CN208864483U - A kind of operation on digestive tract robotic system - Google Patents

Abstract

The utility model provides a kind of operation on digestive tract robotic system, with mobile base unit and the lifting unit being fixed on mobile base unit；Flexible operation appliance unit is wherein provided on lifting unit, flexibility operation appliance unit one end passes through accessory channel and extends to operative region, the multifreedom motion of the flexible operation appliance unit itself of operating control handle control and the feed motion for driving flexible operation appliance unit by controlling flexible surgical instrument driving unit.The utility model is based on the structure for not changing traditional digestive endoscopy itself, multivariant mechanical arm sent by external cavity by external auxiliary instrument cavity, traditional scope and electric knife is cooperated to realize lifting to target mucosal, cutting function jointly to targeted surgical region；And for electric knife and injection needle, it is fixed using clamping device, and can arbitrarily adjust the extension elongation on electric knife head and injection needle head, improves service efficiency while reducing research and development and maintenance cost.

Description

A kind of operation on digestive tract robotic system

Technical field

The utility model relates to technical field of surgical instruments more particularly to a kind of operation on digestive tract robotic systems.

Background technique

Traditional endoscopic inferior mucosa cutting operation (ESD operation) is completed with the help of digestive endoscopy by Gastroenterology dept. doctor To the cutting operation of lesion mucous membrane.Most of endoscope on the market is the endoscope of single instrument channel at present, can only be met Cutting to lesion mucous membrane can not realize pull lift action when cutting to it, therefore to doctor in entire surgical procedure People's technical ability and skill requirement are very high, increase the complication risk of operation, extend operating time.Although there is double instruments on the market The digestive endoscopy in channel is using, because the alignment in two channel equally causes operation simultaneously so that lifting and cutting are inconvenient Disease is sent out to improve.

In order to meet in digestive endoscopy therapeutic process to target mucosal cutting when the lifting function with auxiliary, state Inside and outside to expand many researchs to the field, it is traditional that general research is that design free double mechanical arms system more than two is placed in The end of scope, a mechanical arm is for the lifting to target mucosal, another mechanical arm is for the cutting to mucous membrane.But this A little researchs are most of to change the structure of scope itself, what the research and development cost and later period for increasing whole system were promoted Expense.

Either traditional EDS surgical instrument still has the treatment system of double mechanical arms, without solving surgical procedure The placement problem of middle electric knife and injection needle, it is still necessary to which nurse holds always, labor intensity that is not only uninteresting but also increasing nurse.

Utility model content

It is provided by the utility model a kind of to cooperate traditional scope and electric knife in order to realize the main purpose of the utility model The common operation on digestive tract robotic system for realizing the lifting to target mucosal, cutting function.

To solve the above-mentioned problems, the main purpose of the utility model is to provide a kind of operation on digestive tract auxiliary robot system System, with mobile base unit and the lifting unit being fixed on mobile base unit；Wherein, it is provided on lifting unit soft Property surgical instrument unit, flexibility operation appliance unit one end passes through accessory channel and extends to operative region, and operation main operation is manual It makes the multifreedom motion of flexible operation appliance unit itself and is driven by control flexibility surgical instrument driving unit flexible The feed motion of surgical instrument unit.

Further scheme is that flexibility operation appliance unit includes instruments box, the flexible arm stretched out from instruments box outlet And the flexible surgical instrument front end being connect with flexible arm extension end；There are multiple driving portion driving flexible arms to drive in instruments box soft The property multivariant movement in surgical instrument front end, flexible surgical instrument front end side is fixed with electric knife in parallel.

Further scheme is that driving portion includes multiple joint drive portions and single whole driving portion；Joint drive Portion includes the identical driving unit of two groups of structures, and driving unit includes being wound on after guide roller after driving rope is pierced by from bourdon tube On the winding slot of wire spool, the hand of spiral of two wire spools on two groups of driving units is on the contrary, setting among two wire spools Sprocket drive spindle, driving rope when gear shaft is rotated toward a direction on one wire spool is to move into state, on another wire spool Driving rope be around doing well, two driving ropes it is identical with around output around input；Whole driving portion has a central axis, center One end of axis is semicircle profile shaft, and first end cover and second end cover are equipped with outside central axis.

Further scheme is that flexible arm includes center limb and Duo Gen bourdon tube, and center limb is mounted on central axis Central through hole in, first end cover and the second end cover fix central axis and center limb at semicircle profile shaft, make center The rotation of center limb is driven when axis rotates.

