CN208974299U - Full-automatic ophthalmologic operation robot - Google Patents
Full-automatic ophthalmologic operation robot Download PDFInfo
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- CN208974299U CN208974299U CN201721499778.7U CN201721499778U CN208974299U CN 208974299 U CN208974299 U CN 208974299U CN 201721499778 U CN201721499778 U CN 201721499778U CN 208974299 U CN208974299 U CN 208974299U
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Abstract
The utility model discloses a kind of full-automatic ophthalmologic operation robots comprising: fixed device, the fixed device have piston rod for installing surgical forceps, surgical forceps；First driving device, the first driving device can directly drive or drive piston rod to be movably arranged by the first transmission device；The fixed device is movably arranged.Full-automatic ophthalmologic operation robot in the utility model, both the tilt angle of adjustable fixed frame, it again can be with rotary operation tweezer, it can also go up and down, and it is moved along horizontal both direction, setting makes it that can meet the Operations Requirements of all directions in ophthalmologic operation in this way, allows to replace manpower operation tweezer.Using mechanically actuated ophthalmologic operation, can avoid damaging caused by hand shaking brought by Human Physiology limitation etc..
Description
Technical field
The utility model relates to a kind of full-automatic ophthalmologic operation robots.
Background technique
In the therapeutic process of disease, operation is very common treatment means.But in the actual operation process, some devices
The position of official determines that operation has very high difficulty.Such as ophthalmologic operation, since eyeball is small, and damage, therefore to its hand
The required precision of art operation is very high.When being performed the operation by doctor's manual operations, due to manually operated limitation, inevitably there is hand
Tremble and damage the risk of eyeball.It is as shown in Figure 1 a kind of common surgical forceps 200 in the prior art comprising shell 201.Outside
Mobilizable piston rod 202 is provided in shell 201.There are two tweezer feet 203 for the setting of 201 other end of shell.Piston rod 202 is mobile
When, drive two tweezer feet 203 to open or be closed, two tweezer feet 203 can clamp the tissue of eyeball when being closed, to carry out necessary hand
Art operation.But in actual use, generally require doctor's manual operations push piston rod 202 so that tweezer foot 203 open or
Closure.It is manually operated it is unstable can damage eyeball tissue, bring risk.
Utility model content
The purpose of this utility model first is that in order to overcome the shortcomings in the prior art, providing one kind can replace manpower to operate
Full-automatic ophthalmologic operation robot.
In order to achieve the above object, the utility model is achieved through the following technical solutions:
Full-automatic ophthalmologic operation robot characterized by comprising
Surgical forceps, the surgical forceps include shell, and mobilizable piston rod, the outer casing end are provided in the shell
Setting is there are two tweezer foot, when the piston rod activity, drives two tweezer feet closures or opens；
Fixed device, the fixed device are used for surgical forceps；
First driving device, the first driving device can directly drive or drive the piston by the first transmission device
Bar is movably arranged；
The fixed device is movably arranged.
One embodiment according to the present utility model, the first driving device are linear motor, the straight-line electric equipment
There is mobilizable mandrel, the piston rod of driving surgical forceps is mobile when the mandrel activity.
One embodiment according to the present utility model, the fixed device can be rotatably set, the fixed device rotation
When, carry surgical forceps rotation.
One embodiment according to the present utility model further includes the second driving device, and second driving device is directly driven
It moves or drives the fixed device to be rotationally arranged by the second transmission device.
One embodiment according to the present utility model, second driving device are the first rotating electric machine, and described second passes
Dynamic device is the first synchronous belt, and the fixed device is belt pulley；First rotating electric machine drives the skin by synchronous belt
Belt wheel rotation.
One embodiment according to the present utility model further includes fixed frame, and the fixed frame has through-hole, and described first drives
Dynamic device and the fixed device are respectively arranged at the through-hole two sides, the first driving device or first transmission device
May pass through the through-hole drives the piston rod to be movably arranged.
