CN209529332U - A kind of nested type assisting minimally invasive single hole operating robot - Google Patents

Abstract

The utility model discloses a kind of nested type assisting minimally invasive single hole operating robot, including pedestal, column and motion arm, the pedestal supports and fixes entire assisting minimally invasive single hole operating robot；The uprights vertical is fixed on the pedestal, supports and fix the motion arm of assisting minimally invasive single hole operating robot；It is connected between the pedestal, the column, the motion arm and the adjacent arm section of the attachment base by rotary joint or linear joint, and the attachment base connects a quick union, and endoscope or surgical instrument are installed on the quick union.Multiple arm sections of the column and the motion arm are " hollow " structure, " nesting " can be carried out by the rotary joint relative rotation between arm section between the column, the motion arm and the adjacent arm section of the attachment base, thus make motion arm each arm section and attachment base with surgical instrument " nested " on the inside of column.

Description

A kind of nested type assisting minimally invasive single hole operating robot

Technical field

The utility model relates in a kind of minimally invasive surgery single hole field of surgery Medical Devices more particularly to one kind be suitable for The minimally invasive surgery single hole operating robot of the Minimally Invasive Surgery in thoracic cavity and abdominal cavity operation.

Background technique

20th century medical science is known as to the significant contribution of human civilization by the minimally invasive surgery of representative of laparoscopic surgery One of, Minimally Invasive Surgery operation refer to doctor using elongated surgical instrument by the miniature incision of human body surface be insinuated into vivo into Row surgical procedure.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time The advantages that fast, this pain that patient is subjected to greatly reduce；Minimally invasive surgery is widely used in clinical operation thus.It is minimally invasive Operation can bring many interests for patient, but increase a series of difficulty to the operation of doctor, such as: 1) since body surface is inserted into hole Limitation, the freedom degree of tool reduces to four, and flexibility substantially reduces；2) the intuition direction phase in instrumentation direction and doctor Instead, inaccurate coordination；3) shake of doctor's hand may be amplified by elongated surgical instrument；4) visual area is two-dimensional surface imaging, Lack the feeling in depth；5) lack force feeling.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery behaviour Make, nonetheless, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.Therefore, micro- There is an urgent need to a kind of robot systems in wound surgery single hole field of surgery to assist doctor that can overcome drawbacks described above, it is easier to Complete Minimally Invasive Surgery operation.Currently, in China market still not autonomous production can directly use clinically use it is auxiliary Help minimally invasive surgery single hole surgical robot system.

Assisting minimally invasive single hole operating robot belongs to precision equipment, and assisting minimally invasive single hole is performed the operation under working condition The flexibility of robot layout will directly determine the service performance of assisting minimally invasive single hole operating robot, assisting minimally invasive Single hole operating robot layout type is the key factor for embodying surgical robot system overall performance level.Assisting minimally invasive The stress balance of single hole operating robot integral arrangement directly influence assisting minimally invasive single hole operating robot because The deformation that gravity generates, if assisting minimally invasive single hole operating robot because the deformation that gravity generates reaches a certain level, is incited somebody to action Cause assisting minimally invasive single hole operating robot service precision to decline, is unfavorable for assisting minimally invasive single hole operating robot Long term maintenance maintenance and the service life for extending assisting minimally invasive single hole operating robot, assisting minimally invasive single hole surgical engine The stress balance of device people's integral arrangement has important meaning to the service life of assisting minimally invasive single hole operating robot Justice.In addition, operating room space is limited, the space hold amount opponent of assisting minimally invasive single hole operating robot under off working state The layout of art room has a major impact, the cloth of the optimization of the space hold amount of assisting minimally invasive single hole operating robot to operating room Office's important in inhibiting.

Research and development in China, assisting minimally invasive single hole operating robot are still in infancy, to assisting minimally invasive The research of single hole operating robot compared with foreign technology there are also biggish gap, therefore, exploitation easy disassembly, adjustment flexibly, Accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, assisting minimally invasive single hole with long service life operation Robot promotes related-art technology progress to be of great significance to filling the domestic gaps.