Further scheme is that flexible surgical instrument front end is successively made of multiple joint components, each joint component The positive counter-movement of each joint component, driving rope and joint component needed for joint component movement are realized by two driving rope drivings It is fixedly connected, bourdon tube needed for the driving rope of each joint component is fixed with the latter joint component.

Further scheme is that flexible surgical instrument driving unit successively includes consumptive material contact layer, main body from top to bottom Drive layer, mobile platform layer and mobile foundation layer；

Multiple groups driving assembly is provided on main body driving layer, driving assembly drives flexible surgical instrument through consumptive material contact layer Unit motion；Driving assembly bottom is provided with sliding block, drives driving assembly with the sliding rail clamping being fixed on bottom plate by sliding block Sliding；

Mobile foundation layer drives consumptive material contact layer, driving body layer and mobile platform layer to carry out mass motion.

Further scheme is that driving assembly includes motor and rack gear, and reel, coiling are fixed on the axis of motor Wirerope is wound on wheel, wirerope both ends are connected to rack gear both ends.

Further scheme is that lifting unit includes the operating table surface for placing main manipulator, is fixed on mobile base list It lower pillar stand in member, the support plate placing flexible surgical instrument driving unit and being mounted on lower pillar stand and is nested in lower vertical The upper pillar stand being fixedly connected on column and with operating table surface lower end, lower pillar stand push upper pillar stand to drive station by electric pushrod The lifting in face.

Further scheme be further include clamping unit, to clamp electric knife bar and syringe, syringe and electric knife Bar is fixed on grip slipper, carries out elastic adjustment by set lever and position adjusts.

Further scheme is that the front end of syringe is provided with injection needle sliding block and injection needle piston rod, syringe Front end be mounted in the mounting hole of injection needle piston rod, injection needle piston rod is mounted in the groove of injection needle sliding block.

The beneficial effects of the utility model are: the operation on digestive tract robotic system of the utility model is to be based on not changing Multivariant mechanical arm is passed through external cavity by external auxiliary instrument cavity by the structure for becoming traditional digestive endoscopy itself It send and traditional scope and electric knife is cooperated to realize lifting to target mucosal, cutting function jointly to targeted surgical region；And for The common tools such as electric knife and injection needle, are fixed using clamping device, and can arbitrarily adjust electric knife head and injection needle head Extension elongation, solve the problems, such as the placement of electric knife and injection needle, improving while reducing research and development and maintenance cost makes Use efficiency.

Detailed description of the invention

Fig. 1 is the overall structure diagram of operation on digestive tract robotic system in the utility model embodiment；

Fig. 2 is the connection schematic diagram of flexible operation appliance unit front end in the utility model embodiment；

Fig. 3 is the connection schematic diagram of flexible operation appliance unit and accessory channel in the utility model embodiment；

Fig. 4 is the overall structure diagram of flexible operation appliance unit in the utility model embodiment；

Fig. 5 is instruments box inside primary structure in the utility model embodiment；

Fig. 6 is joint drive schematic illustration in the utility model embodiment；

Fig. 7 a is the first schematic diagram of coiling dish structure in the utility model embodiment；

Fig. 7 b is the second schematic diagram of coiling dish structure in the utility model embodiment；

Fig. 8 a is the schematic diagram of the utility model embodiment middle gear axis；

Fig. 8 b is gear shaft and wire spool connection schematic diagram；

Fig. 9 is the structural schematic diagram of whole driving portion in the utility model embodiment；

Figure 10 is central axis schematic diagram in the utility model embodiment；

Figure 11 is the structural schematic diagram of flexible surgical instrument front end in the utility model embodiment；

Figure 12 a is the connected mode schematic diagram of ring flange and center limb in the utility model embodiment；

Figure 12 b is ring flange and its schematic diagram of fixed form in the utility model embodiment.

The position view of surgical instrument flexibility surgical instrument driving unit and consumptive material in Figure 13 the utility model embodiment；

The part explosive view of surgical instrument flexibility surgical instrument driving unit in Figure 14 the utility model embodiment；

In Figure 15 the utility model embodiment in the utility model embodiment consumptive material contact layer structural schematic diagram；

The side view of body layer is driven in Figure 16 the utility model embodiment；

The structural schematic diagram of mobile platform layer in Figure 17 the utility model embodiment；

The structural schematic diagram of body layer is driven in Figure 18 the utility model embodiment；

The structural schematic diagram of lifting unit in Figure 19 the utility model embodiment；

The structural schematic diagram of clamping unit in Figure 20 the utility model embodiment.

