CN207734219U - A kind of ceiling mounting type laparoscopic surgery robot - Google Patents
A kind of ceiling mounting type laparoscopic surgery robot Download PDFInfo
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- CN207734219U CN207734219U CN201720484194.6U CN201720484194U CN207734219U CN 207734219 U CN207734219 U CN 207734219U CN 201720484194 U CN201720484194 U CN 201720484194U CN 207734219 U CN207734219 U CN 207734219U
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- transverse shifting
- sliding block
- sliding rail
- longitudinal movement
- longitudinal
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Abstract
The utility model discloses a kind of ceiling mounting type laparoscopic surgery robots, including sliding rail fixed plate, longitudinal movement sliding rail, longitudinal movement sliding block, transverse shifting sliding rail and transverse shifting sliding block, vertical push-pull rod is fixedly mounted on the bottom of transverse shifting sliding block, the bottom end of vertical push-pull rod is equipped with support arm runing rest, hingedly install by support arm shaft that there are three rotating arms on support arm runing rest, the bottom end of rotating arm is fixedly installed telescopic rod, and the bottom of telescopic rod is equipped with surgical procedure hand.The utility model structure occupies little space, to personnel walk about and visual field effects very little, more stablize compared to cantilevered robot architecture and simple, it operates steadily, registration, with better dexterity, it can complete finer and complicated operation safely, this structure greatly solves the problems, such as that abdominal operation wound is big, refractory conjunction using invasive manner, reduces the requirement to personnel's technology.The operating robot is novel in design rationally, of low cost, convenient for promoting the use of.
Description
Technical field：
The utility model is related to a kind of operating robot structures, and in particular to a kind of ceiling mounting type laparoscopic surgery robot.
Background technology：
With the extensive use of conventional laparoscopic technology, modern surgery enters the minimally invasiveization epoch.But conventional laparoscopic is set
Standby limitation significantly limits the further development of minimally invasive surgery.A kind of appearance of ceiling mounting type laparoscopic surgery robot
Surmount conventional surgical and the limitation of laparoscopic technique, remarkable three-dimensional visual field and better dexterity, it can be safe
The finer and complicated operation of completion, ceiling mounting type laparoscopic surgery robot have the characteristics that operation is flexible, occupy little space, because
And laparoscopic surgery robot technology is just gradually penetrating into each clinical medicine field of surgery.
Utility model content：
The purpose of this utility model provides a kind of ceiling mounting type laparoscopic surgery machine aiming at the above-mentioned prior art
People.
The technology solution of the utility model is as follows：
A kind of ceiling mounting type laparoscopic surgery robot comprising two symmetrically arranged sliding rail fixed plates, sliding rail fixed plate
On be installed with longitudinal movement sliding rail, longitudinal movement sliding block is installed on shifting sledge longitudinally in each, vertically moves sliding block energy
It is enough to realize that longitudinal movement, two symmetrically arranged transverse shifting sliding rails are fixedly mounted on two longitudinal directions and move on longitudinal movement sliding rail
The bottom of movable slider, transverse shifting sliding rail are constructed with longitudinal movement sliding rail structure having the same, two symmetrically arranged transverse directions
Transverse shifting sliding block is installed between shifting sledge, transverse shifting sliding block can realize transverse shifting on transverse shifting sliding rail,
Vertical push-pull rod is fixedly mounted on the bottom of transverse shifting sliding block, and the bottom end of vertical push-pull rod is equipped with support arm runing rest, props up
Arm runing rest medium position offers rotating arm mounting groove, and three are hingedly equipped with by support arm shaft in rotating arm mounting groove
A rotating arm, each rotating arm can rotate around respective support arm shaft, the bottom end fixed setting of rotating arm
There are telescopic rod, the bottom of telescopic rod that surgical procedure hand is installed；Longitudinal movement sliding rail includes rectangular U-steel frame, and rectangular U-steel frame is solid
In the sliding rail fixed plate, longitudinal movement sliding rail further includes upper rall and lower guide for Dingan County, upper rall and lower guide
It is symmetrically fixed at the side of rectangular U-steel frame or more position, the bottom of upper rall is equipped with guide rail rack, upper rall
The lower part of upper and lower part guide rail is equipped with guide wheel convex block；Longitudinal movement sliding block includes longitudinal sliding block mounting plate, longitudinal sliding block peace
Longitudinal mobile motor is fixedly installed in the side plate face of loading board, longitudinal mobile motor output shaft passes through longitudinal sliding block mounting plate,
Longitudinal movement gear is fixedly mounted on by pin on longitudinal mobile motor output shaft, and longitudinal movement gear engages phase with guide rail rack
It connects, the four corners of longitudinal sliding block mounting plate are respectively and fixedly provided with guide wheel shaft, and guide wheel is equipped with by bearing on guide wheel shaft, outside guide wheel
Offer guide wheel groove week, the guide wheel convex block insertion of upper rall and lower guide is mounted in guide wheel groove.
