CN209564208U - A kind of operating robot - Google Patents

Abstract

Operating robot provided by the present application includes pushing hands, trolley, mechanical arm, surgical instrument assemblies and the slide unit for connecting mechanical arm and surgical instrument assemblies of setting on the car, surgical instrument assemblies include the fixed device of instrument and surgical instrument, slide unit includes limit assembly to limit surgical instrument along the motion range in slide unit direction, mechanical arm has at least six freedom degrees, the side of trolley is provided with telescopic arm, telescopic arm can include trolley pedestal along the short transverse upper and lower translation of trolley, trolley and the column that is arranged on the trolley pedestal.By the operating robot, so that the operating robot has greater flexibility and agility, a variety of different surgical actions can be executed, to the freedom degree of surgical instrument, flexibility and the requirement of sensitivity when meeting operation.

Description

A kind of operating robot

Technical field

The utility model relates to the field of medical instrument technology more particularly to a kind of operating robots.

Background technique

In micro-wound surgical operation, it is often necessary to which doctor carries out the cutting, removing, suture etc. of tissue manually, for some Complicated surgical operation needs doctor's standing for a long time and handhold mini-size surgical instrument is performed the operation, and doctor is easy to fatigue, from And influence the quality of operation.Meanwhile conventional Minimally Invasive Surgery instrument is the simple imitation to conventional open surgical instrument, freely Degree is less, flexibility is low and instrument internal friction is big, will lead to the decaying and doctor's fatigue of driving force, it is difficult to avoid the hand of doctor The reduction for the accuracy quiver, performed the operation caused by fatigue, is not easy to the smooth development of operation.

Currently, there is the human-aided micro-wound surgical operation of machine to be gradually applied in actual clinic, these robot assisteds The freedom degree that has of surgical operation it is lower, such as when carrying out more complex Minimally Invasive Surgery, be unable to satisfy doctor and performing the operation When to the freedom degree of surgical instrument, flexibility and the requirement of sensitivity, therefore in the prior art robotic surgery operation exist not Flexible technical problem.

Utility model content

Telescopic arm is arranged by making mechanical arm have at least six freedom degrees, while in trolley side in the utility model, makes Obtaining the operating robot has greater flexibility and agility, can execute a variety of different surgical actions, meet operation When to the freedom degree of surgical instrument, flexibility and the requirement of sensitivity.

Operating robot provided by the utility model, including pushing hands, trolley, mechanical arm, the surgical device of setting on the car Tool component and slide unit for connecting mechanical arm and surgical instrument assemblies, surgical instrument assemblies include the fixed device of instrument and hand Art instrument, slide unit include limit assembly to limit surgical instrument along the motion range in slide unit direction, and mechanical arm has at least six Freedom degree, the side of trolley are provided with telescopic arm, and telescopic arm can include platform along the short transverse upper and lower translation of trolley, trolley Underbody seat and the column being arranged on the trolley pedestal.

In one embodiment, mechanical arm includes end joint and is connected respectively with the first link arm and the second link arm Middle joint, end joint include the first joint being connected with trolley and the 6th joint being connected with slide unit.

In one embodiment, middle joint includes the second joint connecting with the first articulation, the first company of connection The 4th joint and closed respectively with the 4th joint and the 6th that the third joint of arm and the second link arm and the second link arm are rotatablely connected Save the 5th joint of rotation connection.

In one embodiment, the rotary shaft in the first joint and the short transverse of trolley are parallel, and with second joint Rotary shaft is vertical.

In one embodiment, limit assembly includes the first limit switch and for being located at two ends of slide unit Two limit switches.

In one embodiment, slide unit is connect by surgical instrument connecting support with surgical instrument.

In one embodiment, slide unit further includes stamp mechanism for card, and stamp mechanism for card includes stamp card to realize surgical instrument group Part patient's body along stamp card axis direction into and out.

In one embodiment, setting tag line is positioned on stamp card with stabbing card to the operation for entering patient's body.

In one embodiment, telescopic arm includes fixed arm and movement arm, and fixed arm is fixedly connected on the car, fixed It is linked together between arm and movement arm by line slide rail, movement arm can be done directly by line slide rail along the axial direction of telescopic arm Line movement.

In one embodiment, the quantity of telescopic arm is 2, is separately positioned on the two sides of trolley.