Label declaration:

1 digestive endoscopy；Handel in 11；12 electric knifes；2 accessory channels；21 locking caps；

3 flexible operation appliance units；32 flexible arms；33 instruments boxes；311 first joint drive portions；3110 conducting wire wheel supports； 3111, the first bourdon tube；3113 first terminals；3115 first guide rollers；3117 first driving ropes；3119 first wire spools； 3112 second spring pipes；3114 Second terminals；3116 second guide rollers；3118 second driving ropes；3120 second wire spools； 3190 winding slots；3191 first notches；3192 second notches；3193 arc-shaped slots；3194 terminal counterbores；3195 first frictions Face；390 gear shafts；3900 second rubbing surfaces；3901 threaded holes；312 second joint driving portions；3121 third bourdon tubes；3122 4th bourdon tube；313 third joint drive portions；3131 the 5th bourdon tubes；3132 the 6th bourdon tubes；314 the 4th joint drives Portion；3141 the 7th bourdon tubes；3142 the 8th bourdon tubes；315 whole driving portions；350 central axises；3501 semicircle axis；3502 axis Face one；3503 axial planes two；351 center limbs；352 first end covers；353 second end covers；354 first bearing supports；355 second axis Hold support；356 gears；300 outlets；301 upper covers；302 bottom plates；31 flexible surgical instrument front ends；311 clips one；321 clips Two；331 sideway joints；341 lifting joints；301 joint pedestals；3510 ring flanges；3511 casings；3512 pin shafts.

4 flexible surgical instrument driving units；41 consumptive material contact layers；410 second bottom plates；411 first motor drivers；412 Groove；42 driving body layers；420 first bottom plates；421 first motors；422 reels；423 wirerope；424 rack gears；425 first Pulley；426 first flaps；427 first optoelectronic switches；429 first microswitches；43 mobile platform layers；430 third bottom plates；431 Second motor driver；432 second flaps；433 pressing plates；44 mobile foundation layers；440 the 4th bottom plates；441 second motors；442 Synchronous belt；443 second pulleys；444 second optoelectronic switches；445 second microswitches；446 second sliding rails；447 second sliding blocks；

5 lifting units；51 operating table surfaces；52 upper pillar stands；53 supporting plates；54 support plates；55 lower pillar stands；56 electric pushrods；57 Fixed ring；58 conduits；59 clips；510 conduit mounting plates；511 clamping blocks；512 line concentration hooks；

6 mobile base units；61 castors；62 pedestals；

7 clamping units；71 grip slippers；72 syringes；73 support columns；74 slide mounting plates；75 mandril supports；76 mandrils Handle；77 electric knife apical rings；78 electric knife blocks；79 electric knife ring slides；710 electric knife rings；711 electric knife bars；712 clips；713 locking hands Handle；714 levers；715 injection shanks；716 injection needle blocks；717 injection needle piston rods；718 sliding block mounting plates；719 injections Needle sliding block；720 piston levers；

8 control units；81 main manipulators；82 industrial personal computers.

Specific embodiment

The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.

Fig. 1 is the overall structure diagram of operation on digestive tract robotic system in the present embodiment, and the system is by tradition Digestive endoscopy 1, accessory channel 2, flexible operation appliance unit 3, flexible surgical instrument driving unit 4, aerial lift unit 5, move The compositions such as dynamic base unit 6, clamping unit 7 and control unit 8.Wherein, mobile base unit 6 is by pedestal 62 and the 4 of installation A lockable castor 61 forms；Control unit 8 is made of main manipulator 81, industrial personal computer 82 and other power switches and button； Lifting unit 5 is bolted on mobile base unit 6, and clamping unit 7 and main manipulator 81 are fixed by screws in liter It drops on unit 5, industrial personal computer 82 is fixed by screws on pedestal 62, and flexible surgical instrument driving unit 4 is mounted on lifting unit On 5, flexibility operation appliance unit 3 is fixed by screws on flexible surgical instrument driving unit 4, one end peace of accessory channel 2 On lifting unit 5, the rest part of accessory channel 2 and the pipeline of digestive endoscopy 1 are held together.

The mode of operation of operation on digestive tract robotic system in the present embodiment are as follows: main operation doctor's left hand is hand-held to disappear Change scope handle, the azimuth and pitching angular oscillatory motion, the right hand for controlling scope pipe end hold digestive endoscopy pipeline, constantly adjust Its orientation is sent to by patient's oral area to operative region；Nurse's left-handed operation electric knife or injection needle clamping device, control it and open It closes, right hand operation controls main hand, controls 5 freedom degrees of flexible operation appliance unit 3.

