CN210354899U

CN210354899U - Medical surgical robot

Info

Publication number: CN210354899U
Application number: CN201920806953.5U
Authority: CN
Inventors: 佟永峰
Original assignee: Kaiyiman Technology Tianjin Co ltd
Current assignee: Kaiyiman Technology Tianjin Co ltd
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-04-21
Anticipated expiration: 2029-05-31

Abstract

The utility model belongs to the technical field of the robot, especially, relate to a medical operation robot, its characterized in that is including removing base, near-end moving platform, distal end central motion mechanism, puncture needle insertion unit, near-end moving platform sets up remove on the base, distal end central motion mechanism sets up near-end moving platform is last, and can follow near-end moving platform slides, be fixed with on the distal end central motion mechanism the puncture needle insertion unit, the puncture needle insertion unit can be followed distal end central motion mechanism's arc track slides. The utility model has the advantages that: the separation of actions such as puncture needle positioning, posture repositioning, needle advancing and retreating can be realized, the precision is low, the intelligent degree is high, the occupied space of the machine is small, the movement is flexible, and the device can adapt to changeable operating room arrangement environments.

Description

Medical surgical robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a medical surgical robot.

Background

Minimally invasive surgery is performed by using an elongated rod-like surgical tool that is inserted into the body through a tiny incision in the surface of the body. Compared with the traditional open surgery, it can reduce surgical incision and surgical scar, shorten recovery time, reduce bleeding amount and complications, etc.; it can be seen that minimally invasive surgery has incomparable advantages with open surgery, and is thus favored by patients and doctors, and minimally invasive techniques are currently used in a variety of clinical fields.

However, the current minimally invasive surgery is basically completed by experienced doctors, but the experienced doctors are limited, the puncture surgery process lasts for a long time, and the energy of the doctors is limited, so that the popularization of the minimally invasive surgery is limited. Due to the advantages of minimally invasive surgery, and the difficulties in its operation, it is also desirable for physicians to have available aids to facilitate the performance and to be able to perform such procedures in a wider variety of fields. A puncture needle robot combining robot technology with conventional minimally invasive technology is generally recognized as a method for effectively solving the disadvantages of the conventional minimally invasive technology. However, the existing puncture needle robot has many defects, such as inconvenient use, low precision, low intelligent degree and the like. Therefore, a new minimally invasive surgical puncture needle robot system is needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

In order to overcome the not enough of above-mentioned prior art, the utility model provides a medical surgical robot can realize that felting needle location, gesture reposition of redundant personnel, advance the separation of moving back actions such as needle, and the precision is low, and intelligent degree is high, and machine space itself occupies for a short time, removes in a flexible way, can adapt to changeable operating room and arrange the environment.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a medical surgical robot, its characterized in that is including moving base, near-end moving platform, distal end central movement mechanism, puncture needle insertion unit, near-end moving platform sets up on the moving base, distal end central movement mechanism sets up on the near-end moving platform, and can follow near-end moving platform slides, be fixed with on the distal end central movement mechanism puncture needle insertion unit, puncture needle insertion unit can follow the arc track of distal end central movement mechanism slides.

The near-end moving platform comprises a lifting platform for adjusting the freedom degree in the vertical direction, an X-direction linear sliding table and a Y-direction linear sliding table, the lifting platform is arranged on the moving base, the X-direction linear sliding table and the Y-direction linear sliding table are perpendicularly and orthogonally arranged, the X-direction linear sliding table is fixed on the lifting platform, and the Y-direction linear sliding table is arranged on the X-direction linear sliding table and is perpendicular to the X-direction linear sliding table and the lifting platform;

the far-end central movement mechanism comprises an arc-shaped rotating arm, an electric rotating table, a crank and a base, the base is installed on a support of the Y-direction linear sliding table, the electric rotating table is arranged on the base and drives the arc-shaped rotating arm to rotate around the axis of the Y-direction linear sliding table, the electric rotating table is driven by a built-in stepping motor, the crank is arranged on the electric rotating table, the far end of the crank extends outwards to be provided with the arc-shaped rotating arm, and an arc-shaped sliding rail is arranged on the inner side of the arc-shaped rotating arm;

the needle inserting unit comprises a movable support, a linear module, a pulling pressure sensor and a puncture needle, the movable support is fixedly connected with an arc slide rail through a first slider and an arc rotary arm and driven by a band-type brake stepping motor, the output end of the band-type brake stepping motor is connected with the lower end of the arc rotary arm, the linear module is fixedly connected with the movable support, a second slider is arranged on the linear module, the puncture needle is arranged at the lower end of the second slider, and the pulling pressure sensor is arranged on the puncture needle.

