CN208371896U - Micro-wound operation robot mechanical arm arrangements structure - Google Patents
Micro-wound operation robot mechanical arm arrangements structure Download PDFInfo
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- CN208371896U CN208371896U CN201720833740.2U CN201720833740U CN208371896U CN 208371896 U CN208371896 U CN 208371896U CN 201720833740 U CN201720833740 U CN 201720833740U CN 208371896 U CN208371896 U CN 208371896U
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Abstract
The utility model belongs to the field of medical instrument technology, a kind of micro-wound operation robot mechanical arm arrangements structure is provided, including being no less than 3 instrument arms (1), 1 endoscope arm (2) and no less than 1 instrument end retaining arm (3)；The instrument arm (1) includes arm back segment (4), and the surgical instrument end (6) that is connect with the arm back segment (4) by a detachable support connecting (5), one surgical instrument deck (7) is arranged on the surgical instrument end (6), is located on the surgical instrument end (6) and is further fixedly arranged on one by the portion of holding；One is provided on the instrument end retaining arm (3) for grasping the grasping part by the portion of holding.Compared with prior art, the utility model has the beneficial effects that: mechanical arm arrangements are compact-sized, space occupied is small, improves operating room utilization rate, and position adjustment is simple between each mechanical arm, accelerates doctor and operates process, reduces doctor's operation difficulty.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of micro-wound operation robot mechanical arm arrangements structure.
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.
By taking Leonardo da Vinci's surgical robot system as an example, current newest Leonardo da Vinci's system includes three parts, is respectively accorded with
The doctor's station for closing ergonomics, with there are four the patients surgery vehicle of interconnection type instrument arm and integrated three-dimensional high-definition views
The video tower of display system and dedicated system processor.Wherein aforementioned four interconnection type instrument arm respectively include three main instrument arms with
An and lens arm.Main instrument arm completes specific surgical action for clamping surgical instrument, and lens arm in setting up for peeping
Mirror is to provide visual angle for operative doctor.The purpose of three main instrument arms of design is, realizes double control platform function.Double control platform is permitted
Xu Liangwei doctor carries out surgical action simultaneously, and a doctor is when operating two main surgical instrument mechanical arms, other a doctor
It can activate using third arm and be assisted.The technical method can only operate two masters mainly for solving a doctor simultaneously
The limitation of instrument arm expands the particular number for participating in the main instrument arm of operation.
But there are a degree of deficiency, two operative doctors to work at the same time for the design scheme, due to it is that may be present because
Situations such as operation is horizontal different, and habitual practice are different, frequent verbal communication in surgical procedure, causes Advances of operative technique slow, sternly
Weight can influence procedure and effect.General two hand of one man operation usually will not be touched mutually, but be controlled when introducing the second people
When third hand, often because mutual motion profile is prejudged, there are non-foresight, and cause mutually to collide, serious to draw
Send out malpractice.
Summary of the invention
The purpose of this utility model is that solve the above-mentioned problems, providing a kind of micro-wound operation robot mechanical arm
Arragement construction, using the arragement construction different from routine techniques, so that operative doctor may be implemented to carry out multiple main instrument arms
The purpose that one people is controlled more.
In order to achieve the above object, the utility model provides a kind of micro-wound operation robot mechanical arm arrangements structure, packet
Include no less than 3 instrument arms, 1 endoscope arm and no less than 1 instrument end retaining arm；After the instrument arm includes arm
Section and the surgical instrument end that is connect with the arm back segment by a detachable support connecting, a surgical instrument card
Seat is arranged on the surgical instrument end, is further fixedly arranged on one by the portion of holding on the surgical instrument end；Positioned at institute
It states and is provided with one on instrument end retaining arm for grasping the grasping part by the portion of holding.
In the technical scheme, instrument arm is used cooperatively with instrument end retaining arm.The arm back segment of instrument arm can be with hand
The separation of art instrument end, i.e., complete separating action when support connecting is split.Surgical instrument end after separation needs to protect
The preceding position of separation is held, is completed at this time by instrument end retaining arm.Specifically, instrument end retaining arm is with a grasping
Portion, before arm back segment is separated with surgical instrument end, grasping part grasping be located at surgical instrument end by the portion of holding, surgical device at this time
Tool end is only become by the effect of arm back segment by arm back segment and instrument end retaining arm collective effect from original.When arm back segment with
After the separation of surgical instrument end, surgical instrument end becomes only being acted on by instrument end retaining arm at this time.Doctor completes to grasp
After movement, it can be detached from the control to instrument end retaining arm, keep its related surgical instrument terminal position stationary, thus
Realize that doctor can carry out the purpose that a people is controlled more to multiple main instrument arms.
Preferably, micro-wound operation robot mechanical arm arrangements structure further includes having a main mechanical base arm, the main mechanical base
Arm includes an equipment placement platform with column bases, and several arm connections are provided on equipment placement platform
Point, each instrument arm and endoscope arm pass through a joint and connect one to one with each arm tie point.Above-mentioned excellent
It selects in scheme, by a main mechanical base arm to other arm integrated management in addition to instrument end retaining arm, can obtain most simplified
Robotic arm manipulation process, the torsion and swing angle between each arm be maximum；Instrument end retaining arm and other are treated respectively
The reason of arm is, the two track is different, it then follows using priciple it is different, applicable range and situation are different.