As shown in Figure 2, electric knife 12 enters operative region, flexibility operation appliance unit by the instrument channel on interior handel 11 3 extend to operative region by accessory channel 2, and flexible surgical instrument front end 31 cooperates electric knife 12 to be completed together to lesion mucous membrane Lift cutting function.The fixation between accessory channel 2 and interior handel 11, the shape of locking cap 21 are realized by the locking cap 21 of end Shape is Pear-Shaped, and the relatively thin integral diameter that can be reduced to the maximum extent after installation of wall thickness, which dismounts is convenient for fastly Decontamination.

In conjunction with Fig. 3 and Fig. 4 it is found that the flexible operation appliance unit 3 of the present embodiment includes flexible arm 32 and instruments box 33.It is soft Property arm 32 extend out from the outlet of instruments box 33 300 after enter accessory channel 2,32 other end of flexible arm and flexible surgical instrument Front end 31 connects.Wherein, instruments box 33 includes upper cover 301, bottom plate 302, outlet 300 and internal multiple drive modules, each drive The bourdon tube of dynamic model block, center limb converge in the outlet 300 of instruments box.Flexible arm 32 by accessory channel 2 wrap up after extend with Flexible surgical instrument front end 31 connects.

Referring to Fig. 5, the drive module inside instruments box 33 includes five driving portions, and the first joint drive portion 311, second is closed It saves driving portion 312, third joint drive portion 313, the 4th joint drive portion 314, whole driving portion 315 and is driven with the first joint The first bourdon tube 3111, the second spring pipe 3112, the third spring being connect with second joint driving portion 312 that dynamic portion 311 connects Pipe 3121, the 4th bourdon tube 3122, the 5th bourdon tube 3131, the 6th bourdon tube being connect with third joint drive portion 313 3132, the 7th bourdon tube 3141, the 8th bourdon tube 3142 being connect with the 4th joint drive portion 314.Five joint drive portions are real Two clip self-movements, lateral tilting pendular motion, lifting movement and the turnover movement five of flexible surgical instrument front end 31 are showed The movement of freedom degree.

First to fourth joint drive structure in the present embodiment is similar, and by taking the first joint drive portion 311 as an example, first is closed Saving driving portion 311 includes the identical driving unit of two groups of structures, is all made of stndon sheath (tendon sheath) driving method.Reference Shown in Fig. 6, the first bourdon tube 3111 is fixedly connected with first terminal 3113, and second spring pipe 3112 and Second terminal 3114 are fixed Connection, first terminal 3113, Second terminal 3114 and conducting wire wheel support 3110 are fixed, the first guide roller 3115, the second guide roller 3116 are connect by pin shaft with guide wheel bracket 3110；First driving rope the 3117, second driving rope 3118 is respectively from the first spring Pipe 3111, second spring pipe 3112 be pierced by after be wound on after the first guide roller 3115, the second guide roller 3116 respectively first around Drum 3119, the second wire spool 3120 winding slot on, on the first wire spool 3119, the second wire spool 3120 all have notch One, the notch two of one opposite side of notch is set, and first the 3117, second driving of driving rope rope 3118 is through the first wire spool 3119, the It is fixed at terminal counterbore after the notch one of the arrival of notch two opposite side on two wire spools 3120.This winding mode can be effective Improve driving rope end portion is stressed directly situation and stress size.

First wire spool 3119 is identical with the structure of the second wire spool 3120, as shown in figs. 7 a and 7b, with the first coiling For disk 3119, there are three arc-shaped slots 3193 of even circumferential distribution on the first wire spool 3119, the first notch 3191, set Set the second notch 3192 in 3191 opposite side of the first notch, winding slot 3190, terminal counterbore 3194 and the first rubbing surface 3195. First driving rope 3117 is through the first bourdon tube 3111, the first guide roller 3115, winding slot 3190, the second notch 3192, the first slot After mouth 3191, it is finally fixed at terminal counterbore 3194.When needing to be tensioned the first driving rope 3117, gear shaft can be kept not It is dynamic, the first wire spool 3119 is circumferentially rotated, after driving to be tensioned is restricted, with screw by the first wire spool at arc-shaped slot 3193 3119 compress at the first rubbing surface 3195 with gear shaft 390.

The hand of spiral of two wire spools 3119,3120 in same joint is opposite so therefore tension direction is also on the contrary, can Guarantee gear shaft when being rotated toward a direction driving rope on one side be to move into state, the driving rope on the wire spool of the other side be around Do well, and the driving rope on two wire spools move into it is identical with the amount that lays out.This structure not only has two-way tensioning Function, and guarantee that two drivings rope in joint is tensioning state always during joint motions, reduce in structure The hysteresis phenomenon of rope driving.