One embodiment according to the present utility model further includes cross-brace arm, and the fixed device is installed on fixed frame
On, it is set on the cross-brace arm to the fixed frame adjustable tilt angle；The cross-brace arm is movably set
It sets.
One embodiment according to the present utility model further includes third driving device, and the third driving device drives institute
It states fixed frame adjustment tilt angle or is arranged with adjusting the fixed frame tilt angle by third transmission device.
One embodiment according to the present utility model, third transmission device one end can be arranged with moving along a straight line, another
End is connect with the fixed frame；The third transmission device is to be tilted by the fixed frame of one end linear motion, the adjustment other end
The transmission device of angle.
One embodiment according to the present utility model, the third transmission device include first connecting rod, second connecting rod, third
Connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is mounted on the cross-brace arm, and described second
Connecting rod and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end is movably arranged, another
End is connect with the second connecting rod upper end；5th connecting rod is rotatably connect with the second connecting rod, third connecting rod；
5th interlinking lever end is connect with the fixed frame；Six-bar linkage one end is rotatably connect with third connecting rod,
The other end is connect with fixed frame；When described first connecting rod one end moves along a straight line, the tilt angle of the fixed frame is adjusted.
Fluted, the third driving device is arranged in one embodiment according to the present utility model, the cross-brace arm
It is arranged in the groove；The first sliding block of linear motion is provided in the groove；Described in the third driving device driving
First sliding block moves along a straight line；First sliding block is connect with the third transmission device.
One embodiment according to the present utility model, the third driving device are third rotating electric machine, the third rotation
Rotating motor is connected with screw rod；First sliding block and the wire rod thread cooperate；The third rotating electric machine drives the screw rod
Rotation, the screw rod drive first sliding block along screw rod axial linear movement when rotating.
One embodiment according to the present utility model further includes fourth drive device, and the cross-brace arm is rotatably
It is installed on the second sliding block；The fourth drive device drives the cross-brace arm to be rotatably arranged or by the 4th transmission dress
The driving cross-brace arm is set rotatably to be arranged.
One embodiment according to the present utility model further includes the 5th driving device；Second sliding block is liftably set
It is placed on vertical supporting arm, the 5th driving device directly drives the second sliding block lifting or driven by the 5th transmission device
Second sliding block is moved to be arranged up and down.
One embodiment according to the present utility model further includes the 6th driving device；The vertical supporting arm horizontal can move
It is set in first base dynamicly, the 6th driving device directly drives the vertical supporting arm and is arranged or leads to moving horizontally
Crossing the 6th transmission device drives the vertical supporting arm to be arranged with moving horizontally.
One embodiment according to the present utility model further includes the 7th driving device；The first base is horizontally moveable
Ground is set in second base, and the 7th driving device directly drives the first base and is arranged with moving horizontally or by the
Seven transmission devices drive the first base to be arranged with moving horizontally；The vertical supporting arm moves horizontally direction and described the
One pedestal to move horizontally direction vertical.
Full-automatic ophthalmologic operation robot in the utility model, the not only tilt angle of adjustable fixed frame, but also can be with
Rotary operation tweezer can also be gone up and down, and be moved along horizontal both direction, and setting in this way meet it can each in ophthalmologic operation
The Operations Requirements in a direction allow to replace manpower operation tweezer.Using mechanically actuated operation tweezer, Human Physiology can avoid
It is damaged caused by hand shaking brought by limiting to etc..The utility model is particularly suitable for the high ophthalmologic operation of required precision.This is practical
It is novel that manpower is replaced to operate ophthalmologic operation, adopt the movement of all directions for the surgical forceps that computerized control, full automatic working hand
Art can either control its kinematic accuracy, and will not be trembled by the physiology of people influences, and good operation effect and not influenced by the external world.The
One driving device uses linear motor, and the accuracy of operation can be improved.Third transmission device uses six connecting rod assemblies, can be by the
The linear motion driving force of three driving devices output is converted to the driving force of the tilt angle adjustment of driving fixed frame, so that this reality
With the novel tilt angle for both having realized adjustment ophthalmic forceps, structure is simply readily produced, assembles.