The laser device comprises an electric rotating table, and is characterized by further comprising two lasers, wherein the lasers are respectively arranged at the center of the top end of the electric rotating table and at the tail end of the arc-shaped rotating arm.

The base is an L-shaped bracket.

The lower end of the movable base is provided with a caster.

The pull pressure sensor is fixedly connected with the second sliding block and the puncture needle through cantilever pin threads.

The X-direction linear sliding table and the Y-direction linear sliding table are driven by a first stepping motor and a second stepping motor respectively.

The linear module is driven by a third stepping motor.

The utility model has the advantages that: the near-end mobile platform realizes the movement of the equipment in three freedom directions and is used for adjusting the position of the puncture needle; the posture of the puncture needle is adjusted by the far-end center movement mechanism, RCM is realized by an arc mechanism based on the sphere center positioning principle, the mechanism is simple, and the precision is higher; the needle inserting unit controls the extending-in and extending-out process of the puncture needle, and the control process is accurate. Specifically, the base is shaped as an L-shaped bracket, on one hand, the base serving as a far-end central movement mechanism realizes the steering operation of the arc-shaped rotating arm, and on the other hand, the base serving as a limiting structure can prevent the puncture needle inserting unit from sliding out of the sliding rail. The arc-shaped slide rail is used for providing the adjustment of the inclined posture. The crank is arranged on the electric rotating table, the auxiliary needle feeding point is not shielded and is aligned with the laser, the second sliding block is arranged for compensating the circumferential deviation of the inclined plane introduced by the crank, and when the puncture needle is arranged at the center of the second sliding block, the extension line of the puncture needle always points to the intersection point of the inclined axis and the swinging axis of the arc-shaped rotating arm, namely the far-end movement center. The contracting brake stepping motor can be locked by power failure so as to ensure the accurate positioning and the safe operation of the puncture needle during the posture adjustment. The pull pressure sensor is used for detecting stress in the needle inserting process so as to make up for tactile sense loss in the remote control process of an operator, so that the needle inserting is more accurate, and the operation is safer. The utility model discloses can freely put the instrument arrangement in suitable position in order to adapt to different operating rooms environment in a flexible way, can realize that felting needle location, gesture reposition of redundant personnel, advance and retreat the separation of action such as needle, the precision is low, and intelligent degree is high, and machine space itself occupies for a short time, removes in a flexible way, can adapt to changeable operating room and arrange the environment.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic diagram of the relative position of the distal end center movement mechanism and the puncture needle insertion unit of the present invention.

In the figure, 1, a movable base, 2, casters, 3, a lifting platform, 4, an X-direction linear sliding table, 5, a Y-direction linear sliding table, 6, an arc-shaped rotating arm, 7, an electric rotating table, 8, a crank, 9, a base, 10, a movable support, 11, a band-type brake stepping motor, 12, a linear module, 13, a far-end motion center, 14, a puncture needle, 15, a laser, 16, a first sliding block, 17, a second sliding block, 18 and an arc-shaped sliding rail.

Detailed Description

An embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in fig. 1 and 2, the utility model provides a medical surgical robot, including moving base 1, near-end moving platform, distal end central motion, puncture needle insertion unit, near-end moving platform sets up on moving base 1, distal end central motion sets up on the near-end moving platform, and can follow the near-end moving platform slides, be fixed with on the distal end central motion the puncture needle insertion unit, the puncture needle insertion unit can follow the arc track of distal end central motion slides.