Utility model content

In order to solve the flexibility and off working state that assisting minimally invasive single hole operating robot is laid out under working condition The balance and components reasonable stress and surgical instrument of lower assisting minimally invasive single hole operating robot overall structure stress The optimization problem of protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy, the utility model mention A kind of easy disassembly, adjustment are flexibly out, accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, service life Long nested type assisting minimally invasive single hole operating robot, it makes assisting minimally invasive single hole by the topology layout of optimization Operating robot can either make motion arm with the target position of optimal angle arrival patient's operative site, side in the operating condition Just it is operated, optimizes the flexibility that assisting minimally invasive single hole operating robot is laid out in working condition, also can The balance and each zero of enough overall structure stress for optimizing assisting minimally invasive single hole operating robot in a non-operative state The stress of component effectively prevents the moment of flexure deformation that assisting minimally invasive single hole operating robot is generated by gravity, keeps away Having exempted from assisting minimally invasive single hole operating robot leads to the appearance of service precision decline problem because of deformation, is tied using this arrangement Structure is conducive to the long term maintenance maintenance of assisting minimally invasive single hole operating robot, and can extend assisting minimally invasive single hole hand The service life of art robot.Each arm section of column and motion arm is laid out with surgical instrument " nested " formula, is conducive to protection operation Instrument is not broken impaired and influences to use.The utility model proposes nested type assisting minimally invasive single hole operating robot exist It occupies little space after being folded under off working state, it is limited especially suitable for operation site space, such as steamer, submarine etc., simultaneously The structure also gives the packaging and transport bring convenience of assisting minimally invasive single hole operating robot.

The technical scheme adopted by the utility model is

A kind of nested type assisting minimally invasive single hole operating robot, including pedestal, column and motion arm, the pedestal It is used to support simultaneously vertical columns and motion arm；Described column one end is perpendicularly fixed on the pedestal, is used to support simultaneously The fixed motion arm, the other end are connected by rotary joint with the motion arm；The column can be along described Rotary joint between column and the pedestal in the horizontal direction in 360 degree rotation；The motion arm drives corresponding hand Art instrument or endoscope stretch or rotation.

Further, the motion arm includes the multiple arm sections being sequentially connected in series and an attachment base, the column and Between arm section connected to it, between the alternate arm section of the motion arm, between the attachment base and coupled arm section It is connected by linear joint or linear joint；And the attachment base connects a quick union, connects fastly in described Endoscope or surgical instrument are installed on head.

Further, the motion arm includes arm section one, arm section two, arm section three and arm Duan Si；The column, arm section One, arm section two, arm section three pass sequentially through the series connection of X axis rotary joint, and the arm Duan Sanyu arm Duan Si is closed by Z axis to mobile Section is connected, and the arm Duan Siyu attachment base is connected by Z axis to rotary joint.

Further, the motion arm includes the multiple arm sections being sequentially connected in series and an attachment base, the column and Pass through rotation between arm section between arm section connected to it, adjacent and between the attachment base and coupled arm section Turn joint to be connected；And the attachment base connects a quick union, and endoscope or operation are installed on the quick union Instrument.

Further, the motion arm includes arm section one, arm section two, arm section three, arm Duan Si and arm section five；Described is vertical Column, arm section one, arm section two, arm section three, arm Duan Si, arm section five pass sequentially through the series connection of X axis rotary joint, the arm Duan Wuyu It is connected by Z axis to rotary joint between the attachment base.

Further, the column and the arm section are hollow structure.

Further, it is L-type that the cross section of the column and the arm section, which is cross sectional shape,.

Further, the cross section of the column and the multiple arm sections being sequentially connected in series gradually decreases, and passes through rotary joint Form nested structure.

Further, idler wheel is equipped in the bottom of the pedestal.

