CN208989131U - A kind of open surgeon console of 3D applied to laparoscope robotic surgical system - Google Patents
A kind of open surgeon console of 3D applied to laparoscope robotic surgical system Download PDFInfo
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- CN208989131U CN208989131U CN201721578844.XU CN201721578844U CN208989131U CN 208989131 U CN208989131 U CN 208989131U CN 201721578844 U CN201721578844 U CN 201721578844U CN 208989131 U CN208989131 U CN 208989131U
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- laparoscope
- robotic surgical
- surgeon console
- surgical system
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Abstract
A kind of open surgeon console of 3D applied to laparoscope robotic surgical system, belongs to technical field of medical equipment.It solves the problems, such as that doctor's head pose is limited, posture is single, the flexibility of safety and head pose when ensure that equipment operation.Column lower end is fixedly connected with pedestal upper end, it is slidably connected in the middle part of armrest system and column, armrest system does the sliding motion of up and down direction along column, and 3D monitor is fixedly connected with the upper end of the column, 3D monitor is furnished with dedicated 3D glasses, and two main manipulators or so are fixed at the rear end of armrest system.The utility model allows operator, and head can be move freely at work, and posture is flexible, effectively reduces the work fatigue intensity of operator, allow operator more freely, more easily use surgeon console.The utility model is set there are three types of security mechanism, it may be assumed that KINECT, pedestal two sides are equipped with to photoelectric sensor is penetrated and clamper is equipped with capacitance type sensor, ensure that equipment safety in use.
Description
Technical field
The utility model belongs to technical field of medical equipment, more particularly to a kind of laparoscope robotic surgical system doctor
Console.
Background technique
With the development and progress of science and technology, laparoscope robotic surgical system technology obtains increasingly wider in operative treatment
General application.According to operation complexity difference, the duration for needs of performing the operation is also different, more complicated operation need more to grow when
Between.
Currently, the surgeon console in common laparoscope robotic surgical system mostly uses the technical approach of fixed 3D glasses
Guarantee the safety of operation, this technical approach requires operator when operating with equipment, head pose is single, posture by
Limit needs that a kind of posture and the high-strung state of mind is kept to work for a long time, and doctor is easy to appear physical fatigue and spirit
Fatigue, doctor's mental fatigue are easy to happen the maloperation of equipment, bring unpredictable consequence to sufferer；Doctor is used for a long time,
Damage is brought to the health of doctor.
The security mechanism of existing console cannot in real time comprehensive detection operator movement, there is certain safety winds
Danger.
Summary of the invention
To solve the above-mentioned problems, it is open to provide a kind of 3D applied to laparoscope robotic surgical system for the utility model
Formula surgeon console solves the problems, such as that doctor's head pose is single, posture is limited, safety and head when guaranteeing equipment operation
The flexibility of portion's posture.
Technical solution adopted in the utility model is: a kind of 3D applied to laparoscope robotic surgical system is open
Surgeon console, including KINECT, 3D monitor, armrest system, pedestal, column and two main manipulators；The column lower end
It is fixedly connected, is slidably connected in the middle part of the armrest system and column, armrest system does up and down direction along column with pedestal upper end
Sliding motion, the 3D monitor are fixedly connected with the upper end of the column, and 3D monitor is furnished with dedicated 3D glasses, described two main operations
Hand or so is fixed at the rear end of armrest system, and the KINECT is arranged above 3D monitor, and is fixedly mounted on column
On, the range of visibility and movement of KINECT real-time monitoring operator.
The utility model has the beneficial effects that:
1. the utility model uses 3D monitor, operator wears the professional 3D glasses being used cooperatively with 3D monitor and watches
Image, allowing operator, head can be move freely at work, and posture is flexible, and the work fatigue for effectively reducing operator is strong
Degree, allow operator more freely, more easily using surgeon console.
2. the utility model is set there are three types of security mechanism, it may be assumed that KINECT, pedestal two sides be equipped with to penetrate photoelectric sensor and
Clamper is equipped with capacitance type sensor, and guarantee will not lead to laparoscope hand because of the main manipulator maloperation installed on console
Art robot malfunctions, and brings unpredictable consequence, ensure that equipment safety in use, reliability.
3. the utility model is easy to use, easy to operate.
