CN209529333U - A kind of collapsible assisting minimally invasive single hole operating robot - Google Patents
A kind of collapsible assisting minimally invasive single hole operating robot Download PDFInfo
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- CN209529333U CN209529333U CN201821887464.9U CN201821887464U CN209529333U CN 209529333 U CN209529333 U CN 209529333U CN 201821887464 U CN201821887464 U CN 201821887464U CN 209529333 U CN209529333 U CN 209529333U
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- single hole
- rotary joint
- operating robot
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Abstract
The utility model discloses a kind of collapsible assisting minimally invasive single hole operating robot, including supporting leg, column and motion arm, the supporting leg supports and fixes entire assisting minimally invasive single hole operating robot；The uprights vertical is fixed on the supporting leg, supports and fix the motion arm of assisting minimally invasive single hole operating robot；It is connected between the supporting leg, 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.The rotary joint relative rotation between arm section can be passed through between the supporting leg, column, motion arm and the adjacent arm section of attachment base and carry out " folding ", it occupies little space after each arm section and attachment base and surgical instrument " folding " the formula layout of motion arm, is conducive to long term maintenance maintenance, packaging and the transport of minimally invasive surgery single hole operating robot.
Description
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 assisting minimally invasive single hole operating robot of lower assisting minimally invasive single hole operating robot overall structure stress
The optimization problem of overall space occupancy, the utility model proposes a kind of easy disassembly, adjustment flexibly, accurate positioning, rigidity
Larger, reasonable stress, layout optimization, convenient transportation, collapsible assisting minimally invasive single hole surgical machine with long service life
People-, it makes assisting minimally invasive single hole operating robot that can either make to operate in the operating condition by the topology layout of optimization
Arm reaches the target position of patient's operative site with optimal angle, is easily operated, and it is minimally invasive outer to optimize auxiliary
The flexibility that section's single hole operating robot is laid out in working condition can also optimize assisting minimally invasive list in a non-operative state
The balance of the overall structure stress of hole operating robot is conducive to assisting minimally invasive single hole surgical engine using this arragement construction
The long term maintenance of device people maintains, and can extend the service life of assisting minimally invasive single hole operating robot.The utility model
Each arm section and hand of the collapsible assisting minimally invasive single hole operating robot supporting leg and motion arm in a non-operative state that propose
Art instrument " folding " formula layout occupies little space after folding, 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 technical scheme adopted by the utility model is
A kind of collapsible assisting minimally invasive single hole operating robot, including supporting leg, two columns and motion arm；Described
Two uprights verticals are fixed on the supporting leg, support and fix the operation of assisting minimally invasive single hole operating robot
Arm；The motion arm includes two groups of motion arm group I and one group of motion arm group II；Two groups of motion arm group I are symmetrical arranged, two groups of behaviour
The one end for making arm group I passes through Z axis respectively and is connected to rotary joint I with column, and the other end of two groups of motion arm group II passes through Z axis
It is connected to rotary joint II, motion arm group II is connected with Z axis to the bottom of rotary joint II, in the motion arm group II realization
The positioning of sight glass or surgical instrument in Z-direction and X-direction.
Further, the supporting leg includes two groups, and every group of supporting leg includes two supporting legs, passes through Y at the top of two supporting legs
Axial-rotation joint is connected.
Further, the supporting leg bottom is equipped with movable pulley, for mobile or fixed fold formula assisting minimally invasive
Single hole operating robot.
Further, the motion arm group I includes arm section one and arm section two；It is closed by Z axis to rotation one end of arm section one
Section I is connected with column, and the other end of arm section one is connected to rotary joint III with one end of arm section two by Z axis；Arm section two it is another
One end Z axis is connected to rotary joint II with the arm section two of another motion arm group I.
Further, the motion arm group II includes arm section three, arm Duan Si, arm section five；One end of arm section three passes through X axis
Rotary joint I is connected with Z axis to the bottom of rotary joint I, and the other end of arm section three passes through X axis rotary joint II and arm Duan Si
One end be connected；The other end of arm Duan Si is connected by X axis rotary joint III with one end of arm section five, arm section five it is another
End is connected to rotary joint IV with attachment base by Z axis；And the attachment base connects a quick union, connects fastly in described
Endoscope or surgical instrument are installed on connector.
Further, the motion arm group II includes arm section six；One end of arm section six moves axially joint and Z axis by Z
It is connected to the bottom of rotary joint I, the other end Z axis of arm section six is connected to rotary joint V with attachment base；And the attachment base
A quick union is connected, endoscope or surgical instrument are installed on the quick union.
Further, between the column and the adjacent arm section of the motion arm, the motion arm is adjacent
Arm section between, can be closed by the rotation between arm section between the attachment base and the adjacent arm section of the motion arm
It saves relative rotation and carries out " foldings ", so that each arm section of motion arm and attachment base and surgical instrument " foldings " formula be made to be laid out, optimize
The balance and assisting minimally invasive list of assisting minimally invasive single hole operating robot overall structure stress under off working state
Hole operating robot overall space occupancy problem.