Further, the multiple arm sections of the column and the motion arm being sequentially connected in series are " hollow " structure, institute Between the column stated and the adjacent arm section of the motion arm, between the adjacent arm section of the motion arm, the company It can be carried out by the rotary joint relative rotation between arm section between joint chair and the adjacent arm section of the motion arm " embedding Set ", thus make motion arm each arm section and attachment base with surgical instrument " nested " on the inside of column, both optimize off working state The balance and components reasonable stress and auxiliary of lower assisting minimally invasive single hole operating robot overall structure stress are minimally invasive Surgery single hole operating robot overall space occupancy problem is conducive to that surgical instrument is protected not broken impaired and influence to make again With.

The course of work of the utility model is as follows:

In the operating condition, the column can be relative to the pedestal along the column and the pedestal Between rotary joint in the horizontal direction in rotate to proper angle, the adjacent arm section of the column and the motion arm Between, between the adjacent arm section of the motion arm, between the attachment base and the adjacent arm section of the motion arm Angle can be adjusted by the rotary joint relative rotation between arm section to optimize arrangement for greater flexibility, keep attachment base last Fixed surgical instrument is held more easily to reach the target position of patient's operative site with optimal angle, conducive to the operation of operation Expansion.

In a non-operative state, the multiple arm sections of the column and the motion arm being sequentially connected in series are " hollow " knot Between the adjacent arm section of structure, the column and the motion arm, between the adjacent arm section of the motion arm, it is described Attachment base and the motion arm adjacent arm section between can pass through the rotary joint relative rotation between arm section to edge The parallel direction of part lengths axis carries out " nesting " placement, to make each arm section and attachment base and surgical instrument of motion arm " nesting " both optimizes assisting minimally invasive single hole operating robot overall structure stress under off working state on the inside of column Balance and components reasonable stress and assisting minimally invasive single hole operating robot overall space occupancy problem are again advantageous It influences to use in protecting surgical instrument not broken impaired.

The multiple arm sections of the column and the motion arm being sequentially connected in series use " hollow " structure, increase described Column and the motion arm the multiple arm sections being sequentially connected in series " rigidity " and meanwhile reduce the column and described " weight " for the multiple arm sections of motion arm being sequentially connected in series, improves " precision " of assisting minimally invasive single hole operating robot.

The section for the multiple arm sections of the column and the motion arm being sequentially connected in series uses " L-type " structure, relatively In rectangular-shaped arm segment structure, " section " of the multiple arm sections of the column and the motion arm being sequentially connected in series is reduced Size reduces " weight " for the multiple arm sections of the column and the motion arm being sequentially connected in series simultaneously, improves auxiliary " precision " of minimally invasive surgery single hole operating robot.

In a non-operative state, between the column and the adjacent arm section of the motion arm, the motion arm Adjacent arm section between, pass through the rotation between arm section between the attachment base and the adjacent arm section of the motion arm Joint relative rotation to the optimization layout that " nesting " placement is carried out along the parallel direction of part lengths axis can make entire auxiliary Each arm section, attachment base and the surgical instrument of the column, motion arm that help minimally invasive surgery single hole operating robot are subjected only to axial drawing Power or axial compressive force, and be not subject to moment of flexure optimize the whole stress balance of assisting minimally invasive single hole operating robot and every The stress of a components effectively prevents assisting minimally invasive single hole operating robot because the moment of flexure that gravity generates becomes Shape, avoiding assisting minimally invasive single hole operating robot leads to the appearance of service precision decline problem because of deformation, using this Arragement construction is conducive to the long term maintenance maintenance of assisting minimally invasive single hole operating robot, and can extend assisting minimally invasive The service life of single hole operating robot.Each arm section of column and motion arm is laid out with surgical instrument " nested " formula, is conducive to protect Shield surgical instrument is not broken impaired and influences to use.The utility model proposes nested type assisting minimally invasive single hole surgical engine Device people occupies little space after folding in a non-operative state, limited especially suitable for operation site space, such as steamer, submarine Deng, while the structure also gives the packaging and transport bring convenience of assisting minimally invasive single hole operating robot.

