CN208371895U - A kind of laparoscopic minimally invasive surgery robot arm - Google Patents
A kind of laparoscopic minimally invasive surgery robot arm Download PDFInfo
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- CN208371895U CN208371895U CN201720833339.9U CN201720833339U CN208371895U CN 208371895 U CN208371895 U CN 208371895U CN 201720833339 U CN201720833339 U CN 201720833339U CN 208371895 U CN208371895 U CN 208371895U
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 23
- 238000009434 installation Methods 0.000 claims abstract description 51
- 230000008859 change Effects 0.000 claims abstract description 25
- 238000000151 deposition Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
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Abstract
The utility model belongs to the field of medical instrument technology, provide a kind of laparoscopic minimally invasive surgery robot arm, including telescopic arm (3) and armed device (4), it is located on armed device (4) and surgical instrument deck (5) is set；Installation, which is deposited, on telescopic arm (3) changes tool system (6), and depositing and changing tool system (6) includes depositing tool unit (7) and changing tool unit (8)；Depositing tool unit (7) includes main placement platform (9) and stage driving, it changes tool unit (8) to include push-and-pull hand (11) and change tool driving mechanism, is located on main placement platform (9) and is provided with several instruments installation detent (10)；Using push-and-pull hand (11) may be implemented surgical instrument position instrument installation detent (10) and surgical instrument deck (5) on switch.Compared with prior art, the utility model has the beneficial effects that: operative doctor without other people in the case where helping, surgical instrument on mechanical arm can be replaced, reduce the minimum personnel depaly of surgical work, expand the scope of application performed the operation using micro-wound operation robot.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of laparoscopic minimally invasive surgery robot arm.
Background technique
Traditional surgical operation, which is doctor, the treatment such as cuts off, sutures with body lesion of the medical instrument to patient.With
Knife, cut, the instruments such as needle are operated in body local, remove pathological tissues, repair damage, transplant organ, improvement function and shape
State etc..However in certain operations, patient needs to bear huge pain.For traditional surgery, surgical machine
People has that positioning time is short, wound is small, positioning accurate, reduces human error, can replace medical worker and carry out prejudicial operation
The advantages that.
Operating robot is completed to research and develop and be specifically applied in medical operating implementation by the last century 20's.So far
In decades, operating robot is kept updating.For application market occupation rate, most wide at present mainly includes Aesop's hand
Art robot, Zeus's operating robot and Leonardo da Vinci's operating robot.
Leonardo da Vinci's operating robot is substantially a kind of advanced laparoscopic minimally invasive surgery robot.With Leonardo da Vinci's surgical machine
For people's system, current newest Leonardo da Vinci's system includes three parts, respectively meets doctor's station of ergonomics,
With there are four the views of the patients surgery vehicle of interconnection type instrument arm and integrated three-dimensional high-definition video system and dedicated system processor
Frequency tower.
Operating doctor is sitting in station, is located at except operating room aseptic area, using both hands (by operating two main controls
Device) and foot (passing through foot pedal) come control device and a three-dimensional high-definition endoscope.Surgical instrument tip and surgical double
Hand moves synchronously.
Mechanical arm system (Patient Cart) is the operating member of surgical operation robot by patients surgery vehicle, i.e. bed,
Its major function is to provide support for instrument arm and camera arm.Assistant doctor's mechanical arm system side work by the bed in aseptic area
Make, be responsible for replacement instrument and endoscope, operating doctor is assisted to complete operation.
In the above-mentioned prior art, operating doctor must could complete entire surgical procedure with unification name assistant doctor,
Namely when lacking one for being responsible for the assistant doctor of patients surgery vehicle replacement instrument and endoscope, operation can not
Start or process needs to interrupt.
In actual mechanical process, not every operation is carried out in ideal personnel depaly, is often met
To some fortuitous events, a such as assistant doctor be responsible for simultaneously more patients surgery vehicles more change jobs, assistant doctor personnel it is unexpected
The operation of in short supply and battlefield such as needs at a series of situations.Using conventional technology, the full implementation of operation not can guarantee.
Summary of the invention
The purpose of this utility model is that providing one kind to solve above-mentioned the technical problems existing in the prior art
Laparoscopic minimally invasive surgery robot arm, the operative doctor other than desinfection chamber can be with the surgical instrument on mechanical self-walking arm
It is replaced, has reached the purpose for reducing minimum necessary personnel depaly.