The bottom of support arm runing rest is further fixedly arranged on telescopic rod, and the bottom of telescopic rod is equipped with surgical procedure hand.
Transverse shifting upper end of slide block portion is fixedly installed transverse mobile motor, and transverse shifting sliding block and two transverse shiftings are slided
Rail opposite flank is equipped with guide wheel by bearing, the guide wheel of transverse shifting sliding block can transverse shifting sliding rail upper rall and
It laterally walks in lower guide.
There are four hinged support arms for surgical procedure hand tool.
Lengthwise position of the support arm runing rest in vertical push-pull rod bottom is fixed, and can the central shaft of vertically push-pull rod do
Rotary motion.
Collapsing length is adjusted in telescopic rod, and can be slided along rotating arm horizontal direction.
The beneficial effects of the utility model are：
The utility model structure occupies little space, to personnel walk about and visual field effects very little, compare cantilevered robot
Structure is more stablized with simply, operates steadily, registration, has better dexterity, can complete safely finer and multiple
Miscellaneous operation is reduced in addition, this structure greatly solves the problems, such as that abdominal operation wound is big, refractory conjunction using invasive manner
Requirement to personnel's technology.The operating robot is novel in design rationally, of low cost, convenient for promoting the use of.
Description of the drawings：
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of shifting sledge；
Fig. 3 is the structural schematic diagram for vertically moving sliding block.
Specific implementation mode：
It is right below in conjunction with the accompanying drawings in order to keep the above objects, features, and advantages of the utility model more obvious and easy to understand
Specific embodiment of the present utility model is described in detail.
As shown in Figs. 1-3, a kind of ceiling mounting type laparoscopic surgery robot comprising two symmetrically arranged sliding rails are fixed
Plate is installed with longitudinal movement sliding rail 1 in sliding rail fixed plate, is equipped with longitudinal movement sliding block on shifting sledge 1 longitudinally in each
2, longitudinal movement sliding block 2 can realize longitudinal movement, two symmetrically arranged transverse shifting sliding rails 3 on longitudinal movement sliding rail 1
It is fixedly mounted on the bottom of two longitudinal movement sliding blocks 2, transverse shifting sliding rail 3 and longitudinal movement 1 structure having the same of sliding rail
It constructs, transverse shifting sliding block 4 is installed between two symmetrically arranged transverse shifting sliding rails 3, transverse shifting sliding block 4 can be in cross
Realize that transverse shifting, vertical push-pull rod 5 are fixedly mounted on the bottom of transverse shifting sliding block 4, vertical push-pull rod on shifting sledge 3
5 bottom end is equipped with support arm runing rest 6, and 6 medium position of support arm runing rest offers rotating arm mounting groove, rotating arm
Hingedly install by support arm shaft that there are three rotating arms 7 in mounting groove, each rotating arm 7 can be done around respective support arm shaft to be rotated