It is highly preferred that each arm tie point linearly uniformly arrangement on equipment placement platform.Straight line arrangement
Facilitate the cooperation between each arm, reaches the optimization of arragement construction.
Even more preferably, the quantity of the instrument arm is 3, and the quantity of the arm tie point is 4, it is described in peep
Handel is installed in any one for being located at intermediate two arm tie points.Equally even more preferably, the instrument arm
Quantity be 4, the quantity of the arm tie point is 5, and the endoscope arm is installed on the arm connection positioned at centre bit
Point on.Unique acquisition source at endoscope arm doctor visual angle the most, often needs to occupy optimum position, i.e., is more positive in face of operating table
The angle position in face.
Still equally even more preferably, the quantity of the instrument end retaining arm is 1, two farthest arms
The perpendicular bisector of tie point institute line section, passes through the grasping part of the instrument end retaining arm.It is designed in this way, can make
It is equal apart from each position by the portion of holding to obtain grasping part, range is minimum for the angle of itself torsionoscillation.
Also still equally even more preferably, the quantity of the instrument end retaining arm is 2, is respectively arranged at described
The two sides of straight line where arm tie point, and the perpendicular bisector of two farthest arm tie point institute line sections, pass through institute
State the grasping part of two instrument end retaining arms.The advantages of two instrument end retaining arms are arranged is, more to doctor
Selection space, obtain more superior surgical instrument and match option.Two instrument end retaining arms are connected respectively at arm simultaneously
The two sides of point, not only make overall structure have more symmetry, and equipment is made to obtain better stability, while also making two instruments last
End retaining arm activity is not interfere with each other, and is prevented accidental operation and is caused the collision between arm and arm.
Preferably, the grasping part be one grasping pawl, it is described by the portion of holding be an anti-slip ring.
Compared with prior art, the utility model has the beneficial effects that:
Mechanical arm arrangements are compact-sized, and space occupied is small, improve operating room utilization rate, adjustment letter in position between each mechanical arm
It is single, accelerate doctor and operate process, reduces doctor's operation difficulty.
Detailed description of the invention
Fig. 1 is a kind of micro-wound operation robot schematic perspective view of the utility model.
Fig. 2 is the overlooking structure diagram of operating robot in Fig. 1.
Fig. 3 is the schematic perspective view of the micro-wound operation robot of another the utility model.
Fig. 4 is the overlooking structure diagram of operating robot in Fig. 3.
Fig. 5 is the schematic perspective view of the micro-wound operation robot of the third the utility model.
Fig. 6 is the overlooking structure diagram of operating robot in Fig. 5.
Fig. 7 is the sectional perspective structural schematic diagram grasped at pawl.
Fig. 8 is the sectional perspective structural schematic diagram of anti-slip ring.
Wherein:
1, instrument arm；2, endoscope arm；3, instrument end retaining arm；4, arm back segment；5, support connecting；6, surgical device
Tool end；7, surgical instrument deck；8, anti-slip ring；9, pawl is grasped；10, main mechanical base arm；11, column bases；12, equipment disposes
Platform；13, arm tie point.
Specific embodiment
Embodiment 1
Referring to Figures 1 and 2, this embodiment describes a kind of micro-wound operation robot mechanical arm arrangements structures, including 3 devices
1,1 endoscope arm 2 of tool arm and 1 instrument end retaining arm 3；The instrument arm 1 includes that arm back segment 4 and one passes through
The surgical instrument end 6 that one detachable support connecting 5 is connect with the arm back segment 4, a surgical instrument deck 7 are arranged in institute
It states on surgical instrument end 6, an anti-slip ring 8 is further fixedly arranged on the surgical instrument end 6；Positioned at the instrument end
One is provided on the retaining arm 3 of end for grasping the grasping pawl 9 of the anti-slip ring 8.
Embodiment 1
Referring to Fig. 3 and Fig. 4, this embodiment describes another micro-wound operation robot mechanical arm arrangements structures, including 3
1,1 endoscope arm 2 of instrument arm and 1 instrument end retaining arm 3；The instrument arm 1 includes that arm back segment 4 and one are logical
The surgical instrument end 6 that a detachable support connecting 5 is connect with the arm back segment 4 is crossed, a surgical instrument deck 7 setting exists
On the surgical instrument end 6, an anti-slip ring 8 is further fixedly arranged on the surgical instrument end 6；Positioned at the instrument
One is provided on end retaining arm 3 for grasping the grasping pawl 9 of the anti-slip ring 8.The main mechanical base arm 10 includes a band
There is the equipment placement platform 12 of column bases 11, is provided with 4 arm tie points 13, each institute on equipment placement platform 12
Instrument arm 1 and endoscope arm 2 is stated to connect one to one by a joint with each arm tie point 13.Each arm connection
The linearly uniformly arrangement on equipment placement platform 12 of point 13.Endoscope arm 2 is installed on to be connected positioned at second, left side arm
On contact 13.The perpendicular bisector of the 13 line sections of arm tie point of farthest two, by grasping pawl 9.