The beneficial effects of the utility model are:

The utility model proposes a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity are larger, reasonable stress, layout are excellent Change, convenient transportation, nested type assisting minimally invasive single hole operating robot arragement construction with long service life, it can solve state Assisting minimally invasive single hole surgical machine in the operating condition is deposited in outer existing minimally invasive surgery single hole operating robot arragement construction People layout flexibility and off working state under assisting minimally invasive single hole operating robot overall structure stress balance and Components reasonable stress and surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupy The optimization problem of amount.It is minimally invasive to also improve auxiliary for the nested type assisting minimally invasive single hole operating robot arragement construction simultaneously " precision " of surgery single hole operating robot, avoiding assisting minimally invasive single hole operating robot causes because of deformation using essence Spend decline problem, solve the problems, such as surgical instrument protectiveness, the utility model proposes nested type assisting minimally invasive single hole hand Art robot occupies little space after folding in a non-operative state, and is conducive to the long-term of minimally invasive surgery single hole operating robot Maintenance, packaging and transport.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments in the utility model, for those of ordinary skill in the art, in not making the creative labor property Under the premise of, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of embodiment 1 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of working condition.

Fig. 2 is a kind of embodiment 1 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of off working state.

Fig. 3 is a kind of embodiment 1 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The front-view schematic diagram of off working state.

Fig. 4 is a kind of embodiment 2 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of working condition.

Fig. 5 is a kind of embodiment 2 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of off working state.

Fig. 6 is a kind of embodiment 2 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The front-view schematic diagram of off working state.

Fig. 7 is a kind of embodiment 3 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of working condition.

Fig. 8 is a kind of embodiment 3 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of off working state.

Fig. 9 is a kind of embodiment 3 of nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The front-view schematic diagram of off working state.

Figure 10 is a kind of implementation of L-type nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of 4 working condition of example.

Figure 11 is a kind of implementation of L-type nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The schematic front view of 4 off working state of example.

Figure 12 is a kind of implementation of L-type nested type assisting minimally invasive single hole operating robot arragement construction of the utility model The front-view schematic diagram of 4 off working state of example.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clear, complete description, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, fall within the protection scope of the utility model.

Embodiment 1

As shown in Figure 1, Figure 2, Figure 3 shows, it is laid out to solve assisting minimally invasive single hole operating robot under working condition Under flexibility and off working state the balance of assisting minimally invasive single hole operating robot overall structure stress and components by The optimization of power reasonability and surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy Property problem, the utility model proposes a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity are larger, reasonable stress, layout are excellent Change, convenient transportation, nested type assisting minimally invasive single hole operating robot arragement construction with long service life, it passes through optimization Topology layout makes assisting minimally invasive single hole operating robot that can either arrive motion arm with optimal angle It up to the target position of patient's operative site, is easily operated, optimizes assisting minimally invasive single hole operating robot In the flexibility of working condition layout, it can also optimize the whole of assisting minimally invasive single hole operating robot in a non-operative state The stress of the balance of body structure stress and each components effectively prevents assisting minimally invasive single hole surgical machine The moment of flexure deformation that people generates by gravity, avoid assisting minimally invasive single hole operating robot causes under service precision because of deformation The appearance of drop problem is maintained using the long term maintenance that this arragement construction is conducive to assisting minimally invasive single hole operating robot, and The service life of assisting minimally invasive single hole operating robot can be extended.Each arm section and surgical instrument of column and motion arm " nesting " formula layout is conducive to that surgical instrument is protected not broken impaired and influence to use.The utility model proposes nested type Assisting minimally invasive single hole operating robot occupies little space after folding in a non-operative state, empty especially suitable for operation place Between limited, such as steamer, submarine etc., while the structure also gives the packaging and conveyer belt of assisting minimally invasive single hole operating robot The convenience come.