Detailed description of the invention
Fig. 1 is surgical forceps structural schematic diagram.
Fig. 2 is the utility model structure diagram.
Fig. 3 is the structural schematic diagram on the utility model cross-brace arm.
Fig. 4 is the structural schematic diagram on the fixed frame in the utility model.
Specific embodiment
The present invention will be further described with attached drawing with reference to embodiments.
As shown in Figure 2, Figure 3 and Figure 4, full-automatic ophthalmologic operation robot comprising fixed frame 10, linear motor 11 and can
The belt pulley 12 of rotation.There is through-hole 13 on fixed frame 10.Linear motor 11 has mandrel 14 movable linearly.Linear motor
11 are separately positioned on about 13 two sides of through-hole with belt pulley 12.The belt pulley 12 is rotatably arranged.Surgical forceps 100 are fixed
It is mounted on belt pulley 12.Surgical forceps have mobilizable piston rod (not shown).14 straight line of mandrel of linear motor 11
When mobile, it may pass through through-hole 13 and drive the piston rod of surgical forceps 200 mobile.It is driven when 202 activity of piston rod of surgical forceps 200
Two 203 open or closes of tweezer foot, can clamp eyeball tissue with this.
The first rotating electric machine 15 is additionally provided on fixed frame 10.First rotating electric machine 15 passes through 16 driving belt pulley of synchronous belt
12 rotations.When belt pulley 12 rotates, surgical forceps 200 can be driven to rotate, adjust the angle of surgical forceps 200.
It is set on cross-brace arm 20 to 10 adjustable tilt angle of fixed frame.The cross-brace arm 20 is arranged
Fluted 21.Third rotating electric machine 31 is provided in groove 21.Third rotating electric machine 31 is connected with screw rod 41, is set on screw rod 41
There is the first sliding block 51.First sliding block 51 is threadedly engaged with screw rod 41.Third rotating electric machine 31 drives screw rod 41 to rotate, and can make first
Sliding block 51 is along the axial linear movement of the first lead screw 41.
20 one end of cross-brace arm is mounted on the second sliding block 60, and the other end is equipped with third transmission device.Third transmission
Device includes first connecting rod 71, second connecting rod 72, third connecting rod 73, fourth link 74, the 5th connecting rod 75 and six-bar linkage 76.Institute
It states fourth link 74 to be mounted on the cross-brace arm 20, the second connecting rod 72 and the equal lower end of third connecting rod 73 connect with the 4th
Bar 74 is rotatably coupled.Described 71 one end of first connecting rod is connect with the first sliding block 51, on the other end and the second connecting rod 72
End connection.5th connecting rod 75 is rotatably connect with the second connecting rod 72, third connecting rod 73.5th connecting rod
75 ends are connect with the fixed frame 10；Described 76 one end of six-bar linkage is rotatably connect with third connecting rod 73, another
End is connect with fixed frame 10.
The cross-brace arm 20 is rotatably mounted on the second sliding block 60.4th driving is installed on the second sliding block 60
Device 32.The fourth drive device 32 drives the cross-brace arm 10 to be rotatably arranged or drive by the 4th transmission device
The cross-brace arm 10 is moved rotatably to be arranged.
Second sliding block 60 is liftably set on vertical supporting arm 61.Described is provided on vertical supporting arm 61
Five driving devices 33.5th driving device 33 directly drives the lifting of the second sliding block 60 or drives institute by the 5th transmission device
The second sliding block 60 is stated to be arranged up and down.
The vertical supporting arm 61 is set to horizontally moveablely in first base 62.The 6th is provided in first base 62
Driving device 34.6th driving device 34 directly drives the vertical supporting arm 61 and is arranged with moving horizontally or by the 6th
Transmission device drives the vertical supporting arm 61 to be arranged with moving horizontally.