In order to achieve the above object, the utility model provides a kind of laparoscopic minimally invasive surgery robot arm, including
Sequentially connected mechanical arm pedestal, large-arm joint, telescopic arm and armed device are provided with operation on the armed device
Instrument deck, the surgical instrument deck is for accommodating surgical instrument；The laparoscopic minimally invasive surgery robot arm also wraps
It has included one and has deposited tool system of changing, described deposit is changed tool system and be mounted on the telescopic arm, described to deposit that change tool system include depositing tool unit
And change tool unit；The tool unit of depositing includes main placement platform and stage driving, and the stage driving includes one
Platform driving motor, the main placement platform are connected by a platform slideway with the platform driving motor, and the master is located at
Several instruments installation detent is provided on placement platform, the instrument installation detent is for accommodating surgical instrument；It is described to change tool
Unit includes push-and-pull hand and changes tool driving mechanism, and the tool driving mechanism of changing includes one changing tool driving motor, and the push-and-pull hand leads to
A screw rod is crossed to be connected with the tool driving motor that changes；The platform driving motor and it is described change tool driving motor with a band
There is the driving plate of controller connectivity port to be connected；
It wherein drives the main placement platform mobile and hovering by the platform driving motor, can make each device
Tool installation detent is staggered or is aligned with the surgical instrument deck；
It wherein drives the push-and-pull hand push dynamic or pulling by the tool driving motor that changes, can will be located at the instrument and pacify
The surgical instrument being loaded on position is pushed on the surgical instrument deck, or will be located at the surgical instrument on the surgical instrument deck
It is pulled in the instrument installation detent.
The effect of stage driving is can to drive main placement platform mobile, adjusts superposed instrument installation card
Relative positional relationship between position and surgical instrument deck.The effect for changing tool driving mechanism is to drive push-and-pull hands movement, by hand
Art instrument installs switching position between detent and surgical instrument deck in corresponding instrument.Usual operating robot is configured with center
Computer, driving plate connects by controller connectivity port with centralized computer, are instructed according to receiving, change platform driving motor with
And change the open and close of tool driving motor.
Specifically, when operative doctor need to replace the surgical instrument being located on surgical instrument deck: the first step, control
Platform driving motor processed work, make the first instrument installation card position in blank state being located on main placement platform be moved to and
The same axis upper end of surgical instrument deck；Tool driving motor is changed in second step, control, will be located at surgical instrument deck using push-and-pull hand
On surgical instrument pull out and be placed in the first instrument installation detent on；Third step, control platform driving motor, makes position again
It is moved in the second instrument installation card position for being placed with new surgical instrument on main placement platform same with surgical instrument deck
Axis upper end；4th step, another secondary control change tool driving motor, will be located at the hand in the second instrument installation detent using push-and-pull hand
Art instrument is pushed on surgical instrument deck, completes to change tool movement with this.
Preferably, each instrument installation detent is each equipped with drum-type auxiliary transmission track, the drum-type auxiliary
Transmission track is spatially positioned between the instrument installation detent and the surgical instrument deck.Drum-type is set and assists transmission
Track can make the surgical instrument transposition more exactly on instrument installation detent and surgical instrument deck.Hand is such as pushed and pulled to exist
When carrying out the surgical instrument on surgical instrument deck pulling to the movement in implement detent, surgical instrument is being detached from surgical device
Tool deck and when being not mounted to implement detent, drum-type auxiliary transmission track plays the role of accepting guidance, by roller
The rolling route of component has been installed to surgical instrument accurately smoothly in implement detent.
Preferably, the instrument installation detent is between the surgical instrument deck and the push-and-pull hand.The arrangement knot
Structure is that the optimization position of each component selects, and the movement process for pushing and pulling hand is most short, and each modular construction complicates, positional relationship is complicated
Change and installation difficulty is minimum.
Preferably, each instrument installation card is located on the main placement platform and is evenly distributed.It is designed in this way, Ke Yigeng
The move mode for using single mode to main placement platform conducive to platform driving motor, reduces the requirement degree of device.
Preferably, the main placement platform is flat structure.Preferably, the main placement platform is straight structure.