The utility model compared with the prior art the advantages of be: by make connect surgical instrument mechanical arm have it is multiple Freedom degree can allow surgical instrument to operate in multiple directions again, increase the dimension of operation；It is set simultaneously in trolley side Telescopic arm is set, so that mechanical arm can be along the short transverse upward-downward translation of trolley and perpendicular to flat before and after trolley short transverse It is dynamic, the motion range of mechanical arm is increased, so that the operating robot has greater flexibility and agility, can be executed more The different surgical action of kind, when meeting operation advantageously to the freedom degree of surgical instrument, flexibility and the requirement of sensitivity In going on smoothly for operation；And then made by the way that limit assembly is arranged on slide unit with limiting the linear motion range of surgical instrument It obtains surgical instrument to operate in safely range always, surgical instrument movement is avoided to lead to the case where damaging hair to extreme position It is raw.

Above-mentioned technical characteristic may be combined in various suitable ways or be substituted by equivalent technical characteristic, as long as can reach To the purpose of this utility model.

Detailed description of the invention

Hereinafter the utility model will be described in more detail based on the embodiments and with reference to the accompanying drawings.Wherein:

Fig. 1 shows the schematic diagram of the operating robot according to the utility model embodiment；

Fig. 2 to Fig. 5 shows the schematic diagram of the slide unit according to the utility model embodiment；

Fig. 6 shows the perspective view of the surgical instrument connecting support according to the utility model embodiment；

Fig. 7 shows the schematic diagram of the mechanical arm according to the utility model embodiment；

Fig. 8 shows the schematic diagram of the operating robot according to another embodiment of the utility model；

Fig. 9 shows the schematic diagram of the trolley according to the utility model embodiment；

Figure 10 shows the schematic diagram of the telescopic arm according to the utility model embodiment；

Figure 11 shows the top enlarged diagram of trolley in Fig. 9 according to the utility model embodiment.

In the accompanying drawings, identical component uses identical appended drawing reference.Attached drawing is not according to actual ratio.

Specific embodiment

Below in conjunction with attached drawing, the utility model is described in further detail.

As shown in Figure 1, the operating robot 1 includes pushing hands 2, mechanical arm 3, trolley 4, slide unit 5 and surgical instrument assemblies 6。

As shown in (a) and (b) in Fig. 2, slide unit 5 is by shell 51, driving motor 52, mounting plate 53, driving section 54, operation Device assembly connecting support 55 and stamp mechanism for card 56 form, wherein driving section 54 includes driving wheel 541, driven wheel 542, same Band 543, bracket 544, lead screw pair 545 are walked, lead screw pair 545 includes lead screw 546 and the first sliding block 547.

As shown in Figures 2 and 3, driving motor 52 preferably has encoder, and the driving motor 52 is along mounting plate 53 Length direction the front of mounting plate 53 is set to by driving motor fixing component 57, which includes It is set to the installation sheet 571 of 53 two sides of mounting plate and is supported on the plate 572 that is slidably installed of the two 571 tops of installation sheet.Tool Body, the mounting groove extended along 53 width direction of mounting plate is offered on the top of the installation driving motor 52 of mounting plate 53 531, the width of the mounting groove 531 and length (perpendicular to the mounting plate direction) of installation sheet 571 are equal so as to passing through bolt Installation sheet 571 is fixedly installed in respectively in mounting groove 531.The plate 572 that is slidably installed is preferably square configuration, width and peace The width of loading board 53 is equal, and top both sides of the edge are provided with multiple first screw holes 5721, which is configured to two sides For semicircular strip screw hole, the plate 572 that makes to be slidably installed and making bolt penetrate first screw hole 5721 is installed securely The top of installation sheet 571 in two sides.

In addition, this is slidably installed, the top center of plate 572 is provided with the first center hole 5722, has a diameter larger than driving electricity The diameter of the output shaft of machine 52 is so that the output shaft of the driving motor 52 can pass through first center hole 5722, first Multiple screw holes are evenly distributed with around center hole 5722 so that the plate 572 that is slidably installed is fastenedly connected with driving motor 52.Due to The special shape of first screw hole 5721 allows to the mounting distance to driving motor 52 relative to mounting plate 53 and adjusts Section.

The output shaft of driving motor 52 is fixedly connected after passing through the first center hole 5722 with driving wheel 541, to make to lead Driving wheel 541 is rotated with the rotation of driving motor 52.