4. the utility model can not only be applied in laparoscopic surgery robot system as main operation end equipment, moreover it is possible to
It is widely used in the other systems of master-slave operation demand.
Detailed description of the invention
Fig. 1: the utility model structure diagram；
Fig. 2: Fig. 1 rearview；
Fig. 3: the utility model schematic diagram of base structure；
Fig. 4: the utility model using state structure diagram；
Wherein: 1- secondary monitor；2-KINECT；3-3D monitor；4- state display；5- main manipulator；7- handrail
Part；8- base portion；9- foot-treadle device；10- column；The universal middle control castor of 11-；12- brake pedal；13- is to penetrating photoelectricity
Sensor；14- clamper.
Specific embodiment
As shown in Fig. 1 ~ Fig. 4, a kind of open surgeon console of 3D applied to laparoscope robotic surgical system, including
KINECT2,3D monitor 3, armrest system 7, pedestal 8, column 10 and two main manipulators 5；10 lower end of column and pedestal 8
Upper end is fixedly connected, and is slidably connected in the middle part of the armrest system 7 and column 10, armrest system 7 does up and down direction along column 10
Sliding motion, the 3D monitor 3 are fixedly connected with 10 upper end of column, and 3D monitor 3 is furnished with dedicated 3D glasses, described two masters
Manipulator 5 or so is fixed at the rear end of armrest system 7, and the KINECT2 is arranged above 3D monitor 3, and fixed peace
On column 10, the range of visibility and movement of KINECT2 real-time monitoring operator.
3D monitor 3 is mainly used to show that the 3-D image of sufferer surgery location in art, 3D monitor 3 are furnished with dedicated 3D
Glasses, doctor wear 3D glasses and observe 3-D image, can allow doctor head pose freedom and flexibility during operation, effectively
Mitigation doctor fatigue strength.
Whether KINECT2 offsets for the face of real-time monitoring operator, the range of visibility of monitoring operation person whether from
3D monitor 3 and secondary monitor 1 are opened, whether monitoring manpower leaves clamper 14, and whether detection foot leaves foot-treadle device 9
Moveable endless area, prevent doctor occur maloperation, Lai Shixian complete machine use when the third security mechanism.For example, once examining
The range of visibility for measuring operator leaves console visual zone, then security system (console main manipulator and laparoscopic surgery
Robot disconnects) starting, it avoids not turning off because of main laparoscopic surgery robot, the master installed on operator's error touch control platform
Manipulator, laparoscopic surgery robot malfunction, and bring unpredictable serious consequence.
KINECT2 it be a kind of 3D body-sensing video camera.
As shown in figure 3, the open surgeon console of 3D applied to laparoscope robotic surgical system further includes foot
To photoelectric sensor 13 is penetrated, the foot-treadle device 9 is fixedly mounted on 8 front of pedestal, described two right by device with pedal 9 and two
It penetrates photoelectric sensor 13 and is installed on pedestal 8 and is located at the left and right sides of foot-treadle device 9, two to penetrating photoelectric sensor
13 for detecting operator foot whether in specified 9 part range region of foot-treadle device, when Lai Shixian complete machine uses
The first security mechanism.To the purpose for penetrating photoelectric sensor 13 be guarantee that emergency situations occur on the way for doctor's operating console will be from
It opens, once detect that the foot operation regional scope of foot-treadle device 9 is left by foot to photoelectric sensor 13 is penetrated, then security system
(console main manipulator and laparoscopic surgery robot disconnect) starting.It avoids because main laparoscopic surgery robot is continuous
It opens, the main manipulator installed on operator's error touch control platform, laparoscopic surgery robot malfunctions, and brings unpredictable
Serious consequence.
The open surgeon console of 3D applied to laparoscope robotic surgical system further includes that two condenser types pass
Sensor and two clampers 14, described two main manipulators 5 are mounted on clamper 14, and fixed inside each clamper 14
Equipped with capacitance type sensor, for detecting whether manpower contacts with clamper 14, Lai Shixian complete machine makes two capacitance type sensors
Second of security mechanism of used time, the main purpose of capacitance type sensor are whether detection human hand contacts with clamper 14, one
Denier hand leaves clamper 14, then security system (console main manipulator and laparoscopic surgery robot disconnect) starting.