Movement, the bottom end of rotating arm 7 are fixedly installed telescopic rod 8, and the bottom of telescopic rod 8 is equipped with surgical procedure hand 9；It is longitudinal
Shifting sledge 1 includes rectangular U-steel frame 10, and rectangular U-steel frame 10 is fixedly mounted in sliding rail fixed plate, and longitudinal movement sliding rail 1 is also
Including upper rall 11 and lower guide 12, upper rall 11 and lower guide 12 are symmetrically fixed at rectangular U-steel frame 10
Side position up and down, the bottom of upper rall 11 are equipped with guide rail rack 111, under the upper and lower part guide rail 12 of upper rall 11
Portion is equipped with guide wheel convex block 121；It includes longitudinal sliding block mounting plate 21, the side of longitudinal sliding block mounting plate 21 to vertically move sliding block 2
Longitudinal mobile motor 20 is fixedly installed in plate face, longitudinal mobile motor output shaft 201 passes through longitudinal sliding block mounting plate 21, longitudinal
Carrier wheel 22 is fixedly mounted on by pin on longitudinal mobile motor output shaft 201, longitudinal movement gear 22 and guide rail rack 111
Engagement connects, and the four corners of longitudinal sliding block mounting plate 21 are respectively and fixedly provided with guide wheel shaft 23, are installed by bearing on guide wheel shaft 23
There is a guide wheel 24,24 periphery of guide wheel offers guide wheel groove 240, and the guide wheel convex block 121 of upper rall 11 and lower guide 12 is embedding
Enter to be mounted in guide wheel groove 240.
The bottom of support arm runing rest 6 is further fixedly arranged on telescopic rod 8, and the bottom of telescopic rod 8 is equipped with surgical procedure hand
9。
4 upper end of transverse shifting sliding block is fixedly installed transverse mobile motor 40, transverse shifting sliding block 4 and two transverse directions
3 opposite flank of shifting sledge is equipped with guide wheel by bearing, and the guide wheel of transverse shifting sliding block 4 can be in transverse shifting sliding rail
It laterally walks in upper rall and lower guide.
There are four hinged support arms for the tool of surgical procedure hand 9.
Lengthwise position of the support arm runing rest 6 in 5 bottom of vertical push-pull rod is fixed, can vertically push-pull rod 5 central shaft
It rotates, and vertically can do stretching motion by 5 axis direction of push-pull rod.
Collapsing length is adjusted in telescopic rod 8, and can be slided along 7 horizontal direction of rotating arm.
Operation principle：Guide rail rack of the driving of the longitudinal mobile motor 20 longitudinal movement gear 22 in longitudinal movement sliding rail 1
It longitudinally walks on 111, transverse mobile motor 40 drives transverse shifting sliding block 4 laterally to walk on transverse shifting sliding rail 3, vertically pushes away
Pull rod 5 can realize the vertically movable of support arm runing rest 6, and support arm runing rest 6 vertically the central shaft of push-pull rod 5 can do and rotate
Movement, rotating arm 7 can realize the adjustment by a small margin around support arm shaft.
The embodiment rather than limits the present invention the utility model is illustrated.Any this field
Technical staff can modify to the embodiment, therefore this practicality under the spirit and scope without prejudice to the utility model
Novel rights protection scope, should be as listed by the claim of the utility model.