Mounting plate 53 the back side be fixedly installed bracket 544, as shown in Figure 4 and Figure 5, the length of the bracket 544 preferably with The length of mounting plate 53 is roughly equal to guarantee the compact of structure.Specifically, along the length direction of mounting plate 53 and bracket 544 Equivalent has been evenly distributed multiple screw holes, to be achieved a fixed connection by screw.The bracket 544 includes the first support at top The center in the second support portion 5442 in portion 5441 and bottom, first support portion 5441 and second support portion 5442 is respectively arranged with Two center holes 5443 and third center hole 5444, the both ends of lead screw are respectively arranged in the second center hole 5443 and third In heart circular hole 5444.It is provided with rotating part 5445 in second center hole 5443, the rotating part 5445 and the second center hole There are gap so that rotating part can rotate freely in the second center hole 5443 between 5443.It is arranged in the rotating part 5445 There is the 4th center hole 5446, the diameter of the 4th center hole 5446 is equal with the diameter of lead screw simultaneously tight to pass through lead screw It is fixed in wherein, the radial direction of the 4th center hole 5446 is provided with the groove of the notch, in the position of the close first end of lead screw It installs and is equipped with fastener corresponding with the groove of the notch, after this of lead screw end is passed through the 4th center hole 5446, the fastener It is snapped connection with groove of the notch formation, in fixed lead screw and rotating part strongerly.It is formed at the first end of lead screw 545 The connecting shaft portion of small diameter, the diameter configuration in the connecting shaft portion with driven wheel 542 at can securely fix, and the connecting shaft portion Length configuration is at making driven wheel 542 and driving wheel 541 is located at sustained height to guarantee transmission efficiency and precision.

Synchronous belt 543 is arranged between driving wheel 541 and driven wheel 542, in this way, driven wheel 542 can be with master The rotation of driving wheel 541 and rotate.

It, can be in the remote of plate 572 that be slidably installed in order to be pre-tightened when installing synchronous belt 543 to synchronous belt 543 Two lugs 573 are arranged in bottom from mounting plate 53, and direction of the lug 573 from the top of mounting plate 53 towards bottom end extends, In It is respectively arranged with screw hole at the two lugs 573, when installing driving motor 52, by making to tighten bolt 574 across the screw hole And it is resisted against the side of corresponding installation sheet 571.Under such a configuration, when installing synchronous belt 543, made and tightening the bolt The plate 572 that the is slidably installed opposite direction translation certain distance mobile to bolt, so that driving motor 52 and driving wheel 541 be driven to translate Same distance then realizes the preload of synchronous belt 543, ensure that the overall precision of legacy system is higher.

The through-hole for including screw thread is provided with along the length direction of the first sliding block 547 inside the first sliding block 547, by screw rod Across the through-hole to form lead screw pair 545 with lead screw, which can convert first for the rotary motion of lead screw 546 The linear motion of sliding block 547.Multiple screw holes have circumferentially been evenly distributed thus and surgical device at the top of the first sliding block 547 Tool component connecting support 55 is fastenedly connected.

Herein, as shown in fig. 6, the cross section of the surgical instrument assemblies connecting support 55 is in " I " fonts comprising excellent It is selected as integrally formed the first seat part 551 being located above, the second seat part 552 of lower section and gusset connecting the two 553.The size of first seat part 551 is greater than the second seat part 552, is evenly distributed with along the circumferential direction of the first seat part 551 multiple Screw hole, so that circumferential screw hole corresponding to 547 top of the first sliding block is securely connected by screw.Second seat part 552 is used It is fixed in the isolation seat with surgical instrument assemblies 6, so that slide unit 5 and surgical instrument assemblies 6 are fixed together.In the hand The side far from the first sliding block 547 of the gusset 553 of art device assembly connecting support 55 is fixedly installed line card 554 to allow electricity Cable is passed through and then is electrically connected with surgical instrument assemblies 6.In addition, the position corresponded at the top of slide unit on the shell 51 of the slide unit Place is set, is offered along 5 length direction of slide unit and moves escape groove 511, after the slide unit 5 is installed, the first seat part 551 Within shell 51, the second seat part 552 is located at other than shell 51, gusset 553 can in the movement escape groove 511 with The movement of first sliding block 547 and move.

