CN208464165U - A kind of self-locking needle holder of minimally invasive surgery robot operation - Google Patents
A kind of self-locking needle holder of minimally invasive surgery robot operation Download PDFInfo
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- CN208464165U CN208464165U CN201721713545.2U CN201721713545U CN208464165U CN 208464165 U CN208464165 U CN 208464165U CN 201721713545 U CN201721713545 U CN 201721713545U CN 208464165 U CN208464165 U CN 208464165U
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 26
- 238000004804 winding Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 241000826860 Trapezium Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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Abstract
The utility model provides a kind of minimally invasive surgery robot operation self-locking needle holder, including clamping device, supporting mechanism, winding mechanism, control mechanism and driving mechanism, and the clamping device includes the first clamping end and the second clamping end, compared with prior art, the beneficial effects of the utility model are, inside holding angle is formed when two clamping ends closure of the clamping device, it can guarantee that opposite joint needle forms Clamping and self-locking during operation, guarantee there will not be suture needle to fall phenomenon when needle-holding stitching, the abdominal cavity suture for meeting minimally invasive surgical operation robot clamps the multiple degrees of freedom of micro- instrument from the use demand of locking needle, and two clamping ends are cross-linked, improve the equivalent working strength of clamped wire rope, and then improve the service life of micro- instrument；Driving force the clamping device be can be transmitted to by the clamped wire rope and the pitching wire rope simultaneously, pitching, beat and the clamping DOF movement of the clamping device realized.
Description
Technical field
The utility model relates to the field of medical instrument technology, and in particular to a kind of minimally invasive surgery robot operation locking certainly
Needle device.
Background technique
Robotic surgical system is the synthesis for integrating multinomial modern high tech method, and surgeon may be located remotely from hand
Art platform, which is operated machine, performs the operation, and is totally different from traditional operation concept, is undisputed in world minimally invasive surgery field
Revolutionary Surigical tool.And the design superiority and inferiority of operation tool directly determines the win or lose of surgical robot system, together
When operating robot operation tool actual characteristic and performance indicator also directly instruct operating robot other parts, such as this
The design of system system, and then influence passive part and support the design of position portion, and the technical indicator of front end operation tool
Directly determine design objective and the layout type requirement of main hand operating system.It can be seen that operating robot operation tool is influenced and is determined
Determined the design work of entire robot system, operation tool performance be the key that a set of surgical robot system performance level because
Element.
Typical Minimally Invasive Surgery tool uses the kind of drive of bar transmission, and front end has one degree of freedom, but traditional
The design of Minimally Invasive Surgery tool only one freedom degree determines that it cannot complete complicated surgical procedure, limits Minimally Invasive Surgery
Application environment, and the unsecured measure in needle-holding stitching, are easy needle, influence being normally carried out for operation.
In view of the above drawbacks, the utility model creator proposes the utility model by prolonged research and practice.
Utility model content
To solve above-mentioned technological deficiency, the technical solution adopted in the utility model is, provides a kind of minimally invasive surgery machine
The self-locking needle holder of manpower art, characterized in that it comprises:
One clamping device, including the first clamping end and the second clamping end, first clamping end and second clamping end
Inside holding angle, and described first are formed after staggeredly inserting connection, first clamping end and second clamping end closure
Clamped wire rope is set on clamping end and second clamping end；
One supporting mechanism, including an opening, a pitching groove, a pitching wire rope and cabling channel, the clamping device are set
It sets in the opening, and is connected with the supporting mechanism by holding axis in one, the pitching wire rope is arranged in the pitching
In groove, the two sides of the supporting mechanism are arranged in the cabling channel, and the clamped wire rope is wrapped in the cabling channel；
One winding mechanism, including a reel, the first fixing axle, first shaft hole, the second fixing axle, the second axis hole, first
Active wheels and the second active wheels, the supporting mechanism and first active wheels pass through the first shaft hole, and pass through
First fixing axle is connected on the reel, and second axis hole and second active wheels are solid by described second
Dead axle is connected on the reel；
One driving mechanism and a control mechanism, and the control mechanism is connected with the winding mechanism, the driving machine
Structure is connected with the control mechanism；
The clamped wire rope and the pitching wire rope are around the supporting mechanism and the winding mechanism and the control
Mechanism processed is connected, and under the action of the driving mechanism, the control mechanism drives first active wheels and the second master
Driving wheel group movement, and driving force is transmitted to by the clamping device by the clamped wire rope and the pitching wire rope, it is real
The multifreedom motion of existing first clamping end and second clamping end.