It avoids not turning off because of main laparoscopic surgery robot, the main manipulator installed on operator's error touch control platform, laparoscopic surgery machine
The raw malfunction of device human hair, brings unpredictable serious consequence.
The open surgeon console of 3D applied to laparoscope robotic surgical system further includes secondary monitor 1；
3 top of 3D monitor is arranged in the secondary monitor 1, and is fixedly connected with column 10.Secondary monitor 1 is mainly used to display disease
The vital sign and characteristic index of trouble guarantee that doctor's all kinds of vital signs of real-time detection sufferer during operating equipment refer to
Mark allows operator to use more convenient.
The open surgeon console of 3D applied to laparoscope robotic surgical system further includes state display 4,
The setting of state display 4 is fixedly connected between 3D monitor 3 and armrest system 7, and with 3D monitor 3.
The open surgeon console of 3D applied to laparoscope robotic surgical system further includes two brake pedals
12 and multiple universal middle control castors 11, the multiple universal middle control castor 11 is the brake caster with brake gear, described
Multiple universal middle control castors 11 are mounted on 8 lower end of pedestal, and described two brake pedals 12 are separately mounted to 8 left and right sides of pedestal,
Two brake pedals 12 are respectively used to the locking and release of the corresponding universal middle control castor 11 of control, to realize surgeon console
Mobile and locking state.
The open surgeon console of 3D applied to laparoscope robotic surgical system further includes that motor and lead screw are led
Rail lifting device, the armrest system 7 and two main manipulators 5 do upper and lower along column 10 by lead screw guide rails lifting device
To sliding motion, the motor give lead screw guide rails lifting device provide power.
The lead screw guide rails lifting device include guide rail, guide rail slide block, lead screw, feed screw nut, lead screw fixing seat, bearing,
Shaft coupling and motor.Motor is fixedly connected with column 10, and lead screw fixing seat is fixedly connected with column 10, motor by shaft coupling with
Lead screw is fixedly connected, and lead screw is rotatablely connected by bearing and lead screw fixing seat, the fixed company of guide rail and 10 part of column
It connects, feed screw nut is fixedly connected with guide rail slide block, and guide rail slide block is used with armrest system 7 and is fixedly connected；Motor is as power source
Lead screw rotation is driven, lead screw drives guide rail slide block to do the linear motion of up and down direction on guide rail, and armrest system 7 is with guide rail slide block
It moves up and down, and then realizes the elevating function of armrest system 7.
The utility model is set there are three types of security mechanism, it may be assumed that KINECT, pedestal two sides are equipped with to penetrating photoelectric sensor and folder
Holder is equipped with capacitance type sensor, once there is any one to happen, the main manipulator and laparoscope hand installed on console
Art robot can all disconnect in time, and guarantee will not lead to laparoscopic surgery because of the main manipulator maloperation installed on console
Robot malfunctions, and brings unpredictable consequence, ensure that equipment safety in use, reliability.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of open surgeon console of 3D applied to laparoscope robotic surgical system, it is characterised in that: including
KINECT(2), 3D monitor (3), armrest system (7), pedestal (8), column (10) and two main manipulators (5)；The column
(10) lower end is fixedly connected with pedestal (8) upper end, is slidably connected in the middle part of the armrest system (7) and column (10), armrest system
(7) sliding motion of up and down direction is done along column (10), the 3D monitor (3) is fixedly connected with column (10) upper end, 3D prison
Visual organ (3) is furnished with dedicated 3D glasses, and described two main manipulator (5) left and right are fixed at the rear end of armrest system (7), described
KINECT(2) setting is above 3D monitor (3), and is fixedly mounted on column (10), KINECT(2) real-time monitoring operator
Range of visibility and movement.
2. the open surgeon console of a kind of 3D applied to laparoscope robotic surgical system according to claim 1,
It is characterized by: the open surgeon console of 3D applied to laparoscope robotic surgical system further includes foot-treadle device
(9) and two to penetrating photoelectric sensor (13), and the foot-treadle device (9) is fixedly mounted in front of pedestal (8), described two right
It penetrates photoelectric sensor (13) to be installed on pedestal (8) and be located at left and right sides of foot-treadle device (9), two to penetrating photoelectricity
Sensor (13) is for detecting operator foot whether in specified foot-treadle device (9) part range region.