Referring back to Fig. 5, it is sliding to reduce first to the maximum extent that a side of mounting plate 53 is provided with limit assembly The case where block 547 moves to other than extreme position generation, the limit assembly include the first limit switch 532 and the second limit switch 533.Specifically, first limit switch 532 and the second limit switch 533 are respectively fixedly disposed at close to the top of mounting plate 53 At the position of bottom.Limit switch may include the limit switch ontology being fixed on 53 side of mounting plate and with limit Bit switch ontology is fastenedly connected or the limit film of one-piece construction, herein, is fixedly connected at the respective side portion of the first sliding block 547 There is limited block 5471, so that the limited block 5471 connects with the limit film when the first sliding block 547 moves to limit-switch positions Touching, makes corresponding limit switch transformation level output model, and system limits the movement of slide unit according to the signal.For example, when the The first sliding block 547 cannot be further continued for toward top movements, when the second limit switch 533 obtains when one limit switch 532 obtains signal The first sliding block 547 cannot be further continued for moving toward bottom when signal.Preferably, the both ends of the limited block 5471 in bevel-faced form so as to To provide certain buffering for the limit.It is highly preferred that the limit film be fastenedly connected at a certain angle with limit switch ontology or Integral type connection.Preferably, the end setting idler wheel of the limit film contacted with limited block 5471, to reduce limit film and limit Frictional force between block, prolongs the service life.

Preferably, it is semicircular strip screw hole that the fastening screw hole on limit switch, which is both ends, in this way, can pass through tune It saves the position of bolt and adjusts the forward or backward of limit switch, manipulate the movement of the first sliding block 547 more flexiblely to reach The purpose of extreme position.

On the other hand, the first sliding block 547 can be automatically toward the movement of 52 side of driving motor until with the when system starts every time This location position can be automatically slide unit zero-bit by the collision of one limit switch 532, system.Due to being equipped with coding on driving motor 52 Device, by the conversion of the record and cabling drag chain 548 of encoder, subsequent first sliding block 547 moves to any position on slide unit 5 It can be calculated, specifically, the first sliding block 547, can due to being equipped with encoder on driving motor 52 in subsequent motion Angle is rotated to be accurately detected driving motor 52, thus angle can be rotated by fixed register ratio be calculated first The distance that sliding block 547 actually moves along a straight line, to obtain the first sliding block 547 at this time on slide unit relative to the position of zero-bit in real time It sets, to carry out effective monitoring to the first sliding block 547 and the surgical instrument assemblies position being installed on the first sliding block 547. By the feedback of the data, software defined 547 motion range of the first sliding block of comparison system.When the first sliding block 547 is calculated When position is beyond range is limited, it also can stop the first sliding block 547 from software and continue to move, reach and carried out using software The purpose of limit.

It is provided in the other side of mounting plate 53 for accommodating and protecting the signal from slide unit towards surgical instrument assemblies The cabling drag chain 548 of cable, the cabling drag chain 548 are the straight chain structure being formed by connecting by multiple drag chain unit head and the tail, are come from The cable of control system passes through the drag chain unit of top portion and along the extending direction of cabling drag chain 548 from the drag chain list of terminal part Member is pierced by, the line card 554 by being set in surgical instrument assemblies connecting support 55 and connect with surgical instrument assemblies 6.Pacifying The a certain position of the other side of loading board 53 is fixedly installed the first drag chain bindiny mechanism, in the corresponding side of the first sliding block 547 It is fixedly installed the second drag chain bindiny mechanism, the top portion of the cabling drag chain 548 passes through the first drag chain bindiny mechanism and installation Plate 53 is fixedly connected, and terminal part is fixedly connected by the second drag chain bindiny mechanism with mounting plate 53.Under above-mentioned construction, walk The terminal part of line drag chain 548 is correspondingly moved with the straight reciprocating motion of the first sliding block 547.

It is also shown in Fig. 5 and is fixedly installed stamp mechanism for card 56 at the bottom of mounting plate 53 to realize surgical instrument group Part 6 is in human body along the axis direction of stamp card into and out function.The stamp mechanism for card 56 includes stamp card 561 and stamp card peace 562 are shelved, one end of stamp card mounting rack 562 is fixedly connected on the back bottom of mounting plate 53, and the other end then passes through stamp card Quick Release Mechanism connection stamp card, to realize being rapidly assembled and disassembled between operation preparation process and ending phase stamp card 561 and slide unit 5.

Stamp card 561 mainly include installation cavity 5611 and tube wall 5612, installation cavity 5611 for install surgical instrument assemblies and Laparoscope passes through in surgical instrument assemblies and laparoscope and carries out observation and hand inside tube wall 5612 so as to enter patient's body Art operation.On the outer surface of tube wall 5612, it is provided with tag line, it can be to the stamp card for entering patient's body by tag line 561 devices are positioned, to grasp insertion position and the depth of stamp 561 devices of card, reach the requirement of operation.

