CN210872023U - Input device and minimally invasive surgery robot - Google Patents
Input device and minimally invasive surgery robot Download PDFInfo
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- CN210872023U CN210872023U CN201921430578.5U CN201921430578U CN210872023U CN 210872023 U CN210872023 U CN 210872023U CN 201921430578 U CN201921430578 U CN 201921430578U CN 210872023 U CN210872023 U CN 210872023U
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- 238000002324 minimally invasive surgery Methods 0.000 title description 7
- 210000000707 wrist Anatomy 0.000 claims abstract description 40
- 230000006835 compression Effects 0.000 claims abstract description 15
- 238000007906 compression Methods 0.000 claims abstract description 15
- 239000000725 suspension Substances 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 9
- 210000004247 hand Anatomy 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009297 electrocoagulation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
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Abstract
The utility model relates to an input device and minimal access surgery operation robot, it has solved current minimal access surgery operation robot system security low, the technical problem of maloperation easily takes place, it includes the wrist, the hand is shaken hands, the portion of opening and shutting, first connecting rod and second connecting rod, it includes the grip seat to shake hands, the slider, the contact switch, first screw and second screw, the grip seat is equipped with primary shaft and secondary shaft, the contact switch is connected with the grip seat, the slider is connected with first linear bearing, second linear bearing, first linear bearing, second linear bearing overlaps respectively on primary shaft, the secondary shaft, be connected with compression spring between grip seat and the slider, the slider is equipped with first screw hole and second screw hole, first screw is arranged in the first screw hole of slider and is connected with the primary shaft, the second screw is arranged in the second screw hole of slider and is connected with the secondary shaft; the handle seat is fixedly connected with the second connecting rod. The utility model discloses extensively be used for medical instrument technical field.
Description
Technical Field
The utility model relates to a manipulation method technical field of minimally invasive surgery robot control surgical instrument particularly, relates to an input device and minimally invasive surgery robot.
Background
Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.
Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.
Surgical instruments are an integral tool of surgical procedures that can perform various functions including clamping, cutting, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation. During the operation, if the doctor does not intend to input the unnecessary signals through the doctor operating table, the input signals are transmitted to control the surgical instruments to perform the operation, and the surgeon cannot prevent the surgical instruments from performing the operation, so that the danger of the remote operation is increased. Therefore, how to prevent the surgical instrument from being operated due to the inadvertent operation of the surgeon has become a technical problem to be solved by those skilled in the art to improve the safety of controlling the surgical instrument.
Disclosure of Invention
The utility model discloses be exactly for solving current minimal access surgery robot system security low, the technical problem of maloperation takes place easily provides one kind and improves the security, can effectively avoid the input device and the minimal access surgery robot of maloperation.
The utility model provides an input device, including the wrist, shake hands, the portion that opens and shuts, first connecting rod and second connecting rod, the one end and the wrist of first connecting rod are connected rotatoryly, the second connecting rod is connected rotatoryly with first connecting rod, shake hands and the upper portion fixed connection of second connecting rod, the portion that opens and shuts is connected rotatoryly with the bottom of second connecting rod, the second connecting rod is equipped with the third motor, the third motor passes through bevel gear and is connected with the portion that opens and shuts, the wrist is equipped with the first motor, the first motor passes through bevel gear and is connected with the first connecting rod, the first connecting rod is equipped with the second motor, the second motor passes through bevel gear and is connected with the second connecting rod;
the handle comprises a handle seat, a sliding block, a contact switch, a compression spring, a first linear bearing, a second linear bearing, a first screw and a second screw, wherein the handle seat is provided with a first shaft and a second shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod.
The utility model also provides a minimally invasive surgery robot, which comprises a doctor operating table and a patient operating table, wherein the doctor operating table comprises a machine base, a stand column, a handrail, a left doctor mechanical arm, a right doctor mechanical arm, a display and a main controller; the armrest is connected with a main control panel; the patient operating table comprises a base, a lifting column, a suspension arm, a left patient mechanical arm and a right patient mechanical arm; the left doctor mechanical arm is provided with a wrist, and the right doctor mechanical arm is provided with a wrist; the wrist comprises a wrist part, a handle, an opening and closing part, a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is rotationally connected with the wrist part, the second connecting rod is rotationally connected with the first connecting rod, the handle is fixedly connected with the upper part of the second connecting rod, the opening and closing part is rotationally connected with the bottom of the second connecting rod, the second connecting rod is provided with a third motor, the third motor is connected with the opening and closing part through a bevel gear, the wrist part is provided with the first motor, the first motor is connected with the first connecting rod through the bevel gear, the first connecting rod is provided with the second motor, and the second motor is connected with the second connecting rod through the bevel gear;
the handle comprises a handle seat, a sliding block, a contact switch, a compression spring, a first linear bearing, a second linear bearing, a first screw and a second screw, wherein the handle seat is provided with a first shaft and a second shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod;
the contact switch is connected with the main controller through a signal wire.
Preferably, the minimally invasive surgical robot further comprises a reminding device, and the reminding device is connected with the main controller.
Preferably, the reminding device is an LED indicator lamp or a buzzer.
The beneficial effects of the utility model are that, the security of the operation of improvement only holds the terminal wrist of doctor's arm and shakes hands when the doctor, just can operate doctor's arm and implement the operation. When the grip on the wrist is held or loosened, reminding and warning information is provided.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a general schematic view of a minimally invasive surgical robotic system;
FIG. 2 is a schematic structural view of the surgical instrument;
FIG. 3 is a schematic diagram of the connection of a main controller, a main control panel, an LED indicator light and a buzzer;
FIG. 4 is a schematic view of the structure of a wrist;
FIG. 5 is a partial cross-sectional view of the grip of the wrist shown in FIG. 4;
FIG. 6 is a schematic diagram of the structure of the handshake of FIG. 4;
figure 7 is a partial cross-sectional view of the grip of figure 6.