As figures 8 a and 8 b show, the first wire spool 3119, sprocket drive spindle 390, tooth are set among the second wire spool 3120 There are the second rubbing surface 3900 in 390 two sides of wheel shaft respectively, 10 threaded holes for having even circumferential to be distributed on the second rubbing surface 3900 3901, there are symmetrical axial plane one and axial plane two on gear shaft 390, axial plane one is used for and the centre bore of wire spool cooperates, axis The spring bearing inner ring of face two and gear shaft 390 cooperates.Driving rope tensioning during, no matter wire spool opposed gear axis The 390 great angles of rotation, total energy guarantee that at least six threaded hole 3901 can be used for for wire spool being locked at the of gear shaft 390 On two rubbing surfaces 3900, therefore, which has the characteristics that coupling mechanism force is big, locking is secured, and wants to the length of rope length Ask not high.Two wire spools of every group of driving unit can be circumferentially rotated relative to gear shaft 390.In the present embodiment, when need When being tensioned driving rope 3117,3118, gear shaft 390 is motionless, circumferentially rotates wire spool 3119,3120, driving rope to be tensioned 3117, after 3118, wire spool 3119,3120 compressed on the second rubbing surface 3900 of gear shaft 390 by screw reach by The purpose of corresponding 3117,3118 tensioning of driving rope.

Whole driving portion 315 is illustrated in figure 9 in the present embodiment, and whole driving portion 315 includes flexible arm 32 and central axis 350, flexible arm 32 includes more bourdon tubes and center limb 351, there is the center cooperated with center limb 351 on central axis 350 Through-hole, center limb 351 are mounted in the central through hole of central axis 350, and one end of central axis 350 is semicircle profile shaft；Central axis First end cover 352, second end cover 353, first bearing support 354, gear 356, second bearing support 355 are installed outside 350. Tool has threaded hole corresponding with two through-holes, first end cover there are two through-hole in first end cover 352 in second end cover 353 352 be connected by screw to second end cover 353 together with, the two clamps central axis 350 and center limb 351, thus by center Limb 351 is fixed at semicircle profile shaft with central axis 350, therefore can be with center limb 351 1 when central axis 350 rotates It rises and rotates synchronously.Center limb 351 uses Nitinol pipe, and central axis 350 is stainless steel, and the two should not directly be welded and fixed.

As shown in Figure 10, one end of central axis 350 is semicircle profile shaft 3501, is successively semicircle profile shaft along central axis 350 3501, the second axial plane 3503 cooperated with the first axial plane 3502 of bearing inner race cooperation and gear 356.Gear 356 and center Axis 350 consolidates, therefore gear 356 drives central axis 350 and center limb 351 to rotate together in the rotation decline of external force, center Limb 351 is rigid flexible structure, therefore can transmit torque and push-pull effort, and then finally realize flexible surgical instrument front end 31 turnover campaign.

Figure 11 show the structural schematic diagram of instrument flexibility surgical instrument front end 31.Flexible surgical instrument front end 31 is by pressing from both sides Son 1, clip 2 321, sideway joint 331, lifting joint 341 and joint pedestal 301 form.It is driven by two in each joint The positive counter-movement in each joint is realized in running rope driving.Clip 1, clip 2 321, sideway joint 331, lifting joint 341 4 The movement of a part needs four joint drive portions, eight driving ropes altogether.Driving rope needed for joint motions and the arthrodesis Connection；Bourdon tube and the latter arthrodesis needed for the driving rope in each joint, bullet needed for lifting the driving rope in joint 341 Reed pipe and joint pedestal 301 are fixed.Flexible surgical instrument front end 31 articulate driving rope on the circular arc of same Radius, Therefore the driving in all joints theoretically belongs to Linear Driving.For realizing the center limb 351 of flexible arm 32 and joint Pedestal 301 is fixedly connected, therefore the push-and-pull campaign on each joint energy Delivery Center limb 351 of flexible surgical instrument front end 31 And twist motion.A certain number of ring flanges 3510 are distributed in intermittent on center limb 351, and circumferential direction is equal on ring flange 3510 Even that 8 circular through holes are distributed with, bourdon tube needed for flexible surgical instrument front end 31 is logical uniformly across the circle of ring flange 3510 Hole.The effect of ring flange 3510 also reduces during axis turns between Outer Tube other than the distribution of limited spring pipe Frictional force effect, while also ensuring and realizing preferable straight line fortune under the action of center limb 351 can effectively transmit push-pull effort It is dynamic.