Near-end moving platform is including lift platform 3, the straight line slip table of X direction 4, the straight line slip table of Y direction 5 of the vertical direction degree of freedom of adjustment, lift platform 3 sets up on the moving base 1, the moving base 1 lower extreme is equipped with truckle 2, can freely put the instrument arrangement in suitable position in order to adapt to different operating room environment in a flexible way. The X-direction linear sliding table 4 is driven by a first stepping motor, and the Y-direction linear sliding table 5 is driven by a second stepping motor. The X-direction linear sliding table 4 and the Y-direction linear sliding table 5 are perpendicularly and orthogonally arranged, the X-direction linear sliding table 4 is fixed on the lifting platform 3, and the Y-direction linear sliding table 5 is arranged on the X-direction linear sliding table 4 and is perpendicular to the X-direction linear sliding table 4 and the lifting platform 3. The X-direction linear sliding table 4 and the Y-direction linear sliding table 5 are both provided with sliding tracks, and finally, the puncture needle 14 moves in the X direction and the Y direction.

The far-end central movement mechanism comprises an arc-shaped rotating arm 6, an electric rotating table 7, a crank 8 and a base 9, the base 9 is installed on a support of the Y-direction linear sliding table 5, and the base 9 is in an L-shaped support and serves as a base of the far-end central movement mechanism to achieve steering operation of the rotating arm; meanwhile, the L-shaped support is used as mechanical limit and used for preventing the puncture needle inserting unit from sliding out of the sliding rail. Electric rotary table 7 sets up on base 9, and drive arc rocking arm 6 winds the axis of Y direction straight line slip table 5 is rotatory, electric rotary table 7 is driven by built-in step motor, be equipped with on electric rotary table 7 crank 8, the setting of outwards extending of 8 distal ends of crank is

arc rocking arm

6, 6 inboards of arc rocking arm are equipped with arc slide rail 18, provide the adjustment of slope gesture.

The posture of the puncture needle 14 is adjusted by the far-end center movement mechanism, RCM is realized by the arc-shaped mechanism based on the sphere center positioning principle, the mechanism is simple, the precision is higher, and the axis of the surgical tool is constrained to point to the sphere center when the surgical tool moves in any direction around the two rotating shafts.

The needle inserting unit comprises a movable support 10, a band-type brake stepping motor 11, a linear module 12, a pull pressure sensor and a puncture needle 14, the movable support 10 is fixedly connected with an arc-shaped slide rail 18 of an arc-shaped rotating arm 6 through a first slide block 16 and is driven by the band-type brake stepping motor 11, and the band-type brake stepping motor 11 can be locked by power failure so as to ensure accurate positioning and safe operation of the puncture needle 14 during posture adjustment. The output end of the contracting brake stepping motor 11 is connected with the lower end of the arc-shaped rotating arm 6, the linear module 12 is fixedly connected with the movable support 10, and the linear module 12 is driven by a third stepping motor. The linear module 12 is provided with a second slide block 17, the puncture needle 14 is arranged at the lower end of the second slide block 17, and the puncture needle 14 is provided with a pull pressure sensor. The pulling pressure sensor is used for detecting stress in the needle inserting process so as to make up for tactile sense loss in the remote control process of an operator and ensure the accuracy of needle inserting.

The output end of a contracting brake stepping motor 11 is meshed with an arc-shaped rack at the lower end of an arc-shaped rotating arm 6 through a transmission gear to drive a puncture needle 14 on a movable support 10 to move along an arc-shaped sliding rail 18, a second sliding block 17 is arranged on the puncture needle 14, the lateral deviation of the inclined circumference introduced by a compensation crank 8 is ensured, when the puncture needle is arranged at the center of the second sliding block 17, the extension line of the puncture needle 14 always points to the intersection point of the inclined shaft and the swinging shaft of the arc-shaped rotating arm 6, namely a far-end movement center 13, and a pulling pressure sensor is fixed with the second sliding block 17, the.

There are also included lasers 15, preferably two such lasers 15, only one of which is indicated in the figure. Two dot-shaped lasers 15 are selected to assist the puncture robot in aligning needle insertion points before needle insertion, the two lasers 15 are respectively arranged at the center of the top end of a support of the electric rotating table 7 and the tail end (not marked) of the arc-shaped rotating arm 6, and after mechanical matching is finished, the lasers 15 need to be calibrated to enable laser beams to point to the intersection point of the extension line of the puncture needle and the rotating shaft of the electric rotating table 7.

