01-23 | 2017-01-23 | Ophthalmologic operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720086143.8U CN207356173U (en) | 2017-01-23 | 2017-01-23 | Ophthalmologic operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207356173U true CN207356173U (en) | 2018-05-15 |
Family
ID=62424234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720086143.8U Active CN207356173U (en) | 2017-01-23 | 2017-01-23 | Ophthalmologic operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207356173U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111973337A (en) * | 2020-08-26 | 2020-11-24 | 希铭(江苏)光学科技发展有限公司 | Full-automatic vision ophthalmic surgery device |
-
2017
- 2017-01-23 CN CN201720086143.8U patent/CN207356173U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111973337A (en) * | 2020-08-26 | 2020-11-24 | 希铭(江苏)光学科技发展有限公司 | Full-automatic vision ophthalmic surgery device |
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