In conjunction with shown in Figure 12 a and Figure 12 b, a casing 3511, casing 3511 is distributed in the two sides of ring flange 3510 respectively On have 3512 hole of pin shaft, casing 3511 is consolidated with center limb 351 by pin shaft 3512.Pin shaft 3512 and the welding of casing 3511 are solid It is fixed.This mode can not only make center limb 351 have the ability for transmitting torque and pressure well, while solve center Limb 351 and ring flange 3510 problem bad because of welding effect that the problem of material and technique generates.

By Figure 13 and 14 it is found that flexibility surgical instrument driving unit 4 provided in this embodiment, successively includes consumption from top to bottom Material contact layer 41, driving body layer 42, mobile platform layer 43 and mobile foundation layer 44；Consumptive material contact layer 41, driving body layer It is fixedly connected between 42 and mobile platform layer 23, is specifically fixedly connected in this embodiment by column；It is mobile Pedestal layer 44 drives consumptive material contact layer 41, driving body layer 42 and mobile platform layer by driving mobile platform layer 43 to slide 43 carry out whole sliding.

As shown in Figure 15, consumptive material contact layer 41 includes the second bottom plate 410 and the first electricity being fixed on the second bottom plate 410 Machine driver 421 is provided with multiple grooves 412 on second bottom plate 410, and the rack gear 424 on multiple driving assemblies passes through groove 412 drive instruments box 33 to move, and drive instruments box 33 to move specifically, rack gear 424 engages with the gear on instruments box 33；Consumptive material The first motor 421 on the control driving body layer 42 of first motor driver 411 on contact layer 41 rotates.

As shown in Figure 16, multiple groups driving assembly is provided on main body driving layer 42, it is preferred that the driving group in the present embodiment Part is 5 groups, and driving assembly drives instruments box 33 to move through consumptive material contact layer 41；Driving assembly bottom is provided with the first sliding block (not shown), the first sliding block with the first sliding rail (not shown) clamping being fixed on the first bottom plate 420 by driving The sliding of driving assembly.

Specifically, driving assembly includes first motor 421 and rack gear 424, be fixed on the axis of first motor 421 around Line wheel 422 is wound with wirerope 423 on reel 422, and 423 both ends of wirerope are connected to 424 both ends of rack gear, wirerope 423 one end connects around first pulley 426 in one end of rack gear 424, and the other end of wirerope 423 directly connects in rack gear 424 The other end；The first sliding block of the first sliding rail of connection is fixed with below rack gear 424.

Preferably, it is respectively arranged with the first microswitch 429 outside the both ends along the rack gear 424 of glide direction, realizes To rack gear 424 move limit, prevent rack gear 424 caused during traveling to flexible surgical instrument driving unit 4 other Structure damages.

First flap 426 is connected on the side of the rack gear 424 in vertical sliding motion direction, first flap 426 blocks setting The first optoelectronic switch 427 on the first bottom plate 420, first flap 426 cooperate optoelectronic switch 427 to realize driving assembly movement Initial position determine, make driving assembly may be implemented under boot program position zero.

As shown in Figure 17, mobile platform layer 43 includes third bottom plate 430 and the second electricity being fixed on third bottom plate 430 Machine driver 431 is opposite with the second motor driver 431 to be provided with pressing plate 433 and second on 430 side of third bottom plate Baffle 432.

As shown in Figure 18, mobile foundation layer 44 includes the 4th bottom plate 440 and the second electricity being fixed on the 4th bottom plate 440 Machine 441 is fixed with the second sliding rail 446 on the 4th bottom plate 440, the second sliding block 447 is connected on the second sliding rail 446, along second It is respectively arranged with the second microswitch 445 by 446 both ends of the second sliding rail of 447 glide direction of sliding block, realizes the second sliding block 447 Limit in glide direction prevents rack gear 424 from causing other knots to flexible surgical instrument driving unit 4 during traveling It is configured to destroy.

One end of synchronous belt 442 is arranged on the axis of second motor 441, it is sliding that the other end of synchronous belt 442 is set in second On wheel 446,442 one side of synchronous belt is fixed with the position of the second optoelectronic switch 444 and the second flap 432 on mobile platform layer 43 Set corresponding, the enabled second flap 432 of the second optoelectronic switch 424 triggering, realization overall flexibility surgical instrument driving unit 4 Initial position determination.

The whole initial bit of flexible surgical instrument driving unit 4 may be implemented using the second optoelectronic switch 444 in the present embodiment The setting set is in the flexible surgical instrument in instruments box 33 in combination with the first optoelectronic switch 427 and determines known position, The position of mobile foundation layer and driving assembly can be made to be zeroed respectively under boot program simultaneously, be in flexible surgical instrument Preliminary examination state.