As shown in Figure 5, first identifier line 5613 be set to stamp card 561 devices be in normal mounting when can be outer It is exposed to the position that patient skin is outer and can observe by the naked eye, specific setting position those skilled in the art can be according to reality Border needs to be adjusted.Second identifier line 5614 be set to stamp card 561 devices be in normal mounting when can bury completely in In skin layer position, third tag line 5615 is set to can be seen when stamp 561 devices of card are in normal mounting by endoscope The position observed.Similarly, specific setting position those skilled in the art of second identifier line 5614 and third tag line 5615 can To be adjusted according to actual needs, the restriction in size is not done herein.Setting in this way can satisfy and block every time to stamp Accurate be arranged of the insertion position of 561 devices reaches consistent with depth.

Preferably, above-mentioned tag line, such as first identifier line 5613, second identifier line 5614 and third tag line 5615 One or more, along tube wall 5612 external circumferential be arranged.Setting in this way can make operator from each angle Degree can be clearly observed the location of tag line, to grasp insertion depth and the position of stamp 561 devices of card.

Preferably, above-mentioned tag line is set to the front of tube wall 5612.Before tag line is set to tube wall 5612 Portion is met in actual use near patient skin, grasps stamp card 561 and the observation to tag line extremely conveniently The insertion depth of device and position.

Preferably, tag line is solid black lines.Setting in this way can have preferable to tag line under light of performing the operation Visual effect.

Preferably, second identifier line 5614 is greater than first identifier line 5613 in the axial width of tube wall 5612 and third identifies Line 5615.Setting in this way promptly can distinguish each tag line in insertion, by relatively thick second Tag line 5614 is arranged in patient skin layer position, avoids the mistake because accidentally knowing with causing setting position due to confounding line.

The slide unit 5 further includes mechanical arm mounting portion 549, and the mechanical arm mounting portion 549 fastening is being set to mounting plate 53 just Face comprising pacify close to the first mechanical arm mounting portion of the positive bottom of mounting plate 53 and close to the second mechanical arm of driving motor 52 Dress portion, the bindiny mechanism of mechanical arm is fixedly connected between first mechanical arm mounting portion and second mechanical arm mounting portion, and the two The distance between depend on the mechanical arm 4 bindiny mechanism length.

During installation, usually mechanical arm 3 and slide unit 5 are securely connected by the bindiny mechanism of mechanical arm, that is to say, that should One end of the bindiny mechanism of mechanical arm connects slide unit 5, and the other end connects mechanical arm 3.

As shown in Figure 1, the operating robot 1 has at least one mechanical arm 3 and is correspondingly connected at least with mechanical arm 3 One slide unit 5.It will be hereinafter introduced by taking wherein one group of mechanical arm and slide unit as an example.

Mechanical arm 3 has at least six freedom degrees.For example, mechanical arm 3 can have six rotational freedoms and one with On translational degree of freedom.

The implementation of one aspect according to the present utility model, six rotational freedoms of mechanical arm 3 is as follows.

As shown in fig. 7, during mechanical arm 3 includes end joint and is connected respectively with the first link arm 37 and the second link arm 38 Between joint, end joint includes the first joint 31 being connected with trolley 4 and the be connected with the mounting base 21 of operation tool 2 the 6th Joint 36.Optionally, the 6th joint 36 is used as the bindiny mechanism of mechanical arm to connect slide unit 5 and mechanical arm 3.

Further, middle joint includes the second joint 32 being rotatablely connected with the first joint 31, connect the first link arm 37 With the third joint 33 of the second link arm 38, with the 4th joint 34 of the second link arm 38 rotation connection and respectively with the 4th joint 34 With the 5th joint 35 of the 6th joint 36 rotation connection.I.e. the both ends of the first link arm 37 respectively with second joint 32 and third joint 33 are connected, and the relative motion between the first link arm 37 and the second link arm 38 then leans on third joint 33 to realize.

As shown in figure 8, the rotary shaft L1 in the first joint 31 is parallel with the short transverse of trolley 4, and with second joint 32 Rotary shaft L2 is vertical.Rotary shaft L4, the rotary shaft L5 in the 5th joint 35 and the rotary shaft in the 6th joint 36 in the 4th joint 34 L6 is mutually perpendicular to.By the rotation in six above-mentioned joints, it can be realized six rotational freedoms of mechanical arm 3, thus mechanical The movement of arm 3 can imitate the arm motion of human body completely, so that the lesions position of actual needs operation accurately be determined Auxiliary operation of the position without doctor, is overlapped the sight of doctor with the lesions position that needs operate, avoids doctor's trick not Risk that is consistent and increasing operation.