The first base 62 is set to horizontally moveablely in second base 63.The 7th drive is provided in second base 63
Dynamic device 35.7th driving device 35 directly drives the first base 62 and is arranged with moving horizontally or by the 7th transmission
Device drives the first base 62 to be arranged with moving horizontally；The vertical supporting arm 61 moves horizontally direction and described first
Pedestal 62 to move horizontally direction vertical.
First driving device, the second driving device, third driving device, fourth drive device in the utility model,
The drivings such as rotating electric machine, linear motor, cylinder dress can be used in five driving devices, the 6th driving device and the 7th driving device
It sets.It is preferred that rotating electric machine is used, more preferably using the driving device that can be controlled using computer, such as servo motor.This is practical new
The first transmission device, the second transmission device, third transmission device, the 4th transmission device, the 5th transmission device, the 6th biography in type
Dynamic device and the 7th transmission device, can be used the transmission devices such as feed screw nut, transmission belt, transmission chain, gear；It is preferred that using silk
Thick stick nut.
In use, as shown in Figure 1, starting third rotating electric machine 31, third rotating electric machine 31 pass through the driving of screw rod 41 first
Sliding block 51 is mobile.When first sliding block 51 is mobile, driving first connecting rod 71 is mobile, and 71 movement of first connecting rod can make second connecting rod 72
It is rotated with third connecting rod 73 relative to fourth link 74.It, can when second connecting rod 72 and third connecting rod 73 are rotated relative to fourth link 74
Make 10 angle change of fixed frame by the 5th connecting rod 75 and six-bar linkage 76.It is driven, can be led to by fourth drive device 32
Crossing cross-brace arm 20 drives fixed frame 10 to rotate.It is driven by the 5th driving device 33, fixed frame 10 can be made to go up and down.Pass through
Six driving devices 34 and the driving of the 7th driving device 35, can make to move in the both direction in the horizontal direction of fixed frame 10.It utilizes
First rotating electric machine 15 can make belt pulley 12 that surgical forceps 200 be driven to rotate.By operating above, surgical forceps are adjusted to suitable
The state of surgical procedure.Start linear motor 11, is moved using the piston rod 202 of the linear movement driving surgical forceps 200 of mandrel 14
It is dynamic, complete operation.
Full-automatic ophthalmologic operation robot in the utility model, the not only tilt angle of adjustable fixed frame, but also can be with
Rotary operation tweezer can also be gone up and down, and be moved along horizontal both direction, and setting in this way meet it can each in ophthalmologic operation
The Operations Requirements in a direction allow to replace manpower operation tweezer.It is performed the operation using mechanically actuated, can avoid Human Physiology office
It is damaged caused by hand shaking brought by limiting etc..The utility model is particularly suitable for the high operation of required precision, such as ophthalmologic operation.This
Utility model can replace manpower to operate ophthalmologic operation, adopt the movement of all directions for the surgical forceps that computerized control, can either control
Its kinematic accuracy is made, will not be trembled by the physiology of people influences, and good operation effect and is not influenced by the external world.First driving device is adopted
With linear motor, the accuracy of operation can be improved.Third transmission device uses six connecting rod assemblies, can be defeated by third driving device
Linear motion driving force out is converted to the driving force of the tilt angle adjustment of driving fixed frame, so that the utility model is both realized
The tilt angle of adjustment ophthalmic forceps, structure are simply readily produced, assemble.
The embodiments of the present invention are only used for being illustrated the utility model, do not constitute to scope of the claims
Limitation, other substantially equivalent substitutions that those skilled in that art are contemplated that, in scope of protection of the utility model
It is interior.
Claims (10)
1. full-automatic ophthalmologic operation robot characterized by comprising
Surgical forceps, the surgical forceps include shell, and mobilizable piston rod, the outer casing end setting are provided in the shell
There are two tweezer foot, when the piston rod activity, drives two tweezer feet closures or open；
Fixed device, the fixed device are used for surgical forceps；
First driving device, the first driving device can directly drive or drive the piston rod to move by the first transmission device
It is arranged dynamicly；
The fixed device is movably arranged.