Preferably, first clamping end includes a beveled end, before the beveled end is set to first clamping end
Portion, and the beveled end includes an inclined surface, the front end of the inclined surface is higher than rear end, and setting one is recessed inside the beveled end
Slot, and depth is in increase tendency to the groove from bottom to top.
Preferably, it is characterized in that, second clamping end includes a clamping face, and the clamping face inclines relative to described
Inclined-plane is vertical plane.
Preferably, first clamping end and second clamping end root are provided with chucking grooves, the clamped wire rope
It is arranged in the chucking grooves.
Preferably, the clamped wire rope includes that a closure wirerope and one open wirerope, and are separately fixed at described
In chucking grooves.
Preferably, first active wheels and second active wheels respectively include four equal in magnitude, shape phases
Same guide wheel.
Preferably, first active wheels are identical with the second active wheels shape, but first active wheels
The diameter of middle guide wheel is greater than the diameter of guide wheel in second active wheels.
Preferably, the midpoint of the pitching wire rope is fixed on the pitching groove, and the two of the pitching wire rope
End is postponed downwards, and is connected with the control mechanism.
Preferably, the winding mechanism bottom further includes several cable holes.
Compared with the prior art, the utility model has the beneficial effects that: providing a kind of minimally invasive surgery robot operation use
Driving force can be transmitted to the clamping device by the clamped wire rope and the pitching wire rope by self-locking needle holder,
Realize pitching, beat and the clamping DOF movement of the clamping device；First clamping end and second folder simultaneously
Inside holding angle is formed after holding end closure, it is ensured that opposite joint needle forms Clamping and self-locking during operation, when guaranteeing needle-holding stitching
There will not be suture needle to fall phenomenon, the multiple degrees of freedom for meeting the micro- instrument of abdominal cavity suture clamping of minimally invasive surgical operation robot locks certainly
The use demand of needle；And two clamping ends are cross-linked, and one end is biased in the arrangement of the clamped wire rope, guide wheel is increased and puts
The space set, so that the diameter of guide wheel increases, the cornerite that clamped wire rope is wound on guide wheel also increases in succession, to extend
The service life of clamped wire rope, and the equivalent working strength of clamped wire rope is improved, and then improve making for micro- instrument
Use the service life.
Detailed description of the invention
It, below will be to institute in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the utility model
Attached drawing to be used is needed to be briefly described.
Fig. 1 is the structure diagram of the first clamping end described in the utility model embodiment 1,
Fig. 2 is the structure diagram of the second clamping end described in the utility model embodiment 1,
Fig. 3 is a kind of front view of the self-locking needle holder of minimally invasive surgery robot operation in the utility model embodiment 1,
Fig. 4 is a kind of rearview of the self-locking needle holder of minimally invasive surgery robot operation in the utility model embodiment 1,
Fig. 5 is a kind of right view of the self-locking needle holder of minimally invasive surgery robot operation in the utility model embodiment 1.
Digital representation in figure: the first clamping end 101-, the left side 102- are closed wirerope, wirerope is opened in the left side 103-,
The second clamping end 104-, closure wirerope on the right side of 105-, opened on the right side of 106- wirerope, 107- supporting mechanism, hold in 108- axis,
The small guide wheel of 109- right hand external, the internal small guide wheel in the right side 110-, 111- reel, the internal big guide wheel in the left side 112-, the left side 113-
External big guide wheel, 114- pitching wire rope, the internal small guide wheel in the left side 115-, the small guide wheel of 116- left hand external, the right side 117- are internal
Big guide wheel, the big guide wheel of 118- right hand external, the second fixing axle of 119-, the first fixing axle of 120-.