In addition, settable joint sensors on six above-mentioned joints, to measure the rotational angle in each joint, to obtain Obtain endoscope current pose information；And six above-mentioned joints can be driven by motor.

Further, above-mentioned each joint is the execution unit of movement, is connected between each execution unit, so that each There is preferable isotropism, and without accumulated error between joint, so that robot complete machine precision with higher, and have dynamic State responds good Deng technical characterstics.

When second link arm 38 is rotated using the axis in third joint 33 as rotary shaft, maximum rotation angle is 360 °.

When first link arm 37 is rotated using the axis of second joint 32 as rotary shaft, maximum rotation angle is 180 °.

In one embodiment of the utility model, the quantity of above-mentioned mechanical arm 3 can be two or more, Multiple mechanical arms 3, which can be fixed on the different sides of trolley 4 and the end of mechanical arm 3, can be equipped with different operation works Tool, to meet the requirement of complicated operation.

Another aspect according to the present utility model, more than one translational degree of freedom of mechanical arm 3 include upward-downward translation freedom Degree and front and back translational degree of freedom, the implementation of the two are as follows.

As shown in figure 8, telescopic arm 13 is mounted on column 12 by telescopic arm mounting base 1323, in the outside of telescopic arm 13 Telescopic arm shell is provided with to protect the structure of telescopic arm 13, which includes fixed arm 132 and movement arm 133, solid Adapter flange mounting plate 1321 is arranged in fixed arm 132 securely to connect with the adapter flange being arranged with trolley side to fix telescopic arm 13。

As shown in Figure 10, the axial restraint on fixed arm 132 along fixed arm 132 is equipped with line slide rail 1322, movement arm 133 are slidably connected on line slide rail 1322, and the second sliding block 134 is provided between movement arm 133 and line slide rail 1322, movement Arm 133 can be axially moved by the second sliding block 134 along line slide rail 1322, so that movement arm 133 can be along fixed arm The axial direction of 132 axial direction, i.e. telescopic arm 13 is for linear motion, realizes the adjusting of 13 length of telescopic arm.Line slide rail 1322 simultaneously It can also bear the load suffered by other directions in addition to axial force of movement arm 133.

Be provided between movement arm 133 and fixed arm 132 receiving and protection by telescopic arm 13 signal cable the One drag chain 135, the first drag chain 135 are bent camber by self structure, and one end is connected to the end of movement arm 133, the other end It is fixedly connected with fixed arm 132.When movement arm 133 moves along a straight line along line slide rail 1322, the servo-actuated state of the first drag chain 135 Its shape can be made to be maintained in certain spatial dimension, at the same the bending semi arch of the first drag chain 135 remain unchanged and with The linear motion of movement arm 133 is servo-actuated.

Positioning electromagnet 136 is installed in 133 rear end of movement arm and carries out axial positioning to movement arm 133.And in fixation The two sides of arm 132 are separately installed with rubber anti-collision block, are defined to the movement orientation of movement arm 133, and movement arm 133 is avoided to transport It moves other than required range.

The telescopic arm 13 after installation is complete, in the case where not being powered to positioning electromagnet, is fixed on movement arm 133 Positioning electromagnet since the relationship of magnetic force is pulled together with fixed arm 132, at this time the normal operating force of operator cannot gram This electromagnetic force is taken, so that movement arm 133 is fixed.When needing to adjust the length of telescopic arm 13,133 front end of movement arm is triggered Unblock button, simultaneity factor is powered to positioning electromagnet and releases electromagnet suction, and positioning electromagnet lifted under the action of the spring Height, movement arm 133 and fixed arm 132 also separate simultaneously, can easily push movement arm 133 in line slide rail 1322 at this time Axial direction sliding.It is to be exercised to unblock button behind desired position, is discharged, movement arm 133 and fixed arm 132 are attracted again to be consolidated It is scheduled on together.

Mechanical arm 3 is fixedly connected with one end of movement arm 133, meanwhile, the first joint 31 of mechanical arm 3 can be around rotation Axis L1 rotation.On the one hand, fixed arm 132 can be along trolley short transverse two-way in about 12 column together with movement arm 133 Ground sliding, to realize the upward-downward translation freedom degree of mechanical arm 3；On the other hand, by movement arm 133 in fixed arm 132 edge Linear guide 1322 it is free to slide, drive the front and back of the mechanical arm 3 free to slide.