Using the difference of technical effect brought by different structure, user can select according to their needs.When the plate knot of use
When structure, each instrument installation detent being disposed thereon necessarily is in the same plane, and personnel is facilitated to carry out initialization cloth to equipment
It sets, reduces the difficulty that surgical instrument is initially installed.When using straight structure, each instrument installation detent thereon surrounds an axis
Line rotation arrangement, is effectively reduced device space occupation rate, improves the torsion and hunting range of each mechanical arm.
Compared with prior art, the utility model has the beneficial effects that:
Operative doctor can replace the surgical instrument on mechanical arm in the case where helping without other people, reduce
The minimum personnel depaly of surgical work, expands the scope of application performed the operation using micro-wound operation robot.
Detailed description of the invention
Fig. 1 is that the main placement platform of the utility model is the laparoscopic minimally invasive surgery robot arm of flat structure
Schematic perspective view.
Fig. 2 is that the main placement platform of the utility model is the laparoscopic minimally invasive surgery robot arm of straight barrel type structure
Schematic perspective view.
Fig. 3 is that the main placement platform of the utility model is flat structure and the abdominal cavity with drum-type auxiliary transmission track
The schematic perspective view of mirror micro-wound operation robot mechanical arm.
Fig. 4 is schematic perspective view of the mechanical arm when change the tool first step in Fig. 3.
Fig. 5 is schematic perspective view of the mechanical arm when change tool second step in Fig. 3.
Fig. 6 is schematic perspective view of the mechanical arm when change tool third step in Fig. 3.
Fig. 7 is schematic perspective view of the mechanical arm when change four step of tool in Fig. 3.
Wherein:
1, mechanical arm pedestal；2, large-arm joint；3, telescopic arm；4, armed device；5, surgical instrument deck；6, it deposits and changes tool system
System；7, tool unit is deposited；8, tool unit is changed；9, main placement platform；10, instrument installs detent；11, hand is pushed and pulled；12, drum-type assists
Transmission track；13, the first instrument installs detent；14, the second instrument installs detent.
Specific embodiment
Embodiment 1
Referring to Fig.1, a kind of laparoscopic minimally invasive surgery robot arm, including sequentially connected machine are present embodiments provided
Tool arm pedestal 1, large-arm joint 2, telescopic arm 3 and armed device 4 are provided with surgical instrument deck 5 on armed device 4,
Surgical instrument deck 5 is for accommodating surgical instrument；It is characterized in that, laparoscopic minimally invasive surgery robot arm further includes having one
It deposits and changes tool system 6, deposit and change tool system 6 and be mounted on telescopic arm 3, depositing and changing tool system 6 includes depositing tool unit 7 and changing tool unit 8；
Depositing tool unit 7 includes main placement platform 9 and stage driving, and stage driving includes a platform driving motor, main placement
Platform 9 is connected by a platform slideway with platform driving motor, and the installation of several instruments is provided on main placement platform 9
Detent 10, instrument installation detent 10 is for accommodating surgical instrument；It changes tool unit 8 to include push-and-pull hand 11 and change tool driving mechanism, change
Tool driving mechanism changes tool driving motor including one, and push-and-pull hand 11 is connected by a screw rod with tool driving motor is changed；Platform driving
It motor and changes tool driving motor and is connected with one with the driving plate of controller connectivity port；Electricity is wherein driven by platform
Machine drives main placement platform 9 mobile and hovering, so that each instrument is installed detent 10 and be staggered with surgical instrument deck 5 or right
Together；It wherein pushes or pulls by changing tool driving motor driving push-and-pull hand 11, can will be located at the hand in instrument installation detent 10
Art instrument is pushed on surgical instrument deck 5, or the surgical instrument being located on surgical instrument deck 5 is pulled to instrument installation detent 10
On.Instrument installation detent 10 is located between surgical instrument deck 5 and push-and-pull hand 11.Each instrument installation detent 10 is in main placement platform
It is evenly distributed on 9.Main placement platform 9 is flat structure.