In order to not shield the auxiliary needle feeding point aiming at the laser 15, the arc-shaped slide rail 18 providing the inclination freedom degree is not directly connected with the center of the electric rotating platform 7, but the crank 8 is arranged on the electric rotating platform 7, and the arc-shaped rotating arm 6 is arranged by extending outwards from the far end away from the rotating center of the crank 8, so that the arc-shaped rotating arm 6 is used for obtaining the largest posture adjusting space in an operating room without interfering other instruments in the operating room, the rotating angle is 100 degrees, the arc-shaped slide rail 18 is arranged on the inner side of the arc-shaped rotating arm 6, and the inclination posture adjustment is provided for the.

The utility model discloses can realize that felting needle location, gesture reposition of redundant personnel, advance the separation of actions such as withdraw of needle, the precision is low, and intelligent degree is high, and machine space itself occupies for a short time, removes in a flexible way, can adapt to changeable operating room and arrange the environment.

The above detailed description is for one embodiment of the present invention, but the above description is only for the preferred embodiment of the present invention, and should not be considered as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. The utility model provides a medical surgical robot, its characterized in that is including moving base, near-end moving platform, distal end central movement mechanism, puncture needle insertion unit, near-end moving platform sets up on the moving base, distal end central movement mechanism sets up on the near-end moving platform, and can follow near-end moving platform slides, be fixed with on the distal end central movement mechanism puncture needle insertion unit, puncture needle insertion unit can follow the arc track of distal end central movement mechanism slides.

2. The medical surgical robot according to claim 1, wherein the proximal moving platform includes a lifting platform for adjusting a degree of freedom in a vertical direction, an X-direction linear sliding table, and a Y-direction linear sliding table, the lifting platform is disposed on the moving base, the X-direction linear sliding table and the Y-direction linear sliding table are perpendicularly and orthogonally disposed, the X-direction linear sliding table is fixed on the lifting platform, and the Y-direction linear sliding table is disposed on the X-direction linear sliding table and perpendicular to the X-direction linear sliding table and the lifting platform.

3. The medical surgical robot according to claim 2, wherein the distal end center movement mechanism includes an arc-shaped rotating arm, an electric rotating table, a crank, and a base, the base is mounted on the support of the Y-direction linear sliding table, the electric rotating table is disposed on the base and drives the arc-shaped rotating arm to rotate around the axis of the Y-direction linear sliding table, the electric rotating table is driven by a built-in stepping motor, the crank is disposed on the electric rotating table, the distal end of the crank extends outward to be disposed on the arc-shaped rotating arm, and an arc-shaped sliding rail is disposed on the inner side of the arc-shaped rotating arm.

4. The medical surgical robot according to claim 3, wherein the needle insertion unit comprises a movable bracket, a linear module, a pulling pressure sensor and a puncture needle, the movable bracket is fixedly connected with the arc-shaped slide rail of the arc-shaped rotating arm through a first slider and is driven by a contracting brake stepping motor, the output end of the contracting brake stepping motor is connected with the lower end of the arc-shaped rotating arm, the linear module is fixedly connected with the movable bracket, the linear module is provided with a second slider, the puncture needle is arranged at the lower end of the second slider, and the pulling pressure sensor is arranged on the puncture needle.

5. The medical surgical robot according to claim 4, further comprising two lasers, the two lasers being respectively disposed at a center of a top end of the electric rotating table and at an end of the arc-shaped rotating arm.

6. A medical surgical robot as claimed in claim 3, 4 or 5, wherein the base is an L-shaped bracket.

7. The medical surgical robot as claimed in claim 1, wherein the lower end of the movable base is provided with a caster.

8. The medical surgical robot according to claim 4, wherein the pull pressure sensor is fixedly connected with the second slider and the puncture needle through cantilever pin threads.

9. The medical surgical robot according to claim 2, 3 or 4, wherein the X-direction linear sliding table and the Y-direction linear sliding table are driven by a first stepping motor and a second stepping motor, respectively.

10. A medical surgical robot according to claim 4, wherein said linear module is driven by a third stepper motor.