Specific embodiment
Below in conjunction with attached drawing, the above and other technical features and advantages of the present invention are described in more detail.
During the description to the utility model technical characteristic, term, "upper", "lower", "inner", "outside", "left", "right"
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the application and
Simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construction
And operation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.
Embodiment 1
Referring to Figure 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5,
Fig. 1 is the structure diagram of the first clamping end in the present embodiment,
Fig. 2 is the structure diagram of the second clamping end in the present embodiment,
Fig. 3 is a kind of front view of the self-locking needle holder of minimally invasive surgery robot operation in the present embodiment,
Fig. 4 is a kind of rearview of the self-locking needle holder of minimally invasive surgery robot operation in the present embodiment,
Fig. 5 is a kind of right view of the self-locking needle holder of minimally invasive surgery robot operation in the present embodiment.
The present embodiment provides a kind of self-locking needle holders of minimally invasive surgery robot operation, including clamping device, supporting mechanism
107, winding mechanism, control mechanism and driving mechanism.
The clamping device includes the first clamping end 101 and the second clamping end 104, and first clamping end 101 includes one
Beveled end, the beveled end is set to the front of first clamping end 101, and the beveled end includes an inclined surface, described
The front end of inclined surface is higher than rear end, a groove is arranged inside the beveled end, and depth becomes the groove in increase from bottom to top
Gesture；Second clamping end 104 includes a clamping face, and the clamping face is vertical plane relative to the inclined surface, and described the
Inside holding angle is formed after one clamping end 101 and second clamping end 104 closure, it is ensured that opposite joint aciculiform during operation
At Clamping and self-locking, guarantee there will not be suture needle to fall phenomenon when needle-holding stitching, meets the abdominal cavity suture of minimally invasive surgical operation robot
The multiple degrees of freedom of micro- instrument is clamped from the use demand of locking needle.
The root of first clamping end 101 and second clamping end 104 is provided with the chucking grooves of non-full circle, described
Clamped wire rope is set in chucking grooves, and the clamped wire rope includes left side closure wirerope 102, left side opening wirerope
103, wirerope 106 is opened on the right side of right side closure wirerope 105, steel is opened in the left side closure wirerope 102 and the left side
Cord 103 is separately fixed in the chucking grooves of first clamping end 101, the right side closure wirerope 105 and the right side
It opens wirerope 106 and is separately fixed in the chucking grooves of second clamping end 104 in side.
The supporting mechanism 107 includes an opening, a pitching groove and a pitching wire rope 114, first clamping end
101 and second clamping end 104 staggeredly insert in the opening, and linked together by holding axis 108 in one, Ci Zhongjiao
Misplug fills connection type and one end is biased in the arrangement of the clamped wire rope, increases what each guide wheel in the winding mechanism was placed
Space, so that the diameter of guide wheel increases, the cornerite that the clamped wire rope is wound on guide wheel also increases in succession, to extend
The service life of the clamped wire rope, and the equivalent working strength of clamped wire rope is improved, and then improve micro- instrument
Service life.The midpoint of the pitching wire rope 114 is fixed on the pitching groove, and the pitching wire rope 114
Both ends are postponed downwards, and are connected with the control mechanism, and are trapezium structure, no guide wheel, mistake in the middle part of the supporting mechanism 107
It spends round and smooth.