Embodiment 2
Referring to figure 5 and figure 6, this embodiment describes the third micro-wound operation robot mechanical arm arrangements structures, including 4
1,1 endoscope arm 2 of instrument arm and 2 instrument end retaining arms 3；The instrument arm 1 includes that arm back segment 4 and one are logical
The surgical instrument end 6 that a detachable support connecting 5 is connect with the arm back segment 4 is crossed, a surgical instrument deck 7 setting exists
On the surgical instrument end 6, one is further fixedly arranged on by the portion of holding on the surgical instrument end 6；Positioned at the instrument
One is provided on end retaining arm 3 for grasping the grasping part by the portion of holding.The main mechanical base arm 10 includes one to have
The equipment of column bases 11 disposes platform 12, and 5 arm tie points 13 are provided on equipment placement platform 12, each described
Instrument arm 1 and endoscope arm 2 are connected one to one by a joint with each arm tie point 13.Each arm tie point
The 13 linearly uniformly arrangements on equipment placement platform 12.The endoscope arm 2 is installed on positioned at described in centre bit
On arm tie point 13.Two instrument end retaining arms 3 are separately positioned on the two sides of arm tie point 13, and the arm of farthest two connects
The perpendicular bisector of 13 line sections of contact passes through two grasping pawls 9.
Claims (8)
1. a kind of micro-wound operation robot mechanical arm arrangements structure, which is characterized in that including being no less than 3 instrument arms (1), 1
Endoscope arm (2) and no less than 1 instrument end retaining arm (3)；The instrument arm (1) includes arm back segment (4), Yi Jiyi
The surgical instrument end (6) being connect by a detachable support connecting (5) with the arm back segment (4), a surgical instrument card
Seat (7) is arranged on the surgical instrument end (6), is further fixedly arranged on one on the surgical instrument end (6) and is held
Portion；One is provided on the instrument end retaining arm (3) for grasping the grasping part by the portion of holding.
2. micro-wound operation robot mechanical arm arrangements structure according to claim 1, which is characterized in that further include having a master
Mechanical base arm (10), the main mechanical base arm (10) include equipment placement platform (12) with column bases (11), position
It is disposed in the equipment and is provided with several arm tie points (13), each instrument arm (1) and endoscope arm (2) on platform (12)
Connected one to one by a joint with each arm tie point (13).
3. micro-wound operation robot mechanical arm arrangements structure according to claim 2, which is characterized in that each arm connection
Point (13) linearly uniformly arrangement in equipment placement platform (12).
4. micro-wound operation robot mechanical arm arrangements structure according to claim 3, which is characterized in that the instrument arm
(1) quantity is 3, and the quantity of the arm tie point (13) is 4, and the endoscope arm (2), which is installed on, is located at centre two
In any one of the arm tie point (13).
5. micro-wound operation robot mechanical arm arrangements structure according to claim 3, which is characterized in that the instrument arm
(1) quantity is 4, and the quantity of the arm tie point (13) is 5, and the endoscope arm (2) is installed on positioned at centre bit
On the arm tie point (13).
6. micro-wound operation robot mechanical arm arrangements structure according to claim 3, which is characterized in that the instrument end
The quantity of retaining arm (3) is 1, the perpendicular bisector of two farthest arm tie point (13) institute line sections, by described
The grasping part of instrument end retaining arm (3).
7. micro-wound operation robot mechanical arm arrangements structure according to claim 3, which is characterized in that the instrument end
The quantity of retaining arm (3) is 2, the two sides of straight line where being respectively arranged at the arm tie point (13), and two farthest institutes
The perpendicular bisector of arm tie point (13) institute line section is stated, the grasping of described two instrument end retaining arms (3) is passed through
Portion.
8. micro-wound operation robot mechanical arm arrangements structure according to claim 1, which is characterized in that the grasping part is
One grasping pawl (9), it is described by the portion of holding be an anti-slip ring (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833740.2U CN208371896U (en) | 2017-07-10 | 2017-07-10 | Micro-wound operation robot mechanical arm arrangements structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833740.2U CN208371896U (en) | 2017-07-10 | 2017-07-10 | Micro-wound operation robot mechanical arm arrangements structure |
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| Publication Number | Publication Date |
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| CN208371896U true CN208371896U (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720833740.2U Active CN208371896U (en) | 2017-07-10 | 2017-07-10 | Micro-wound operation robot mechanical arm arrangements structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023160486A1 (en) * | 2022-02-22 | 2023-08-31 | 上海微创医疗机器人（集团）股份有限公司 | End articulated arm, robotic arm, and medical cart |
-
2017
- 2017-07-10 CN CN201720833740.2U patent/CN208371896U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023160486A1 (en) * | 2022-02-22 | 2023-08-31 | 上海微创医疗机器人（集团）股份有限公司 | End articulated arm, robotic arm, and medical cart |
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