In conjunction with Figure 17 and Figure 18 it is found that the synchronous belt 442 of mobile foundation layer 44 is pressed by the pressing plate 433 of mobile platform layer 43 Tightly, the second sliding block 443 of mobile foundation layer 44 is connect with the bottom of the third bottom plate 430 of mobile platform layer 43.Mobile platform layer The second motor 441 rotation on the second motor driver 431 driving mobile foundation layer 44 on 43, the second motor 441 drive together It walks band 442 to rotate, synchronous belt 442 is by pulling pressing plate 433 that mobile platform layer 43 is driven to slide along the second sliding rail 446.

It is fixedly connected between consumptive material contact layer 41, driving body layer 42 and mobile platform layer 43, specifically in this implementation It in example is fixedly connected by column；Mobile foundation layer 44 drives consumptive material contact by driving mobile platform layer 43 to slide Layer 41, driving body layer 42 and mobile platform layer 43 carry out whole sliding.

Upper hierarchical structure is driven to drive flexible surgical instrument driving unit 4 by using the second motor 441 in the present embodiment Entirety, which does feed motion, realizes the feeding of flexible surgical instrument, so that the driving assembly on driving body layer 42 be combined to realize The multi-level feeding of the flexible surgical instrument driving unit 4 of the utility model.

Figure 19 is the structural schematic diagram of lifting unit 5 in the present embodiment, and wherein operating table surface 51 is fixed by screws in On column 52, upper pillar stand 52 is nested in lower pillar stand 55, is connected with electric pushrod 56 therebetween, and lower pillar stand 52 passes through clamping block 511 are fixed on pedestal 62, and operating table surface 51 can realize the adjusting of height under the impetus of electric pushrod 56, to meet The demand of different height nurses keeps operation more comfortable；Supporting plate 53 is fixed by screws in support plate 54, and support plate 54 passes through Plum blossom handle is mounted on lower pillar stand 55, and is adjustable its mounting height；Conduit mounting plate 510 is fixed on supporting plate 53, conduit 58 have the hollow pipe of flange for end, are mounted on conduit mounting plate 510 by bearing, and fixed ring 57 is used to restricted conduit 58 Axial movement, clip 59 is used to the accessory channel 2 that is clamped and installed on conduit 58, and line concentration hook 512 is used to collect electric knife and note The instrument line of needle is penetrated, the instrument line temporarily taken less than in surgical procedure, which can coil into several circles, to be clamped with clip and be placed on line concentration hook On 512, confusion is prevented.

Figure 20 show the clamping unit 7 in the present embodiment, and wherein grip slipper 71 is fixed on behaviour by 4 support posts 73 Make the leftward position of table top 51, the Internal periphery of injection needle block 716 is identical with the outer profile of injection needle 715, injection needle block 716 It is fixed by screws on grip slipper 71, injection shank 715 can be placed in injection needle block 716, and use lever 714 Its abjection is prevented, injection needle piston rod 717 is the movable part of injection needle, is mounted in the groove of injection needle sliding block 719 and makes Its abjection is prevented with piston lever 720, injection needle sliding block 719 is fixed by screws on sliding block mounting plate 718, set lever 713 ends have screw thread, are assemblied in the left end of sliding block mounting plate 718, and set lever 713, which is used to adjust injection needle sliding block 719, to exist Release and locking are simultaneously realized in position on grip slipper 71, to control the outreach on injection needle head, can lock when not in use In home, injection needle head is avoided to cause harm to the human body, the front end of syringe 72 is mounted on injection needle piston rod 717 In mounting hole, for the liquid needed in injection operation；78 mandril support 75 of electric knife block is fixed by screws in grip slipper 71 On, the rear end cap of electric knife bar 711 pushes electric knife apical ring 77 to realize to electricity on electric knife block 78, and through rotation mandril handle 76 The rear end clamping action of knife bar 711, a pair of of clip 712 are used to clamp the front end of electric knife bar 711, the moving distance of electric knife apical ring 77 Adjustable with the folding size of clip 712, to adapt to different shape, various sizes of electric knife, electric knife ring 710 is nested in It is the movable part of electric knife on electric knife bar 711, electric knife ring slide 79 and slide mounting plate 74 are installed together by screw, electricity Two holes of knife ring 710 are respectively fitted over the outside of two electric knife ring slides 79, and set lever 713 is assemblied in slide mounting plate 74 Left end, the set lever 713 are used to adjust position of the electric knife ring slide 79 on grip slipper 71 and realize release and locking, thus The outreach for controlling electric knife head, can be locked at home when not in use, electric knife head is avoided to cause harm to the human body.