The winding mechanism, including reel 111, the first fixing axle 120, first shaft hole, the second fixing axle 119, second
Axis hole, the first active wheels and the second active wheels, the supporting mechanism 107 pass through described first with first active wheels
Axis hole, and be connected on the reel 111 by first fixing axle 120, second axis hole and described second is actively
Wheel group is connected on the reel 111 by second fixing axle 119, and first active wheels and described second are actively
Wheel group shape is identical, but the diameter of guide wheel is greater than the diameter of guide wheel in second active wheels in first active wheels,
The difference of such size diameter, increase pitching wire rope 114 move when around wheel arc length, increase pitching wire rope 114
Service life；First active wheels include the big guide wheel 113 of left hand external, big guide wheel 112, right hand external are led greatly inside left side
Big guide wheel 117 inside wheel 118, right side, and the four big guide wheel of first active wheels is equal in magnitude, shape is identical；It is described
Second active wheels include the small guide wheel 116 of left hand external, small guide wheel 115 inside left side, the small guide wheel 109 of right hand external, in right side
The small guide wheel 110 in portion, and the four big guide wheel of second active wheels is equal in magnitude, shape is identical.
The driving mechanism is used to provide power input to entire needle holder, and is connected with the control mechanism, and institute
Clamped wire rope and the pitching wire rope 114 are stated around the supporting mechanism 107 and the winding mechanism and the control machine
Structure is connected, and under the action of the driving mechanism, the control mechanism drives first active wheels and the second driving wheel
Group movement, and driving force is transmitted to by the clamping device by the clamped wire rope and the pitching wire rope 114, it realizes
The multifreedom motion of needle holder.
The clamped wire rope and the pitching wire rope 114 and first active wheels and two active wheels
Specific connection type is as described below:
The left side closure wirerope 102 and the left side open wirerope 103 and are separately fixed at first clamping end
On 101, the left side closure wirerope 102 is postponed downwards by the supporting mechanism 107, bypasses the big guide wheel of the right hand external
After 118, postpone tangentially around the small guide wheel 109 of the right hand external until the control mechanism；Open wirerope 103 in the left side
It postpones downwards by the supporting mechanism 107, after guide wheel 112 big inside the left side, postpones tangentially around the left side
Internal small guide wheel 115 is until the control mechanism；The right side closure wirerope 105 opens wirerope 106 with the right side and divides
It not being fixed on second clamping end 104, the right side closure wirerope 105 is postponed by the supporting mechanism 107 downwards,
After the big guide wheel 113 of the left hand external, postpone tangentially around the small guide wheel 116 of the left hand external until the control machine
Structure；The right side opening wirerope 106 is postponed downwards by the supporting mechanism 107, around guide wheel 117 big inside the right side
Afterwards, it postpones tangentially around small guide wheel 110 inside the right side until the control mechanism；The midpoint of the pitching wire rope 114
It is fixed on the pitching groove of 107 bottom of supporting mechanism, both ends are postponed separately down until the control mechanism, passes through institute
The movement of clamped wire rope and the pitching wire rope 114 is stated, realizes first clamping end 101 and second clamping end
104 pitching, beat and clamping DOF movement.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It modifies or even equivalent, but falls in protection scope of the present invention.
Claims (9)
- The self-locking needle holder 1. a kind of minimally invasive surgery robot is performed the operation, characterized in that it comprises:One clamping device, including the first clamping end and the second clamping end, first clamping end and second clamping end interlock Inside holding angle, and first clamping are formed after inserting connection, first clamping end and second clamping end closure End and setting clamped wire rope on second clamping end；One supporting mechanism, including an opening, a pitching groove, a pitching wire rope and cabling channel, the clamping device setting exist It in the opening, and is connected with the supporting mechanism by holding axis in one, the pitching wire rope is arranged in the pitching groove Interior, the two sides of the supporting mechanism are arranged in the cabling channel, and the clamped wire rope is wrapped in the cabling channel；One winding mechanism, including a reel, the first fixing axle, first shaft hole, the second fixing axle, the second axis hole, first are actively Wheel group and the second active wheels, the supporting mechanism and first active wheels pass through the first shaft hole, and by described First fixing axle is connected on the reel, and second axis hole and second active wheels pass through second fixing axle It is connected on the reel；One driving mechanism and a control mechanism, and the control mechanism is connected with the winding mechanism, the driving mechanism with The control mechanism is connected；The clamped wire rope and the pitching wire rope are around the supporting mechanism and the winding mechanism and the control machine Structure is connected, and under the action of the driving mechanism, the control mechanism drives first active wheels and the second driving wheel Group movement, and driving force is transmitted to by the clamping device by the clamped wire rope and the pitching wire rope, realize institute State the multifreedom motion of the first clamping end and second clamping end.