As shown in figure 9, trolley 4 includes trolley pedestal 11 and the column 12 being fixed on trolley pedestal 11, it is mechanical Arm 3 is arranged on column 12.Trolley pedestal 11 and column 12 are arranged at the inside of trolley shell, and trolley shell not only will control Component and mechanical part are integrated, and beautiful, protection internal structure can be more played the role of.

The quadrangle of the bottom of trolley pedestal 11 is respectively arranged with hydraulic lifting castor, and hydraulic lifting castor includes hydraulic pressure support Foot 111 and universal wheel 112.

Hydraulic supporting feet 111 is connected by hydraulic tube with the hydraulic pump 113 that pallet bottom is arranged in, and hydraulic pump 113 is set It is equipped with rocker lever, by artificially controlling rocker lever, can control the flexible of hydraulic supporting feet 111 and universal wheel 112, when Rocker lever is shaken when packing up hydraulic supporting feet 111, universal wheel 112 land, it can be achieved that trolley 4 movement, when shaking rocking bar When handle stretches out hydraulic supporting feet 111, hydraulic supporting feet 111 can support trolley to make universal wheel 112 liftoff, realize trolley 4 Park.

It is connected with pushing hands 2 at the rear portion of trolley 4, can be used for pushing trolley 4.

As shown in figures 9 and 11, column 12 includes column main body 121, outer guide component 122, movable pulley component 123 and determines Pulley assembly 124, outer guide component 122 are respectively arranged in the left and right sides of column main body 121, and movable pulley component 123 is set respectively It sets on outer guide assembly 122, the top of trolley 4 is arranged in fixed pulley assembly 124, will be located at column by fixed pulley group 124 The movable pulley component of two sides links together,

Outer guide component 122 includes that the adapter flange 1221 at left and right sides of column is arranged in and is arranged on front side of column 12 Second drag chain 1222, adapter flange 1221 can do upper and lower linear motion along the axis of column.One end of second drag chain 1222 with Adapter flange 1221 is connected, and the other end is connected on the mounting plate of 1222 lower section of the second drag chain, while the second drag chain 1222 bend to a semicircular arc by self structure.Cable is then nested in the hollow structure of the second drag chain 1222 formation, When adapter flange 1221 moves up and down, the servo-actuated state of the second drag chain 1222 can make its shape be maintained at certain spatial dimension It is interior, at the same the semi arch of the tip flexion of the second drag chain 1222 remain unchanged and with the linear motion of adapter flange 1222 carry out with It is dynamic.Both it had protected cable not cause abrasion to be leaked electricity with external structural friction, while having eliminated because of the cable movement that there is no limit Abnormal sound caused by collision with other structures scrapes.

As shown in Figure 10, fixed pulley assembly 124 includes electromagnetic brake 1241 and main fixed pulley 1242 and from fixed pulley 1243, Electromagnetic brake 1241 is attached with main fixed pulley 1241 by axis respectively, and fixed pulley is wound with wirerope 1244, wirerope After 1244 connect with mounting base on the outside of column, pass through the movable pulley of fixed pulley, movable pulley component 123 with fixed pulley assembly 124 Winding combination, then with inside column 12 interior guide rail and balance weight assembly be connected fitting.It is opened by the energization of electromagnetic brake 1241 Open the unlatching and stopping that control pulley rotation function is closed with power-off.The energization of electromagnetic brake 1241 can move up and down outer after opening Guide assembly 122 realizes the open and close of a freedom of motion, outer guide component can be realized after power-off to target position 122 hoverings.

The shell of trolley 4 includes front housing and rear shell, and the centre at trolley front and rear casing fastening is equipped with connecting plate, trolley 4 Front and rear casing the right and left is designed with strip groove and opening, and the external structure connected for adapter flange 1222 is coupled and carries out Linear motion, connecting plate are then used to cover opening up and down, facilitate the maintenance of internal part.Strip groove side is provided with scale Ruler, the telescopic arm 13 to move along a straight line above and below provide the height enlightenment relative to ground.

In one embodiment of the utility model, the top of column 12 is arranged in mechanical arm 3.Wherein, the top of column 12 End is provided with mechanical interface, and mechanical arm 3 is fixedly connected with mechanical interface.

When the side of column 12 is arranged in mechanical arm 3, the upper end of the shell of column 12 is provided with indicator light and/or control Button controls mechanical arm 3 with facilitating.

Optionally, the first joint 31 and 4 connecting place of trolley are provided with conduit, and the axis direction of conduit is respectively with first The axis direction in joint 31 and the short transverse of column 12 are vertical.Similarly, the 6th joint 36 and mechanical arm connection structure phase It is also equipped with conduit at even, to protect to the conducting wire drawn in joint.

By making the mechanical arm for connecting surgical instrument that there are multiple freedom degrees, surgical instrument multiple sides again can be allowed Operation upwards, increases the dimension of operation；Telescopic arm is set in trolley side simultaneously, so that mechanical arm can be along trolley Short transverse upward-downward translation and perpendicular to translation before and after trolley short transverse, increases the motion range of mechanical arm, so that the hand Art robot has greater flexibility and agility, can execute a variety of different surgical actions, opponent when meeting operation Freedom degree, flexibility and the requirement of sensitivity of art instrument are more conducive to going on smoothly for operation；And by being set on slide unit Limit assembly is set to limit the linear motion range of surgical instrument, then operates surgical instrument in safely range always, Surgical instrument movement is avoided to lead to the case where damaging to extreme position.

In the description of the present invention, it should be understood that term " on ", "lower", "bottom", "top", "front", "rear", The orientation or positional relationship of the instructions such as "inner", "outside", "left", "right" is to be based on the orientation or positional relationship shown in the drawings, and is only For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

Although describing the utility model herein with reference to specific embodiment, it should be understood that, this A little embodiments are only the example of the principles of the present invention and application.It should therefore be understood that can be to illustrative reality It applies example and carries out many modifications, and can be designed that other arrangements, without departing from this reality as defined in the appended claims With novel spirit and scope.It should be understood that can be combined by being different from mode described in original claim Different dependent claims and feature described herein.It will also be appreciated that combining spy described in separate embodiments Sign can be used in other embodiments.

Claims (10)

1. a kind of operating robot, including pushing hands, trolley, the mechanical arm being arranged on the trolley, surgical instrument assemblies and For connecting the slide unit of the mechanical arm and the surgical instrument assemblies, the surgical instrument assemblies include the fixed device of instrument and Surgical instrument, which is characterized in that the slide unit includes movement model of the limit assembly to limit the surgical instrument along slide unit direction It encloses, the mechanical arm has at least six freedom degrees, and the side of the trolley is provided with telescopic arm, and the telescopic arm can be along The short transverse upper and lower translation of the trolley, the trolley include trolley pedestal and the column that is arranged on the trolley pedestal.

2. operating robot according to claim 1, which is characterized in that the mechanical arm includes end joint and difference The middle joint being connected with the first link arm and the second link arm, the end joint include the first joint for being connected with the trolley with And the 6th joint being connected with the slide unit.

3. operating robot according to claim 2, which is characterized in that the middle joint includes and first joint The second joint of rotation connection, the third joint for connecting first link arm and second link arm turn with second link arm 4th joint of dynamic connection and the 5th joint being connect respectively with the 4th joint and the 6th articulation.

4. operating robot according to claim 3, which is characterized in that the rotary shaft in first joint and the trolley Short transverse it is parallel and vertical with the rotary shaft of the second joint.

5. operating robot according to claim 1, which is characterized in that the limit assembly includes being located at the cunning The first limit switch and the second limit switch of two ends of platform.

6. operating robot according to claim 1, which is characterized in that the slide unit by surgical instrument connecting support with The surgical instrument connection.

7. operating robot according to claim 1, which is characterized in that the slide unit further includes stamp mechanism for card, the stamp Mechanism for card include stamp card with realize the surgical instrument assemblies patient's body along it is described stamp card axis direction insertion and It extracts.

8. operating robot according to claim 7, which is characterized in that setting tag line is on the stamp card to suffer from entrance The intracorporal operation stamp card of person positions.

9. operating robot according to claim 1, which is characterized in that the telescopic arm includes fixed arm and movement arm, The fixed arm is fixedly connected on the trolley, is linked together between the fixed arm and movement arm by line slide rail, The movement arm can be moved in a straight line by the line slide rail along the axial direction of the telescopic arm.

10. operating robot according to claim 1, which is characterized in that the quantity of the telescopic arm is 2, is set respectively It sets in the two sides of trolley.