As shown in Figure 1-3, a kind of nested type assisting minimally invasive single hole operating robot arragement construction, including it is pedestal 1, vertical Column 2 and motion arm 3, motion arm 4, motion arm 5, motion arm 6, attachment base 7, patient 8, operating bed 9, the support of pedestal 1 is simultaneously Fixed entire assisting minimally invasive single hole operating robot；The column 2 is perpendicularly fixed on the pedestal 1, support And motion arm 3, motion arm 4, motion arm 5, motion arm 6, the attachment base 7 of fixed assisting minimally invasive single hole operating robot；Institute The column 2 stated can be along the interior 360 degree of rotations in the horizontal direction of the rotary joint 1-2 between the column 2 and the pedestal 1 Turn；The bottom of pedestal is provided with idler wheel 10, operating robot is allowed to be moved to corresponding position.

Further, it is connected between the column 2 and the motion arm 3 by rotary joint 2-3, the operation It is connected between arm 3 and the motion arm 4 by rotary joint 3-4, is led between the motion arm 4 and the motion arm 5 Rotary joint 4-5 is crossed to be connected, is connected, described by linear joint 5-6 between the motion arm 5 and the motion arm 6 It is connected between motion arm 6 and the attachment base 7 by rotary joint 6-7, and the attachment base 7 connects one and connects fastly Head installs endoscope or surgical instrument on the quick union.

Further, the column 2 and the motion arm 3, motion arm 4 are " hollow " structure, 2 He of column Between motion arm 3 and the motion arm 4 between the motion arm 3, described, the motion arm 4 and the operation It can be carried out by the rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-5 relative rotation between arm 5 " embedding Set ", thus make motion arm 3, motion arm 4, motion arm 5, motion arm 6, attachment base 7 with surgical instrument " nested " on the inside of column 2, Both optimized under off working state the balance of assisting minimally invasive single hole operating robot overall structure stress and components by Power reasonability and assisting minimally invasive single hole operating robot overall space occupancy problem are conducive to protect surgical instrument not again It is broken impaired and influences to use.

The course of work of the utility model is as follows:

In the operating condition, the column 2 can be relative to the pedestal 1 along the column 2 and described Rotary joint 1-2 between pedestal 1 in the horizontal direction in rotate to proper angle, the column 2 and the motion arm 3 it Between, can pass through between the motion arm 3 and the motion arm 4, between the motion arm 4 and the motion arm 5 Rotary joint 2-3, rotary joint 3-4, rotary joint 4-5 relative rotation between arm section adjust angle to carry out for greater flexibility Preferred arrangement makes the end fixed surgical instrument of attachment base 7 more easily reach the mesh of patient's operative site with optimal angle Cursor position is unfolded conducive to the operation of operation.

In a non-operative state, the column 2 and the motion arm 3, motion arm 4 are " hollow " structure, described Between motion arm 3 and the motion arm 4 between column 2 and the motion arm 3, described, the motion arm 4 and described Motion arm 5 between can be by rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-5 relative rotation extremely The direction parallel along part lengths axis carries out " nesting " and places, to make motion arm 3, motion arm 4, motion arm 5, motion arm 6, attachment base 7 had both optimized assisting minimally invasive single hole under off working state and had performed the operation with surgical instrument " nested " in 2 inside of column The balance and components reasonable stress and assisting minimally invasive single hole operating robot of robot overall structure stress are whole Space hold amount problem is conducive to that surgical instrument is protected not broken impaired and influence to use again.

The column 2 and the motion arm 3, motion arm 4 are " hollow " structure, increase the column 2 and institute " rigidity " of the motion arm 3, motion arm 4 the stated while " weight for reducing the column 2 and the motion arm 3, motion arm 4 Amount ", improves " precision " of assisting minimally invasive single hole operating robot.