Embodiment 2
Referring to Fig. 2, another laparoscopic minimally invasive surgery robot arm is present embodiments provided, including sequentially connected
Mechanical arm pedestal 1, large-arm joint 2, telescopic arm 3 and armed device 4 are provided with surgical instrument deck on armed device 4
5, surgical instrument deck 5 is for accommodating surgical instrument；It is characterized in that, laparoscopic minimally invasive surgery robot arm further includes having
One deposits and changes tool system 6, deposits and changes tool system 6 and be mounted on telescopic arm 3, and depositing and changing tool system 6 includes depositing tool unit 7 and changing tool unit
8；Depositing tool unit 7 includes main placement platform 9 and stage driving, and stage driving includes a platform driving motor, main peace
Horizontalization platform 9 is connected by a platform slideway with platform driving motor, several instruments peace is provided on main placement platform 9
Be loaded position 10, and instrument installation detent 10 is for accommodating surgical instrument；Tool unit 8 is changed to include push-and-pull hand 11 and change tool driving mechanism,
It changes tool driving mechanism and changes tool driving motor including one, push-and-pull hand 11 is connected by a screw rod with tool driving motor is changed；Platform drives
It moves motor and changes tool driving motor and be connected with a driving plate with controller connectivity port；Wherein driven by platform
The main placement platform 9 of motor driven is mobile and hovering, and each instrument installation detent 10 can be made to be staggered with surgical instrument deck 5 or right
Together；It wherein pushes or pulls by changing tool driving motor driving push-and-pull hand 11, can will be located at the hand in instrument installation detent 10
Art instrument is pushed on surgical instrument deck 5, or the surgical instrument being located on surgical instrument deck 5 is pulled to instrument installation detent 10
On.Each instrument installation detent 10 is each equipped with drum-type auxiliary transmission track 12, and drum-type assists transmission track 12 in space
It is upper to be located between instrument installation detent 10 and surgical instrument deck 5.Instrument installation detent 10 is located at surgical instrument deck 5 and push-and-pull
Between hand 11.Each instrument installation detent 10 is evenly distributed on main placement platform 9.Main placement platform 9 is straight barrel type structure.
Embodiment 3
Referring to Fig. 3, a kind of laparoscopic minimally invasive surgery robot arm, including sequentially connected machine are present embodiments provided
Tool arm pedestal 1, large-arm joint 2, telescopic arm 3 and armed device 4 are provided with surgical instrument deck 5 on armed device 4,
Surgical instrument deck 5 is for accommodating surgical instrument；It is characterized in that, laparoscopic minimally invasive surgery robot arm further includes having one
It deposits and changes tool system 6, deposit and change tool system 6 and be mounted on telescopic arm 3, depositing and changing tool system 6 includes depositing tool unit 7 and changing tool unit 8；
Depositing tool unit 7 includes main placement platform 9 and stage driving, and stage driving includes a platform driving motor, main placement
Platform 9 is connected by a platform slideway with platform driving motor, and the installation of several instruments is provided on main placement platform 9
Detent 10, instrument installation detent 10 is for accommodating surgical instrument；It changes tool unit 8 to include push-and-pull hand 11 and change tool driving mechanism, change
Tool driving mechanism changes tool driving motor including one, and push-and-pull hand 11 is connected by a screw rod with tool driving motor is changed；Platform driving
It motor and changes tool driving motor and is connected with one with the driving plate of controller connectivity port；Electricity is wherein driven by platform
Machine drives main placement platform 9 mobile and hovering, so that each instrument is installed detent 10 and be staggered with surgical instrument deck 5 or right
Together；It wherein pushes or pulls by changing tool driving motor driving push-and-pull hand 11, can will be located at the hand in instrument installation detent 10
Art instrument is pushed on surgical instrument deck 5, or the surgical instrument being located on surgical instrument deck 5 is pulled to instrument installation detent 10
On.Instrument installation detent 10 is located between surgical instrument deck 5 and push-and-pull hand 11.Each instrument installation detent 10 is in main placement platform
It is evenly distributed on 9.Main placement platform 9 is flat structure.
When operative doctor need to replace the surgical instrument being located on surgical instrument deck 5: reference Fig. 4, the first step,
The work of control platform driving motor makes to be located at the first instrument installation detent 13 in blank state on main placement platform 9 and moves
It moves and the same axis upper end of surgical instrument deck 5；Referring to Fig. 5, second step, tool driving motor is changed in control, utilizes push-and-pull hand 11
The surgical instrument being located on surgical instrument deck 5 is pulled out and is placed in the first instrument installation detent 13；Referring to Fig. 6, third
Step, control platform driving motor, makes the second instrument peace for being placed with new surgical instrument being located on main placement platform 9 again
The position 14 that is loaded is moved to and the same axis upper end of surgical instrument deck 5；Referring to Fig. 7, the 4th step, another secondary control changes tool driving electricity
The surgical instrument being located in the second instrument installation detent 14 is pushed on surgical instrument deck 5 by machine using push-and-pull hand 11, complete with this
It is acted at tool is changed.