2. full-automatic ophthalmologic operation robot according to claim 1, which is characterized in that the fixed device is rotationally
Setting when the fixed device rotates, carries surgical forceps rotation；It further include the second driving device, second driving device is straight
It connects driving or drives the fixed device to be rotationally arranged by the second transmission device.
3. full-automatic ophthalmologic operation robot according to claim 1, which is characterized in that it further include fixed frame, it is described solid
Determine frame and be respectively arranged at the through-hole two sides with through-hole, the first driving device and the fixed device, described first drives
Dynamic device or first transmission device may pass through the through-hole and the piston rod driven movably to be arranged.
4. according to full-automatic ophthalmologic operation robot described in claim 1, which is characterized in that it further include cross-brace arm, it is described
Fixed device is installed on fixed frame, is set on the cross-brace arm to the fixed frame adjustable tilt angle；It is described
Cross-brace arm is movably arranged.
5. full-automatic ophthalmologic operation robot according to claim 4, which is characterized in that it further include third driving device,
The third driving device, which drives the fixed frame adjustment tilt angle or adjusts the fixed frame by third transmission device, inclines
Rake angle it is arranged.
6. full-automatic ophthalmologic operation robot according to claim 5, which is characterized in that third transmission device one end
It can be arranged with moving along a straight line, the other end is connect with the fixed frame；The third transmission device is by one end linear motion, adjusts
The transmission device of the fixed frame tilt angle of the whole other end.
7. full-automatic ophthalmologic operation robot according to claim 6, which is characterized in that the third transmission device includes
First connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is mounted on described
On cross-brace arm, the second connecting rod and the equal lower end of third connecting rod are rotatably coupled with fourth link；The first connecting rod
One end is movably arranged, and the other end is connect with the second connecting rod upper end；5th connecting rod and the second connecting rod, third
Connecting rod rotatably connects；5th interlinking lever end is connect with the fixed frame；Six-bar linkage one end and third
Connecting rod rotatably connects, and the other end is connect with fixed frame；When described first connecting rod one end moves along a straight line, adjust described solid
Determine the tilt angle of frame.
8. full-automatic ophthalmologic operation robot according to claim 5, which is characterized in that the cross-brace arm is provided with
Groove, the third driving device are arranged in the groove；The first sliding block of linear motion is provided in the groove；It is described
Third driving device drives first sliding block to move along a straight line；First sliding block is connect with the third transmission device.
9. full-automatic ophthalmologic operation robot according to claim 4, which is characterized in that it further include fourth drive device,
The cross-brace arm is rotatably mounted on the second sliding block；The fourth drive device drives the cross-brace arm rotation
Ground setting drives the cross-brace arm to be rotatably arranged by the 4th transmission device.
10. full-automatic ophthalmologic operation robot according to claim 9, which is characterized in that further include the 5th driving device,
6th driving device and the 7th driving device；Second sliding block is liftably set on vertical supporting arm, and the described 5th drives
Dynamic device directly drives the second sliding block lifting or drives second sliding block to be arranged up and down by the 5th transmission device；
The vertical supporting arm is set in first base horizontally moveablely, and the 6th driving device directly drives described perpendicular
It is arranged with moving horizontally to support arm or drives the vertical supporting arm to be arranged with moving horizontally by the 6th transmission device；It is described
First base is set in second base horizontally moveablely, and it is horizontal that the 7th driving device directly drives the first base
Movably it is arranged or drives the first base to be arranged with moving horizontally by the 7th transmission device；The water of the vertical supporting arm
Flat moving direction and the first base to move horizontally direction vertical.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621231542 | 2016-11-16 | ||
| CN2016212315420 | 2016-11-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208974299U true CN208974299U (en) | 2019-06-14 |
Family
ID=66777089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721499778.7U Active CN208974299U (en) | 2016-11-16 | 2017-11-10 | Full-automatic ophthalmologic operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208974299U (en) |
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2017
- 2017-11-10 CN CN201721499778.7U patent/CN208974299U/en active Active
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