In a non-operative state, between the column 2 and the motion arm 3, the motion arm 3 and the behaviour Making can be by the rotary joint 2-3 between arm section, rotation between the motion arm 4 and the motion arm 5 between arm 4, described Joint 3-4, rotary joint 4-5 relative rotation carry out the optimization cloth that " nesting " is placed to along the parallel direction of part lengths axis Office can make the column 2 and motion arm 3, motion arm 4, motion arm 5, motion arm of entire assisting minimally invasive single hole operating robot 6, attachment base 7, patient 8, operating bed 9 and surgical instrument are subjected only to axial tension or axial compressive force, and are not subject to moment of flexure, optimization The whole stress balance of assisting minimally invasive single hole operating robot and the stress of each components, effectively prevent The moment of flexure deformation that assisting minimally invasive single hole operating robot is generated by gravity, avoids assisting minimally invasive single hole surgical machine People leads to the appearance of service precision decline problem because of deformation, is conducive to the operation of assisting minimally invasive single hole using this arragement construction The long term maintenance of robot maintains, and can extend the service life of assisting minimally invasive single hole operating robot.Column and behaviour Each arm section for making arm is laid out with surgical instrument " nested " formula, is conducive to that surgical instrument is protected not broken impaired and influence to use. The utility model proposes nested type assisting minimally invasive single hole operating robot fold in a non-operative state after occupied space It is small, it is limited especially suitable for operation site space, such as steamer, submarine etc., while the structure also gives assisting minimally invasive single hole The packaging and transport bring convenience of operating robot.

The utility model proposes a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity are larger, reasonable stress, layout are excellent Change, convenient transportation, nested type assisting minimally invasive single hole operating robot arragement construction with long service life, it can solve state Assisting minimally invasive single hole surgical machine in the operating condition is deposited in outer existing minimally invasive surgery single hole operating robot arragement construction People layout flexibility and off working state under assisting minimally invasive single hole operating robot overall structure stress balance and Components reasonable stress and surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupy The optimization problem of amount.It is minimally invasive to also improve auxiliary for the nested type assisting minimally invasive single hole operating robot arragement construction simultaneously " precision " of surgery single hole operating robot, avoiding assisting minimally invasive single hole operating robot causes because of deformation using essence Decline problem is spent, solves the problems, such as surgical instrument protectiveness, and be conducive to the long-term dimension of minimally invasive surgery single hole operating robot Shield maintenance, packaging and transport.

The utility model proposes a kind of nested type assisting minimally invasive single hole operating robot arragement construction, can be in reality It applies and motion arm 5, motion arm 6 and linear joint 5-6 is changed to motion arm 5, motion arm 6, motion arm 7 and rotation on the basis of example 1 Turn joint 5-6, rotary joint 6--7, it is that surgical instrument is operated the function positioned that motion arm, which equally may be implemented, Energy.It is specific as follows:

Embodiment 2

Specific structure is as shown in Fig. 4, Fig. 5, Fig. 6:

On the basis of embodiment 1, motion arm 5, motion arm 6 and linear joint 5-6 are changed to motion arm 5, motion arm 11, motion arm 6 and rotary joint 5-11, rotary joint 11-6；Section operation is increased between motion arm 5 and motion arm 6 One end of arm 11, motion arm 11 is connected by rotary joint 5-11 with motion arm 5, and the other end of motion arm 11 passes through rotary joint 11-6 is connected with motion arm 6, eliminates the linear joint 5-6 in embodiment 1；Pass through motion arm 5 and motion arm in the present embodiment 11 and rotary joint 11-6 realizes the flexible of motion arm 6.

It is connected between the motion arm 7 and the attachment base 8 by rotary joint 7-8, and the attachment base 8 connects A quick union is connect, endoscope or surgical instrument are installed on the quick union.It is hand that motion arm, which equally may be implemented, Art instrument is operated the function of being positioned.

Embodiment 3

For specific structure as shown in Fig. 7, Fig. 8, Fig. 9, the present embodiment is on the basis of embodiment 1, by each arm section The structure of section design l-shaped；Remaining structure is same as Example 1；Being sequentially connected in series for column and the motion arm is more The section of a arm section uses " L-type " structure, relative to rectangular-shaped arm segment structure, reduces the column and the operation " section " size for the multiple arm sections of arm being sequentially connected in series while the successively string for reducing the column and the motion arm " weight " of multiple arm sections of connection, improves " precision " of assisting minimally invasive single hole operating robot.

Embodiment 4

As shown in figs. 10,11 and 12, the present embodiment is on the basis of embodiment 2, by each arm section to specific structure Section design l-shaped structure；Remaining structure is same as Example 2；Column and the motion arm are sequentially connected in series The section of multiple arm sections uses " L-type " structure, relative to rectangular-shaped arm segment structure, reduces the column and the behaviour Make " section " size for the multiple arm sections of arm being sequentially connected in series while reducing the column and the motion arm successively " weight " of concatenated multiple arm sections, improves " precision " of assisting minimally invasive single hole operating robot.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this In the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model In protection scope.

It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model Within enclosing.

Claims (12)

1. a kind of nested type assisting minimally invasive single hole operating robot, it is characterised in that: including pedestal, column and motion arm, The pedestal is used to support and vertical columns and motion arm；Described column one end is perpendicularly fixed on the pedestal, It is used to support and fixes the motion arm, the other end is connected by rotary joint with the motion arm；The column energy Along the rotary joint between the column and the pedestal in the horizontal direction in 360 degree rotation；The motion arm drives It moves corresponding surgical instrument or endoscope stretches or rotation.

2. nested type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that:

The motion arm includes the multiple arm sections being sequentially connected in series and an attachment base, the column and arm section connected to it Between, between the alternate arm section of the motion arm, between the attachment base and coupled arm section pass through linear joint Or linear joint is connected；And the attachment base connects a quick union, installs endoscope on the quick union Or surgical instrument.

3. nested type assisting minimally invasive single hole operating robot as claimed in claim 2, it is characterised in that: the operation Arm includes arm section one, arm section two, arm section three and arm Duan Si；The column, arm section one, arm section two, arm section three pass sequentially through X-axis It connects to rotary joint, the arm Duan Sanyu arm Duan Si is connected by Z axis to linear joint, the arm Duan Siyu attachment base It is connected by Z axis to rotary joint.

4. nested type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the operation Arm includes the multiple arm sections being sequentially connected in series and an attachment base, between the column and arm section connected to it, adjacent arm It is connected by rotary joint between section and between the attachment base and coupled arm section；And the attachment base connects A quick union is connect, endoscope or surgical instrument are installed on the quick union.

5. the nested type assisting minimally invasive single hole operating robot as described in claim 1-4 is any, it is characterised in that: described Motion arm include arm section one, arm section two, arm section three, arm Duan Si and arm section five；The column, arm section one, arm section two, arm section Three, arm Duan Si, arm section five pass sequentially through the series connection of X axis rotary joint, pass through Z axis between the arm Duan Wuyu attachment base to rotation Turn joint to be connected.

6. the nested type assisting minimally invasive single hole operating robot as described in claim 2-4 is any, it is characterised in that: described Column and the arm section be hollow structure.

7. nested type assisting minimally invasive single hole operating robot as claimed in claim 5, it is characterised in that: the column It is hollow structure with the arm section.

8. the nested type assisting minimally invasive single hole operating robot as described in claim 2-4 is any, it is characterised in that: described Column and the cross section of the arm section be cross sectional shape be L-type.

9. nested type assisting minimally invasive single hole operating robot as claimed in claim 5, it is characterised in that: the column It is L-type that cross section with the arm section, which is cross sectional shape,.

10. the nested type assisting minimally invasive single hole operating robot as described in claim 2-4 is any, it is characterised in that: institute The cross section of the column stated and the multiple arm sections being sequentially connected in series gradually decreases, and forms nested structure by rotary joint.

11. nested type assisting minimally invasive single hole operating robot as claimed in claim 5, it is characterised in that: described is vertical The cross section of column and the multiple arm sections being sequentially connected in series gradually decreases, and forms nested structure by rotary joint.

12. nested type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: described The bottom of pedestal is equipped with idler wheel.