The clamping unit 7 of the present embodiment be used to substitute nurse realize electric knife and syringe fixation, have it is easy to operate, make There is stronger versatility with the advantage of safety, and to the syringe of electric knife of different shapes and different-diameter.

Above embodiments, only preferred embodiments of the utility model, be not to limit the utility model practical range, therefore it is all According to the equivalent change or modification that the structure, feature and principle of present utility model application the scope of the patents is done, this reality should be included in With in new patent application range.

Claims (10)

1. a kind of operation on digestive tract robotic system has mobile base unit and is fixed on the mobile base unit On lifting unit；

It is characterized by:

Flexible operation appliance unit is provided on the lifting unit, described flexible operation appliance unit one end passes through accessory channel Operative region is extended to, operation main manipulator controls the multifreedom motion of the flexible operation appliance unit itself.

2. operation on digestive tract robotic system according to claim 1, it is characterised in that:

The flexible operation appliance unit includes instruments box, the flexible arm that is stretched out from instruments box outlet and with the flexibility The flexible surgical instrument front end of arm extension end connection；

There are multiple driving portions that the flexible arm is driven to drive the flexible surgical instrument front end multivariant in the instruments box Movement, the flexibility surgical instrument front end side are fixed with electric knife in parallel.

3. operation on digestive tract robotic system according to claim 2, it is characterised in that:

The driving portion includes multiple joint drive portions and single whole driving portion；

The joint drive portion includes the identical driving unit of two groups of structures, and the driving unit includes that driving rope is worn from bourdon tube It is wound on after guide roller after out on the winding slot of wire spool, the spiral of two wire spools on driving unit described in two groups It is contrary, sprocket drive spindles are set among two wire spools, when the gear shaft is rotated toward a direction described in one around The driving rope on drum is to move into state, and the driving rope on another described wire spool is two institutes around doing well State the identical with around output around input of driving rope；

The entirety driving portion has a central axis, and one end of the central axis is semicircle profile shaft, is equipped with outside the central axis First end cover and second end cover.

4. operation on digestive tract robotic system according to claim 3, it is characterised in that:

The flexible arm includes bourdon tube described in center limb and Duo Gen, and the center limb is mounted on the center of the central axis In through-hole, the first end cover and the second end cover consolidate the central axis and the center limb at the semicircle profile shaft It is fixed, make that the center limb is driven to rotate when the central axis rotation.

5. operation on digestive tract robotic system according to claim 4, it is characterised in that:

The flexibility surgical instrument front end is successively made of multiple joint components, and each joint component is driven by two driving ropes The dynamic positive counter-movement for realizing each joint component, the driving rope and the joint portion needed for the joint component movement Part is fixedly connected, and joint component described in bourdon tube needed for the driving rope of each joint component and the latter is fixed.

6. operation on digestive tract robotic system according to any one of claims 1 to 5, it is characterised in that:

The flexibility surgical instrument driving unit successively includes consumptive material contact layer, main body driving layer, mobile platform layer from top to bottom And mobile foundation layer；

Multiple groups driving assembly is provided on the main body driving layer, the driving component is through described in consumptive material contact layer drive Flexibility operation appliance unit movement；The driving component bottom is provided with sliding block, by the sliding block and is fixed on bottom plate Sliding rail clamping drives the sliding of the driving component；

The mobile foundation layer drives the consumptive material contact layer, driving body layer and mobile platform layer to carry out mass motion.

7. operation on digestive tract robotic system according to claim 6, it is characterised in that:

The driving component includes motor and rack gear, and reel is fixed on the axis of the motor, is wound on the reel There is wirerope, the wirerope both ends are connected to the rack gear both ends.

8. operation on digestive tract robotic system according to claim 7, it is characterised in that:

The lifting unit include the operating table surface for placing the main manipulator, be fixed on it is lower vertical on the mobile base unit Column, the support plate placing the flexible surgical instrument driving unit and being mounted on the lower pillar stand and be nested in it is described under The upper pillar stand being fixedly connected on column and with the operating table surface lower end, the lower pillar stand are pushed on described by electric pushrod Column drives the lifting of the operating table surface.

9. according to the described in any item operation on digestive tract robotic systems of claim 7 to 8, it is characterised in that:

It further include clamping unit, to clamp electric knife bar and syringe, the syringe and the electric knife bar are fixed on clamping On seat, elastic adjustment is carried out by set lever and position adjusts.

10. operation on digestive tract robotic system according to claim 9, it is characterised in that:

The front end of the syringe is provided with injection needle sliding block and injection needle piston rod, and the front end of the syringe is mounted on institute In the mounting hole for stating injection needle piston rod, the injection needle piston rod is mounted in the groove of the injection needle sliding block.