The course of work of the utility model is as follows:
In the operating condition, the supporting leg can be relative to the rotary joint between the column and the supporting leg
Along horizontal axis rotation adjustment motion arm to proper height, between the column and the adjacent arm section of the motion arm,
It can lead between the adjacent arm section of the motion arm, between the attachment base and the adjacent arm section of the motion arm
The rotary joint relative rotation adjustment angle crossed between arm section fixes attachment base end to optimize arrangement for greater flexibility
Surgical instrument more easily with optimal angle reach patient's operative site target position, conducive to operation operation be unfolded.
In a non-operative state, the supporting leg can be closed relative to the rotation between the column and the supporting leg
Section rotates adjustment motion arm to proper height along horizontal axis, the adjacent arm section of the column and the motion arm it
Between, between the adjacent arm section of the motion arm, can between the attachment base and the adjacent arm section of the motion arm
To carry out " folding " by the rotary joint relative rotation between arm section, to make each arm section and attachment base and operation of motion arm
Instrument " folding " formula layout optimizes the flat of assisting minimally invasive single hole operating robot overall structure stress under off working state
Weighing apparatus property and assisting minimally invasive single hole operating robot overall space occupancy problem.Be conducive to assist using this arragement construction micro-
The long term maintenance maintenance of surgery single hole operating robot is created, and the use of assisting minimally invasive single hole operating robot can be extended
Service life.The utility model proposes collapsible assisting minimally invasive single hole operating robot supporting leg and operation in a non-operative state
Each arm section and surgical instrument " folding " the formula layout of arm occupy little space after folding, limited especially suitable for operation site space,
Such as steamer, submarine etc., while the structure also gives the packaging of assisting minimally invasive single hole operating robot and transports bring just
Benefit.
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, collapsible 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
The optimization problem of assisting minimally invasive single hole operating robot overall space occupancy.The utility model proposes it is collapsible auxiliary
Help each arm section and surgical instrument " folding " formula of minimally invasive surgery single hole operating robot supporting leg and motion arm in a non-operative state
Layout occupies little space after folding, and is conducive to long term maintenance maintenance, packaging and the fortune of minimally invasive surgery single hole operating robot
It is defeated.
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 collapsible 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 collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic side view of working condition.
Fig. 3 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic top plan view of working condition.
Fig. 4 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic front view of unfolded state.
Fig. 5 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic side view of unfolded state.
Fig. 6 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic top plan view of unfolded state.
Fig. 7 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic front view of tightening state.
Fig. 8 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic side view of tightening state.
Fig. 9 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic top plan view of tightening state.
Figure 10 is a kind of embodiment 2 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic front view of working condition.
Figure 11 is a kind of embodiment 2 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
The schematic side view of working condition.
Figure 12 is a kind of embodiment 1 of collapsible assisting minimally invasive single hole operating robot arragement construction of the utility model
Partial enlargement diagram.
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 FIG. 1 to FIG. 9, in order to solve assisting minimally invasive single hole operating robot under working condition be laid out it is flexible
The balance and assisting minimally invasive of assisting minimally invasive single hole operating robot overall structure stress under property and off working state
The optimization problem of single hole operating robot overall space occupancy, the utility model proposes a kind of easy disassembly, adjustment flexibly,
Accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, collapsible assisting minimally invasive list with long service life
Hole operating robot arragement construction, it makes assisting minimally invasive single hole operating robot can either by the topology layout of optimization
So that motion arm is reached the target position of patient's operative site with optimal angle in the operating condition, easily carries out operation behaviour
Make, optimizes the flexibility that assisting minimally invasive single hole operating robot is laid out in working condition, it also can be in off working state
The balance of the overall structure stress of lower optimization assisting minimally invasive single hole operating robot, is conducive to auxiliary using this arragement construction
It helps the long term maintenance of minimally invasive surgery single hole operating robot to maintain, and assisting minimally invasive single hole operating robot can be extended
Service life.The utility model proposes collapsible assisting minimally invasive single hole operating robot in a non-operative state supporting leg and
Each arm section and surgical instrument " folding " the formula layout of motion arm occupy little space after folding, and have especially suitable for operation site space
Limit, such as steamer, submarine etc., while the structure also gives the packaging and transport bring of assisting minimally invasive single hole operating robot
Convenience.