Claims (6)
1. a kind of ceiling mounting type laparoscopic surgery robot, it is characterised in that：Including two symmetrically arranged sliding rail fixed plates, sliding rail
It is installed with longitudinal movement sliding rail (1) in fixed plate, longitudinal movement sliding block (2) is installed on shifting sledge (1) longitudinally in each,
Longitudinal movement, two symmetrically arranged transverse shifting sliding rails can be realized on longitudinal movement sliding rail (1) by vertically moving sliding block (2)
(3) it is fixedly mounted on the bottom of two longitudinal movement sliding blocks (2), transverse shifting sliding rail (3) has phase with longitudinal movement sliding rail (1)
Same structure constructs, and transverse shifting sliding block (4), transverse shifting are equipped between two symmetrically arranged transverse shifting sliding rails (3)
Sliding block (4) can realize that transverse shifting, vertical push-pull rod (5) are fixedly mounted on transverse shifting cunning on transverse shifting sliding rail (3)
The bottom end of the bottom of block (4), vertical push-pull rod (5) is equipped with support arm runing rest (6), support arm runing rest (6) medium position
Rotating arm mounting groove is offered, is hingedly installed by support arm shaft in rotating arm mounting groove there are three rotating arm (7), each
Rotating arm (7) can rotate around respective support arm shaft, and the bottom end of rotating arm (7) is fixedly installed telescopic rod
(8), the bottom of telescopic rod (8) is equipped with surgical procedure hand (9)；It includes rectangular U-steel frame (10) to vertically move sliding rail (1), rectangular
U-steel frame (10) is fixedly mounted in sliding rail fixed plate, and longitudinal movement sliding rail (1) further includes upper rall (11) and lower guide
(12), upper rall (11) and lower guide (12) are symmetrically fixed at the side of rectangular U-steel frame (10) or more position, on
The bottom of portion's guide rail (11) is equipped with guide rail rack (111), and the lower part of the upper and lower part guide rail (12) of upper rall (11) is all provided with
There is guide wheel convex block (121)；Longitudinal movement sliding block (2) includes longitudinal sliding block mounting plate (21), and the one of longitudinal sliding block mounting plate (21)
Longitudinal mobile motor (20) is fixedly installed in lateral plates, longitudinal mobile motor output shaft (201) passes through longitudinal sliding block mounting plate
(21), longitudinal movement gear (22) is fixedly mounted on by pin on longitudinal mobile motor output shaft (201), vertically moves gear
(22) it engages and connects with guide rail rack (111), the four corners of longitudinal sliding block mounting plate (21) are respectively and fixedly provided with guide wheel shaft (23), lead
Guide wheel (24) is equipped with by bearing on wheel shaft (23), guide wheel (24) periphery offers guide wheel groove (240), upper rall
(11) and the guide wheel convex block of lower guide (12) (121) is embedded in guide wheel groove (240).
2. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Support arm runing rest
(6) bottom is further fixedly arranged on telescopic rod (8), and the bottom of telescopic rod (8) is equipped with surgical procedure hand (9).
3. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Transverse shifting sliding block
(4) upper end is fixedly installed transverse mobile motor (40), and transverse shifting sliding block (4) is opposite with two transverse shifting sliding rails (3)
Side is equipped with guide wheel by bearing, the guide wheel of transverse shifting sliding block (4) can transverse shifting sliding rail upper rall and under
It laterally walks on portion's guide rail.
4. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Surgical procedure hand (9)
There are four hinged support arms for tool.
5. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Support arm runing rest
(6) lengthwise position in vertical push-pull rod (5) bottom is fixed, can the central shaft of vertically push-pull rod (5) rotate, and can
Vertically push rod (5) axis direction does stretching motion.
6. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Telescopic rod (8) is adjustable
Collapsing length is saved, and can be slided along rotating arm (7) horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720484194.6U CN207734219U (en) | 2017-05-04 | 2017-05-04 | A kind of ceiling mounting type laparoscopic surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720484194.6U CN207734219U (en) | 2017-05-04 | 2017-05-04 | A kind of ceiling mounting type laparoscopic surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207734219U true CN207734219U (en) | 2018-08-17 |
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ID=63114626
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720484194.6U Active CN207734219U (en) | 2017-05-04 | 2017-05-04 | A kind of ceiling mounting type laparoscopic surgery robot |
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| Country | Link |
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| CN (1) | CN207734219U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107157583A (en) * | 2017-05-04 | 2017-09-15 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of ceiling mounting type laparoscopic surgery robot |
-
2017
- 2017-05-04 CN CN201720484194.6U patent/CN207734219U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107157583A (en) * | 2017-05-04 | 2017-09-15 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of ceiling mounting type laparoscopic surgery robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |