CN209595889U - A kind of frame-type assisting minimally invasive single hole operating robot - Google Patents
A kind of frame-type assisting minimally invasive single hole operating robot Download PDFInfo
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- CN209595889U CN209595889U CN201821886938.8U CN201821886938U CN209595889U CN 209595889 U CN209595889 U CN 209595889U CN 201821886938 U CN201821886938 U CN 201821886938U CN 209595889 U CN209595889 U CN 209595889U
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- operating robot
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Abstract
The utility model discloses a kind of frame-type 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 column, the motion arm and the adjacent arm section of the attachment base and carry out " folding ", each arm section and attachment base and surgical instrument " foldings " to make motion arm is conducive to the long term maintenance maintenance of minimally invasive surgery single hole operating robot, packaging and transports on the inside of column.
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 surgical instrument protectiveness problem and auxiliary of lower assisting minimally invasive single hole operating robot overall structure stress are micro-
The optimization problem of surgery single hole operating robot overall space occupancy is created, the utility model proposes a kind of easy disassembly, tune
It is whole flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, frame-type with long service life auxiliary are micro-
Surgery single hole operating robot is created, 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.Each arm section and surgical instrument " folding " formula of column and motion arm layout, are conducive to that surgical instrument is protected not touched
It is badly damaged and influences to use.The utility model proposes frame-type assisting minimally invasive single hole operating robot in off working state
It occupies little space after lower folding, it is limited especially suitable for operation site space, such as steamer, submarine etc., while the structure is also given
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 frame-type assisting minimally invasive single hole operating robot, including two supporting legs, two columns and motion arm；Two
A uprights vertical be fixed on two described on supporting leg, support simultaneously fixed assisting minimally invasive single hole operating robot
Motion arm, the column can along the Z axis between the column and the supporting leg to linear joint in vertical direction
Interior movement；The column can along the Z axis between the column and the supporting leg to linear joint in vertical direction
It is mobile；
The motion arm includes a vertically operating arm group and two lateral operation arms, and two lateral operation arm one end are logical
It crosses Z axis and is connected to rotary joint I with column described in two, the other end of two lateral operation arms passes through Z axis to rotary joint
II is connected；The vertically operating arm group realizes the positioning of endoscope or surgical instrument in Z-direction and X-direction.
Further, the column can be a telescopic rod, be also possible to the elevating lever of the drivings such as hydraulic, cylinder,
As long as its lifting for being able to achieve motion arm.
Further, the vertically operating arm group includes the multiple arm sections being sequentially connected in series and an attachment base, described
Pass through rotary joint between the adjacent arm section of motion arm, between the attachment base and the adjacent arm section of the motion arm
Or linear joint is connected, and the attachment base connects a quick union, installs endoscope on the quick union
Or surgical instrument.
Further, multiple arm sections include arm section one, arm section two and arm section three；One end of the arm section one is logical
It crosses X axial-rotation joint I and is connected with Z axis to the bottom of rotary joint II；Two other end of arm section is rotated by X axis
Joint II is connected with arm section three, and arm section three is connected to rotary joint III with attachment base by Z axis.
Further, multiple arm sections include arm Duan Si；One end of the arm Duan Si is mobile to joint by Z axis
It is connected with the bottom of Z axial-rotation joint II；Four other end of arm section passes through Z axis to rotary joint III and and attachment base
It is connected.
Further, the lateral operation arm is a L-type structure.
Further, two supporting leg bottoms are equipped with movable pulley, minimally invasive for mobile or fixed frame posture auxiliary
Surgery single hole operating robot, the supporting leg support and fix entire assisting minimally invasive single hole operating robot.
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 " folding ", so that each arm section and attachment base and surgical instrument " folding " that make motion arm be on the inside of column,
Both it is minimally invasive that the balance of assisting minimally invasive single hole operating robot overall structure stress and auxiliary under off working state had been optimized
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 supporting leg along the column and the supporting leg
Between linear joint proper height, the adjacent arm section of the column and the motion arm are adjusted in vertical direction
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 column can be relative to the supporting leg along the column and the branch
Joint between leg is adjusted to proper height in vertical direction, 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
Placed with carrying out " foldings " by the rotary joint relative rotation between arm section, thus make motion arm each arm section and attachment base with
Surgical instrument " folding " both optimizes assisting minimally invasive single hole operating robot under off working state and integrally ties on the inside of column
The balance and assisting minimally invasive single hole operating robot overall space occupancy problem of structure stress are conducive to protection operation again
Instrument is not broken impaired and influences to use.Be conducive to the length of assisting minimally invasive single hole operating robot using this arragement construction
Phase maintenance, and the service life of assisting minimally invasive single hole operating robot can be extended.Each arm of column and motion arm
Section and surgical instrument " folding " formula layout are conducive to that surgical instrument is protected not broken impaired and influence to use.The utility model
The frame-type assisting minimally invasive single hole operating robot of proposition occupies little space after folding in a non-operative state, particularly suitable
It is limited in operation site space, such as steamer, submarine etc., while the structure also gives assisting minimally invasive single hole operating robot
Packaging and transport bring convenience.
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, frame-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
The optimization problem of surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy.This reality
Solves the problems, such as surgical instrument protectiveness with the frame-type assisting minimally invasive single hole operating robot of novel proposition, in inoperative
Under state fold after occupy little space, and be conducive to minimally invasive surgery single hole operating robot long term maintenance 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 frame-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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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 frame-type 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
Property and off working state under assisting minimally invasive single hole operating robot overall structure stress balance and surgical instrument protection
The optimization problem of property problem and assisting minimally invasive single hole operating robot overall space occupancy, the utility model proposes one
Kind of easy disassembly, adjustment are flexibly, accurate positioning, rigidity is larger, reasonable stress, layout optimization, convenient transportation, with long service life
Frame-type assisting minimally invasive single hole operating robot arragement construction, it makes assisting minimally invasive by the topology layout of optimization
Single hole operating robot can either make motion arm with the target position of optimal angle arrival patient's operative site in the operating condition
It sets, is easily operated, optimize the flexibility that assisting minimally invasive single hole operating robot is laid out in working condition,
Also it can optimize the balance of the overall structure stress of assisting minimally invasive single hole operating robot in a non-operative state, use
This arragement construction is conducive to the long term maintenance maintenance of assisting minimally invasive single hole operating robot, and it is minimally invasive outer to extend auxiliary
The service life of section's single hole operating robot.Each arm section and surgical instrument " folding " formula of column and motion arm layout, are conducive to
Surgical instrument is protected not broken impaired and influence to use.The utility model proposes frame-type assisting minimally invasive single hole operation
Robot 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.
A kind of frame-type assisting minimally invasive single hole operating robot arragement construction, including four supporting legs, 1, two column 2
And motion arm, the motion arm include a vertically operating arm group and two lateral operation arms, two lateral operation arm one end
It is connected by Z axial-rotation joint I with column described in two, the other end of two lateral operation arms is closed by Z axis to rotation
II is saved to be connected；The vertically operating arm group realizes the positioning of endoscope or surgical instrument in Z-direction and X-direction.
Wherein vertically operating arm group includes motion arm 5, motion arm 6, motion arm 7；The connection relationship of specific various pieces
It is as follows:
1 bottom of supporting leg is equipped with movable pulley 4, for the operation of mobile or fixed frame posture assisting minimally invasive single hole
Robot, the supporting leg 1 supports and fixed entire assisting minimally invasive single hole operating robot；Four supporting legs link together
The framing holder of a rectangle is formed, a column 2 is respectively set on two supporting legs wherein；Column 2 is perpendicularly fixed at the branch
It on leg 1, and is parallel to each other, supports and fix the motion arm of assisting minimally invasive single hole operating robot；The column energy
It is moved in vertical direction along the linear joint 1-2 between the column 2 and the supporting leg 1.The column 2 can be with
It is a telescopic rod, is also possible to the elevating lever of the drivings such as hydraulic, cylinder, as long as is able to achieve the lifting of motion arm.
Further, it is connected by Z axis to rotary joint 2-3 between the column 2 and the motion arm 3, is described
Two motion arms 3 between be connected by Z axis to rotary joint 3-3, lead between the motion arm 3 and the motion arm 5
X axis rotary joint 3-5 is crossed to be connected, pass through X axis rotary joint 5-6 between the motion arm 5 and the motion arm 6
It is connected between the connected, motion arm 6 and the motion arm 7 by X axis rotary joint 6-7, the motion arm 7
It is connected by Z axis to rotary joint 7-8 between the attachment base 8, and the attachment base 8 connects a quick union,
Endoscope or surgical instrument are installed on the quick union.
Specifically, connection relationship is:
The motion arm 3 is L-type structure, and two motion arms 3 are horizontally set on two columns, two motion arms 3
One end is connected by two Z axis to rotary joint 2-3 with two columns respectively, and the other end of two motion arms 3 passes through a Z axis
It is connected to rotary joint 3-3；Z axis extends downwardly one section to the shaft bottom of rotary joint 3-3, and X axis rotary joint 3-5's turns
Axis is laterally inserted in shaft bottom of the Z axis to rotary joint 3-3, and one end of motion arm 5 is mounted on turning for X axis rotary joint 3-5
On axis, the other end is connected by X axis rotary joint 5-6 with motion arm 6, between the motion arm 6 and the motion arm 7
It is connected by X axis rotary joint 6-7, passes through Z axis between the motion arm 7 and the attachment base 8 to rotary joint 7-8
It is connected, and the attachment base 8 connects a quick union, endoscope or surgical instrument is installed on the quick union.
Further, between two motion arms 3 between the column 2 and the motion arm 3, described, 3 and of motion arm
Between motion arm 5 and the motion arm 6 between the motion arm 5, described, the motion arm 6 and the operation
It can be closed by the rotary joint 2-3 between arm section, rotation between motion arm 7 and the attachment base 8 between arm 7, described
It saves 3-3, rotary joint 3-5, rotary joint 5-6, rotary joint 6-7, rotary joint 7-8 relative rotation and carries out " folding ", thus
Make motion arm 3, motion arm 4, motion arm 5, motion arm 6, motion arm 7, attachment base 8 and surgical instrument " folding " in column 2
It is micro- both to have optimized the balance of assisting minimally invasive single hole operating robot overall structure stress and auxiliary under off working state for side
Wound surgery single hole operating robot overall space occupancy problem is conducive to that surgical instrument is protected not broken impaired and influenced again
It uses.
The course of work of the utility model is as follows:
In the operating condition, the column 2 can be relative to the supporting leg 1 along the column 2 and described
Linear joint 1-2 between supporting leg 1 is adjusted to proper height, the column 2 and the motion arm 3 in vertical direction
Between, between two motion arms 3, between the motion arm 3 and the motion arm 5, the motion arm 5 and institute
Between motion arm 6 and the motion arm 7 between the motion arm 6 stated, described, the motion arm 7 and the attachment base
It can be closed by the rotary joint 2-3 between arm section, rotary joint 3-3, rotary joint 3-5, rotary joint 5-6, rotation between 8
6-7, rotary joint 7-8 relative rotation adjustment angle are saved to optimize arrangement for greater flexibility, keeps attachment base 8 end fixed
Surgical instrument reaches the target position of patient's operative site more easily with optimal angle, is unfolded conducive to the operation of operation.
In a non-operative state, the column 2 can relative to the supporting leg 1 along the column 2 with it is described
Supporting leg 1 between linear joint be adjusted to proper height in vertical direction, the column 2 and the motion arm 3 it
Between, between two motion arms 3, between the motion arm 3 and the motion arm 5, the motion arm 5 and described
Motion arm 6 between, between the motion arm 6 and the motion arm 7, the motion arm 7 and the attachment base 8
Between can be closed by rotary joint 2-3 between arm section, rotary joint 3-3, rotary joint 3-5, rotary joint 5-6, rotation
6-7, rotary joint 7-8 relative rotation progress " folding " placement are saved, to make motion arm 3, motion arm 4, motion arm 5, motion arm
6, attachment base 7 and surgical instrument " folding " had both optimized assisting minimally invasive single hole under off working state and had performed the operation in 2 inside of column
The balance and assisting minimally invasive single hole operating robot overall space occupancy problem of robot overall structure stress have again
It influences to use conducive to protecting surgical instrument not broken impaired.Assisting minimally invasive single hole hand is conducive to using this arragement construction
The long term maintenance of art robot maintains, and can extend the service life of assisting minimally invasive single hole operating robot.Column and
Each arm section and surgical instrument " folding " formula of motion arm are laid out, and are conducive to that surgical instrument is protected not broken impaired and influence to make
With.The utility model proposes frame-type assisting minimally invasive single hole operating robot fold in a non-operative state after occupy it is empty
Between small, such as steamer, submarine etc. limited especially suitable for operation site space, while the structure also gives assisting minimally invasive list
The packaging and transport bring convenience of 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, frame-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
The optimization problem of surgical instrument protectiveness problem and assisting minimally invasive single hole operating robot overall space occupancy.This reality
Solves the problems, such as surgical instrument protectiveness with the frame-type assisting minimally invasive single hole operating robot of novel proposition, in inoperative
Under state fold after occupy little space, and be conducive to minimally invasive surgery single hole operating robot long term maintenance maintenance, packaging and
Transport.
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 5, motion arm 6, motion arm 7 and rotary joint 3-5, rotary joint 5-6, rotary joint 6-7 on the basis of example 1
It is changed to motion arm 5 and linear joint 3-5, 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 5, motion arm 6, motion arm 7
Motion arm 11 and linear joint 3-11, the operation are changed to rotary joint 3-5, rotary joint 5-6, rotary joint 6-7
It is connected between arm 11 and the attachment base 8 by rotary joint 11-8；Vertical shifting is realized by a linear joint 3-11
It is dynamic；And the attachment base 8 connects a quick union, and endoscope or surgical instrument are installed on the quick union.Together
It is that surgical instrument is operated the function of being positioned that motion arm, which may be implemented, in sample.
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 (7)
1. a kind of frame-type assisting minimally invasive single hole operating robot, it is characterised in that: including two supporting legs, two columns and
Motion arm；Uprights vertical described in two be fixed on two described on supporting leg, support simultaneously fixed assisting minimally invasive single hole
The motion arm of operating robot, the column can be along the Z axis between the column and the supporting leg to linear joint
It is moved in vertical direction；
The motion arm includes a vertically operating arm group and two lateral operation arms, and two lateral operation arm one end pass through Z
Axial-rotation joint I is connected with column described in two, and the other end of two lateral operation arms passes through Z axis to rotary joint II phase
Even；The vertically operating arm group realizes the positioning of endoscope or surgical instrument in Z-direction and X-direction.
2. frame-type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the column
It is the elevating lever an of telescopic rod or hydraulic cylinder driving.
3. frame-type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: described is vertical
Motion arm group includes the multiple arm sections being sequentially connected in series and an attachment base, between the adjacent arm section of the motion arm and described
Attachment base and the motion arm adjacent arm section between be connected by rotary joint or linear joint, and the company
Joint chair connects a quick union, and endoscope or surgical instrument are installed on the quick union.
4. frame-type assisting minimally invasive single hole operating robot as claimed in claim 3, it is characterised in that: described is multiple
Arm section includes arm section one, arm section two and arm section three；One end of the arm section one passes through X axis rotary joint I and Z axis to rotation
The bottom of joint II is connected；Two other end of arm section is connected by X axis rotary joint II with arm section three, and arm section three passes through
Z axis is connected to rotary joint III with attachment base.
5. frame-type assisting minimally invasive single hole operating robot as claimed in claim 3, it is characterised in that: described is multiple
Arm section includes arm Duan Si；One end of the arm Duan Si is mobile to joint and Z axis to the bottom phase of rotary joint II by Z axis
Even；Four other end of arm section is connected to rotary joint III with attachment base by Z axis.
6. frame-type assisting minimally invasive single hole operating robot as described in claim 1, it is characterised in that: the transverse direction
Motion arm is a L-type structure.
7. frame-type assisting minimally invasive single hole operating robot as claimed in claim 3, it is characterised in that: described two
Supporting leg bottom is equipped with movable pulley, for mobile or fixed frame posture assisting minimally invasive single hole operating robot, the branch
Leg supports and fixes entire assisting minimally invasive single hole operating robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821886938.8U CN209595889U (en) | 2018-11-15 | 2018-11-15 | A kind of frame-type assisting minimally invasive single hole operating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821886938.8U CN209595889U (en) | 2018-11-15 | 2018-11-15 | A kind of frame-type assisting minimally invasive single hole operating robot |
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| Publication Number | Publication Date |
|---|---|
| CN209595889U true CN209595889U (en) | 2019-11-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115645058A (en) * | 2022-10-21 | 2023-01-31 | 哈尔滨医科大学 | Auxiliary mechanical arm for operation |
-
2018
- 2018-11-15 CN CN201821886938.8U patent/CN209595889U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115645058A (en) * | 2022-10-21 | 2023-01-31 | 哈尔滨医科大学 | Auxiliary mechanical arm for operation |
| CN115645058B (en) * | 2022-10-21 | 2023-06-16 | 哈尔滨医科大学 | Auxiliary mechanical arm for operation |
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