A kind of collapsible assisting minimally invasive single hole operating robot arragement construction, including supporting leg 1, column 2 and motion arm,
1 bottom of supporting leg is equipped with movable pulley 5, is used for mobile or fixed fold formula assisting minimally invasive single hole operating robot,
The supporting leg 1 supports and fixed entire assisting minimally invasive single hole operating robot；The column 2 is perpendicularly fixed at described
Supporting leg 1 on, support and the motion arm of fixed assisting minimally invasive single hole operating robot；The supporting leg 1 can be along institute
The rotary joint 1-2 between supporting leg 1 and the column 2 stated is rotated along horizontal axis.
Motion arm includes two groups of motion arm group I and one group of motion arm group II；Two groups of motion arm group I are symmetrical arranged, two groups of behaviour
The one end for making arm group I passes through Z axis respectively and is connected to rotary joint I with column, the other end of two groups of motion arm group II by Z axis to
Rotary joint II is connected, and motion arm group II is connected with Z axis to the bottom of rotary joint II, peeps in the motion arm group II realization
The positioning of mirror or surgical instrument in Z-direction and X-direction.
Motion arm group I includes horizontally disposed motion arm 3, motion arm 4；Motion arm group II include motion arm 6, motion arm 7,
Motion arm 8；
Specifically, column 2 described in two and respectively between one end of motion arm 3 described in two by Z axis to rotation
Turn joint 2-3 be connected, between motion arm 4 described in motion arm 3 described in two and two by Z axis to rotary joint 3-4 phase
Even, it is connected by Z axis to rotary joint 4-4 between two motion arms 4, the motion arm 4 and the motion arm
Between 6 by X axis rotary joint 4-6 be connected (specific connection type is: Z axis extends downwardly one section to rotary joint 4-4, X
The shaft of axial-rotation joint 4-6 is horizontal through Z axis to the bottom of rotary joint 4-4, motion arm 6 and rotary joint 4-6 phase
Even；), be connected by X axis rotary joint 6-7 between the motion arm 6 and the motion arm 7,7 and of motion arm
It is connected between the attachment base 8 by X axis rotary joint 7-8, is led between the motion arm 8 and the attachment base 9
It crosses Z axis to be connected to rotary joint 8-9, and the attachment base 9 connects a quick union, installs on the quick union
Endoscope or surgical instrument.
Further, the motion arm 3 between the column 2 and the motion arm 3, described and the motion arm 4
Between, between two motion arms 4, between the motion arm 4 and the motion arm 6,6 and of motion arm
Between motion arm 7 and the motion arm 8 between the motion arm 7, described, the motion arm 8 and the connection
The rotary joint 2-3 between arm section, rotary joint 3-4, rotary joint 4-4, rotary joint 4-6, rotation can be passed through between seat 9
Joint 6-7, rotary joint 7-8, rotary joint 8-9 relative rotation carry out " folding ", to make each arm section and connection of motion arm
Seat and surgical instrument " folding " formula layout, optimize assisting minimally invasive single hole operating robot overall structure under off working state
The balance and assisting minimally invasive single hole operating robot overall space occupancy problem of stress.
The course of work of the utility model is as follows:
In the operating condition, the supporting leg 1 can be relative to the rotation between the column 2 and the supporting leg 1
Joint 1-2 rotates adjustment motion arm to proper height, between the column 2 and the motion arm 3, described along horizontal axis
Motion arm 3 and the motion arm 4 between, between two motion arms 4, the motion arm 4 and the operation
Between motion arm 6 and the motion arm 7 between arm 6, described, between the motion arm 7 and the motion arm 8, institute
The rotary joint 2-3 between arm section, rotary joint 3-4, rotation can be passed through between the motion arm 8 and the attachment base 9 stated
Joint 4-4, rotary joint 4-6, rotary joint 6-7, rotary joint 7-8, rotary joint 8-9 relative rotation adjustment angle are so as to more
Arrangement is neatly optimized, the end fixed surgical instrument of attachment base 8 is made more easily to reach patient's hand with optimal angle
The target position at art position is unfolded conducive to the operation of operation.
In a non-operative state, the supporting leg 1 can be relative to the rotation between the column 2 and the supporting leg 1
Turn joint 1-2 and rotates adjustment motion arm to proper height, between the column 2 and the motion arm 3, institute along horizontal axis
Between the motion arm 3 and the motion arm 4 stated, between two motion arms 4, the motion arm 4 and the behaviour
Make between the motion arm 6 and the motion arm 7 between arm 6, described, between the motion arm 7 and the motion arm 8,
The rotary joint 2-3 between arm section, rotary joint 3-4, rotation can be passed through between the motion arm 8 and the attachment base 9
Turn joint 4-4, rotary joint 4-6, rotary joint 6-7, rotary joint 7-8, rotary joint 8-9 relative rotation and carry out " folding ",
To make each arm section and attachment base and surgical instrument " foldings " formula of motion arm be laid out, optimize assisted under off working state it is minimally invasive
The balance and assisting minimally invasive single hole operating robot overall space of surgery single hole operating robot overall structure stress account for
Dosage problem.Be conducive to the long term maintenance maintenance of assisting minimally invasive single hole operating robot using this arragement construction, and can be with
Extend the service life of assisting minimally invasive single hole operating robot.The utility model proposes collapsible assisting minimally invasive list
Hole operating robot accounts for after each arm section and surgical instrument " folding " formula of supporting leg and motion arm layout fold in a non-operative state
It is small with space, it is limited especially suitable for operation site space, such as steamer, submarine etc., while the structure also gives auxiliary minimally invasive outer
The packaging and transport bring convenience of section's single hole 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, collapsible 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
The optimization problem of assisting minimally invasive single hole operating robot overall space occupancy.The utility model proposes it is collapsible auxiliary
Help each arm section and surgical instrument " folding " formula of minimally invasive surgery single hole operating robot supporting leg and motion arm in a non-operative state
Layout occupies little space after folding, and is conducive to long term maintenance maintenance, packaging and the fortune of minimally invasive surgery single hole operating robot
It is defeated.