3. the open surgeon console of a kind of 3D applied to laparoscope robotic surgical system according to claim 1,
It is characterized by: the open surgeon console of 3D applied to laparoscope robotic surgical system further includes two condenser types
Sensor and two clampers (14), described two main manipulators (5) are mounted on clamper (14), and each clamper (14)
Inside is fixed with capacitance type sensor, and two capacitance type sensors are for detecting whether manpower contacts with clamper (14).
4. the open surgeon console of a kind of 3D applied to laparoscope robotic surgical system according to claim 1,
It is characterized by: the open surgeon console of 3D applied to laparoscope robotic surgical system further includes secondary monitor
(1)；Above secondary monitor (1) setting 3D monitor (3), and it is fixedly connected with column (10).
5. the open surgeon console of a kind of 3D applied to laparoscope robotic surgical system according to claim 1,
It is characterized by: the open surgeon console of 3D applied to laparoscope robotic surgical system further includes state display
(4), the state display (4) is arranged between 3D monitor (3) and armrest system (7), and fixes and connect with 3D monitor (3)
It connects.
6. the open surgeon console of a kind of 3D applied to laparoscope robotic surgical system according to claim 1,
It is characterized by: the open surgeon console of 3D applied to laparoscope robotic surgical system further includes that two brakes are stepped on
Plate (12) and multiple universal middle control castors (11), the multiple universal middle control castor (11) is the brake foot with brake gear
Wheel, the multiple universal middle control castor (11) are mounted on pedestal (8) lower end, and described two brake pedals (12) are separately mounted to bottom
At left and right sides of seat (8), two brake pedals (12) are respectively used to the locking and release of corresponding universal middle control castor (11) of control.
7. the open surgeon console of a kind of 3D applied to laparoscope robotic surgical system according to claim 1,
It is characterized by: the open surgeon console of 3D applied to laparoscope robotic surgical system further includes motor and lead screw
Rail elevating device, the armrest system (7) and two main manipulators (5) are by lead screw guide rails lifting device along column (10)
The sliding motion of up and down direction is done, the motor provides power to lead screw guide rails lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721578844.XU CN208989131U (en) | 2017-11-23 | 2017-11-23 | A kind of open surgeon console of 3D applied to laparoscope robotic surgical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721578844.XU CN208989131U (en) | 2017-11-23 | 2017-11-23 | A kind of open surgeon console of 3D applied to laparoscope robotic surgical system |
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| CN208989131U true CN208989131U (en) | 2019-06-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107874834A (en) * | 2017-11-23 | 2018-04-06 | 苏州康多机器人有限公司 | A kind of open surgeon consoles of 3D applied to laparoscope robotic surgical system |
| CN110448378A (en) * | 2019-08-13 | 2019-11-15 | 北京唯迈医疗设备有限公司 | A kind of immersion intervention operation overall-in-one control schema platform |
| CN110772338A (en) * | 2019-11-12 | 2020-02-11 | 南阳市中心医院 | Medical image diagnostic device with adjustable position can carry out |
| CN114424975A (en) * | 2020-10-29 | 2022-05-03 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot assistance system, method, medium, terminal, and surgical robot |
-
2017
- 2017-11-23 CN CN201721578844.XU patent/CN208989131U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107874834A (en) * | 2017-11-23 | 2018-04-06 | 苏州康多机器人有限公司 | A kind of open surgeon consoles of 3D applied to laparoscope robotic surgical system |
| CN110448378A (en) * | 2019-08-13 | 2019-11-15 | 北京唯迈医疗设备有限公司 | A kind of immersion intervention operation overall-in-one control schema platform |
| CN110772338A (en) * | 2019-11-12 | 2020-02-11 | 南阳市中心医院 | Medical image diagnostic device with adjustable position can carry out |
| CN110772338B (en) * | 2019-11-12 | 2021-04-13 | 南阳市中心医院 | Medical image diagnostic device with adjustable position can carry out |
| CN114424975A (en) * | 2020-10-29 | 2022-05-03 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot assistance system, method, medium, terminal, and surgical robot |
| CN114424975B (en) * | 2020-10-29 | 2024-02-09 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot auxiliary system, method, medium, terminal and surgical robot |
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