Claims (6)
1. a kind of laparoscopic minimally invasive surgery robot arm, including sequentially connected mechanical arm pedestal (1), large-arm joint (2),
Telescopic arm (3) and armed device (4) are located on the armed device (4) and are provided with surgical instrument deck (5), the operation
Instrument deck (5) is for accommodating surgical instrument；It is characterized in that, the laparoscopic minimally invasive surgery robot arm further includes having
One deposits and changes tool system (6), and described deposit is changed tool system (6) and be mounted on the telescopic arm (3), and described deposit changes tool system (6) and include
It deposits tool unit (7) and changes tool unit (8)；The tool unit (7) of depositing includes main placement platform (9) and stage driving, institute
Stating stage driving includes a platform driving motor, and the main placement platform (9) is driven by a platform slideway and the platform
Dynamic motor is connected, and is located on the main placement platform (9) and is provided with several instruments installation detent (10), the instrument installation
Detent (10) is for accommodating surgical instrument；Described change tool unit (8) include push-and-pull hand (11) and change tool driving mechanism, described to change tool
Driving mechanism changes tool driving motor including one, and the push-and-pull hand (11) is connected by a screw rod with the tool driving motor that changes；
The platform driving motor and the tool driving motor that changes are connected with a driving plate with controller connectivity port；
It wherein drives the main placement platform (9) mobile and hovering by the platform driving motor, can make each device
Tool installation detent (10) is staggered or is aligned with the surgical instrument deck (5)；
It wherein drives the push-and-pull hand (11) to push or pull by the tool driving motor that changes, can will be located at the instrument and pacify
The surgical instrument being loaded on position (10) is pushed on the surgical instrument deck (5), or will be located on the surgical instrument deck (5)
Surgical instrument be pulled in instrument installation detent (10).
2. laparoscopic minimally invasive surgery robot arm according to claim 1, which is characterized in that each instrument installation
Detent (10) is each equipped with drum-type auxiliary transmission track (12), and the drum-type assists transmission track (12) spatially position
Between instrument installation detent (10) and the surgical instrument deck (5).
3. laparoscopic minimally invasive surgery robot arm according to claim 1, which is characterized in that the instrument installation card
Position (10) is between the surgical instrument deck (5) and the push-and-pull hand (11).
4. laparoscopic minimally invasive surgery robot arm according to claim 1, which is characterized in that each instrument installation
Detent (10) is evenly distributed on the main placement platform (9).
5. laparoscopic minimally invasive surgery robot arm according to claim 1, which is characterized in that the main placement platform
It (9) is flat structure.
6. laparoscopic minimally invasive surgery robot arm according to claim 1, which is characterized in that the main placement platform
It (9) is straight structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833339.9U CN208371895U (en) | 2017-07-10 | 2017-07-10 | A kind of laparoscopic minimally invasive surgery robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833339.9U CN208371895U (en) | 2017-07-10 | 2017-07-10 | A kind of laparoscopic minimally invasive surgery robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN208371895U true CN208371895U (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720833339.9U Expired - Fee Related CN208371895U (en) | 2017-07-10 | 2017-07-10 | A kind of laparoscopic minimally invasive surgery robot arm |
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| CN (1) | CN208371895U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875780A (en) * | 2019-04-03 | 2019-06-14 | 李婷薇 | A kind of woman's production surgical medical tool car |
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN114052641A (en) * | 2021-11-04 | 2022-02-18 | 深圳市博盛医疗科技有限公司 | Laparoscope system for reducing three-dimensional distortion in 3D vision based on intelligent optimization technology |
-
2017
- 2017-07-10 CN CN201720833339.9U patent/CN208371895U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875780A (en) * | 2019-04-03 | 2019-06-14 | 李婷薇 | A kind of woman's production surgical medical tool car |
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN110236677B (en) * | 2019-04-30 | 2024-04-30 | 汕头大学 | Parallelogram structure minimally invasive surgery mechanical arm |
| CN114052641A (en) * | 2021-11-04 | 2022-02-18 | 深圳市博盛医疗科技有限公司 | Laparoscope system for reducing three-dimensional distortion in 3D vision based on intelligent optimization technology |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190115 |