The utility model proposes a kind of frame-type assisting minimally invasive single hole operating robot arragement construction, can be in reality
It applies motion arm 6, motion arm 7, motion arm 8 and rotary joint 4-6, rotary joint 6-7, rotary joint 7-8 on the basis of example 1
It is changed to motion arm 6 and linear joint 4-6, it is that surgical instrument is operated and is positioned that motion arm, which equally may be implemented,
Function.It is specific as follows:
Embodiment 2
Specific structure is as shown in Figure 10, Figure 11:
On the basis of embodiment 1, by motion arm 6, motion arm 7, motion arm 8 and rotary joint 4-6, rotary joint 6-7,
Rotary joint 7-8 is changed to motion arm 12 and Z axis to linear joint -4-12, the motion arm 12 and the attachment base 9 it
Between be connected by Z axis to rotary joint 12-9, and the attachment base 9 connects a quick union, in the quick union
Upper installation endoscope or surgical instrument.It is that surgical instrument is operated the function positioned that motion arm, which equally may be implemented,
Energy；
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 (6)
1. a kind of collapsible assisting minimally invasive single hole operating robot, it is characterised in that: including supporting leg, two columns and operation
Arm；Two uprights verticals are fixed on the supporting leg, are supported and are fixed assisting minimally invasive single hole surgical machine
The motion arm of people；The motion arm includes two groups of motion arm group I and one group of motion arm group II；Two groups of motion arm group I are symmetrically set
It sets, one end of two groups of motion arm group I passes through Z axis respectively and is connected to rotary joint I with column, the other end of two groups of motion arm group II
It is connected by Z axis to rotary joint II, motion arm group II is connected with Z axis to the bottom of rotary joint II, the motion arm group
II realizes the positioning of endoscope or surgical instrument in Z-direction and X-direction.
2. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the supporting leg
Including two groups, every group of supporting leg includes two supporting legs, and the top of two supporting legs is connected by Y-axis rotary joint.
3. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the supporting leg
Bottom is equipped with movable pulley, for mobile or fixed fold formula assisting minimally invasive single hole operating robot.
4. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the motion arm
Group I includes arm section one and arm section two；One end of arm section one is connected to rotary joint I with column by Z axis, the other end of arm section one
It is connected to rotary joint III with one end of arm section two by Z axis；The other end Z axis of arm section two is to rotary joint II and another behaviour
The arm section two for making arm group I is connected.
5. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the motion arm
Group II includes arm section three, arm Duan Si, arm section five；One end of arm section three is by X axis rotary joint I and Z axis to rotary joint I's
Bottom is connected, and the other end of arm section three is connected by X axis rotary joint II with one end of arm Duan Si；The other end of arm Duan Si is logical
X axis rotary joint III is crossed to be connected with one end of arm section five, the other end of arm section five by Z axis to rotary joint IV with connect
Seat is connected；And the attachment base connects a quick union, and endoscope or surgical instrument are installed on the quick union.
6. collapsible assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the motion arm
Group II includes arm section six；One end of arm section six is connected with Z axis to the bottom of rotary joint I by Z axis to linear joint, arm section six
Other end Z axis be connected to rotary joint V with attachment base；And the attachment base connects a quick union, described fast
Endoscope or surgical instrument are installed on connector.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821887464.9U CN209529333U (en) | 2018-11-15 | 2018-11-15 | A kind of collapsible assisting minimally invasive single hole operating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821887464.9U CN209529333U (en) | 2018-11-15 | 2018-11-15 | A kind of collapsible assisting minimally invasive single hole operating robot |
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| CN209529333U true CN209529333U (en) | 2019-10-25 |
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| CN201821887464.9U Active CN209529333U (en) | 2018-11-15 | 2018-11-15 | A kind of collapsible assisting minimally invasive single hole operating robot |
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| Country | Link |
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