- The self-locking needle holder 2. minimally invasive surgery robot according to claim 1 is performed the operation, which is characterized in that first folder Holding end includes a beveled end, and the beveled end is set to the front of first clamping end, and the beveled end includes an inclination Face, the front end of the inclined surface are higher than rear end, a groove are arranged inside the beveled end, and depth is in the groove from bottom to top Increase tendency.
- The self-locking needle holder 3. minimally invasive surgery robot according to claim 2 is performed the operation, which is characterized in that second folder Holding end includes a clamping face, and the clamping face is vertical plane relative to the inclined surface.
- The self-locking needle holder 4. minimally invasive surgery robot according to claim 2 or 3 is performed the operation, which is characterized in that described the One clamping end and second clamping end root are provided with chucking grooves, and the clamped wire rope is arranged in the chucking grooves.
- The self-locking needle holder 5. minimally invasive surgery robot according to claim 4 is performed the operation, which is characterized in that the clamping steel Cord includes that a closure wirerope and one open wirerope, and are separately fixed in the chucking grooves.
- The self-locking needle holder 6. minimally invasive surgery robot according to claim 1 is performed the operation, which is characterized in that described first is main Driving wheel group and second active wheels respectively include four equal in magnitude, identical guide wheels of shape.
- The self-locking needle holder 7. minimally invasive surgery robot according to claim 6 is performed the operation, which is characterized in that described first is main Driving wheel group is identical with the second active wheels shape, but the diameter of guide wheel is greater than second master in first active wheels The diameter of guide wheel in driving wheel group.
- The self-locking needle holder 8. minimally invasive surgery robot according to claim 1 is performed the operation, which is characterized in that the pitching steel The midpoint of cord is fixed on the pitching groove, and the both ends of the pitching wire rope are postponed downwards, and with the control machine Structure is connected.
- The self-locking needle holder 9. minimally invasive surgery robot according to claim 8 is performed the operation, which is characterized in that the coil winding machine Structure bottom further includes several cable holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721713545.2U CN208464165U (en) | 2017-12-11 | 2017-12-11 | A kind of self-locking needle holder of minimally invasive surgery robot operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721713545.2U CN208464165U (en) | 2017-12-11 | 2017-12-11 | A kind of self-locking needle holder of minimally invasive surgery robot operation |
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| Publication Number | Publication Date |
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| CN208464165U true CN208464165U (en) | 2019-02-05 |
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| CN201721713545.2U Active CN208464165U (en) | 2017-12-11 | 2017-12-11 | A kind of self-locking needle holder of minimally invasive surgery robot operation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928731A (en) * | 2017-12-11 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | Self-locking needle holder is used in a kind of minimally invasive surgery robot operation |
-
2017
- 2017-12-11 CN CN201721713545.2U patent/CN208464165U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928731A (en) * | 2017-12-11 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | Self-locking needle holder is used in a kind of minimally invasive surgery robot operation |
| CN107928731B (en) * | 2017-12-11 | 2020-01-31 | 哈尔滨思哲睿智能医疗设备有限公司 | self-locking needle holder for minimally invasive surgical robot operation |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Dalian North Road, Haping Road Concentration Zone, Economic Development Zone, Harbin City, Heilongjiang Province, 150040 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150010 room 08, 15th floor, No.368, Changjiang Road, Nangang District, economic development zone, Harbin City, Heilongjiang Province Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
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| CP03 | Change of name, title or address |