FIG. 8 is an enlarged view of a portion of FIG. 7 at P;
FIG. 9 is a schematic view of the wrist, first link and second link of the wrist having motors mounted thereon.
The symbols in the drawings illustrate that:
10. the minimally invasive surgical robot system comprises a minimally invasive surgical robot system 100, a doctor operating table 110, a base 120, a stand column 130, an armrest 140, a left doctor mechanical arm 150, a right doctor mechanical arm 160, a display 170, a main controller 200, a patient operating table 210, a base 210, a 220 lifting column 230, a suspension arm 240, a left patient mechanical arm 250, a right patient mechanical arm 300 and a surgical instrument.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.
As shown in fig. 1, a minimally invasive surgical robotic system 10 includes a surgeon console 100, a patient console 200, and accessories. The doctor operating table 100 comprises a base 110, a column 120, an armrest 130, a left doctor mechanical arm 140, a right doctor mechanical arm 150, a display 160 and a main controller 170; the left doctor arm 140 is provided with a wrist 141 as an input means, and the right doctor arm 150 is also provided with a wrist; a main control panel 131 is connected to the armrest 130. The patient table 200 includes a base 210, a lifting column 220, a hanger arm 230 and a left patient robot 240, a right patient robot 250, and an electrical control system (not shown); the accessories include surgical instrument 300, a sterile protective sheath (not shown). The surgeon converts the motion information of the surgeon's hand into control signals through two sets of surgeon robot arms (left surgeon robot arm 140, right surgeon robot arm 150) on the surgeon console 100, and transmits the control signals to the main controller for controlling two sets of patient robot arms (left patient robot arm 240, right patient robot arm 250) on the patient console 200 to operate the surgical instrument 300 to perform the surgery. Display 160 is used for the surgeon to view a three-dimensional image of the surgical site.
As shown in fig. 2, the surgical instrument 300 has a different configuration that includes an instrument cartridge 310, an instrument shaft 320, a wrist 330, and an execution tip 340. The instrument cartridge 310 is the portion of the instrument that engages with the patient robotic arm instrument adapter; the instrument lever 320 is a rotating arm of the instrument; the wrist section 330 is a connecting wrist section simulating a human wrist design; the actuation end 340 is a distal effector of the instrument (e.g., needle holder, grasper, electrical hook, electrocoagulation forceps). The movement of the physician control input device (wrist 141) is thereby translated into movement of the wrist 330.
As shown in fig. 3, the main control panel 131 is connected to the main controller 170, the contact switch 14123 is connected to the main controller 170 through a signal line, the LED indicator 132 is connected to the main controller 170, and the buzzer 133 is connected to the main controller 170. The LED indicator 132 may be mounted on the armrest 130 or may be mounted elsewhere. The buzzer 133 may be mounted on the armrest 130 or may be mounted in other positions. The main control panel 131 is provided with keys for starting, stopping, raising, lowering, and the like.
As shown in fig. 4-9, the wrist 141 as an input device is a motion interactive interface between the surgeon and the left patient robotic arm 240, which can convert the movement information of the surgeon's hand into control signals for controlling the left patient robotic arm 240 and the surgical instrument 300. The wrist 141 comprises a wrist 1411, a grip 1412, an opening and closing part 1413, a first connecting rod 1414 and a second connecting rod 1415, wherein one end of the first connecting rod 1414 is rotatably mounted at the bottom of the wrist 1411 through a bearing, one end of the second connecting rod 1415 is rotatably mounted at the upper part of the first connecting rod 1414 through a bearing, the grip 1412 is fixedly connected with the upper part of the second connecting rod 1415, the opening and closing part 1413 is rotatably mounted at the bottom of the second connecting rod 1415 through a bearing, a third motor 5 is mounted in the second connecting rod 1415, an output shaft of the third motor 5 is connected with the opening and closing part 1413 through a bevel gear 6, and the opening and closing angle of the opening and closing part 1413 can be measured through a sensor mounted in the opening. The bottom of the wrist 1411 is provided with a first motor 1, and the output shaft of the first motor 1 is connected to a first link 1414 by a bevel gear 2. The first link 1414 is provided with a second motor 3, and the output shaft of the second motor 3 is connected with a second link 1415 through a bevel gear 4. The wrist 1411 is fixedly mounted on the body of the left surgeon arm 140. Handshake 1412, which is a surgeon holding and holding with a hand that may initiate a master-slave tracking mode, is used to input a first signal indicating that the surgeon is ready to manipulate the surgical instrument; the opening/closing portion 1413 is configured to control the engagement and disengagement of the surgical instrument, and is configured to input a second signal indicating that the surgeon is ready to operate the surgical instrument to perform the surgical procedure, and the opening/closing portion 1413 may be configured according to the prior art.
The grip 1412 comprises a grip seat 14121, a slider 14122, a contact switch 14123, a compression spring 14124, a first linear bearing 14125, a second linear bearing 14126, a first screw 14127 and a second screw 14128, wherein the grip seat 14121 is provided with a first shaft 14121-1 and a second shaft 14121-2, the contact switch 14123 is fixedly installed in the grip seat 14121, the first linear bearing 14125 is connected with the slider 14122, the second linear bearing 14126 is connected with the slider 14122, the first linear bearing 14125 is sleeved on the first shaft 14121-1 (the first linear bearing 14125 can slide along the first shaft 14121-1), the second linear bearing 14126 is sleeved on the second shaft 14121-2 (the second linear bearing 14126 can slide along the second shaft 14121-2), the compression spring 14124 is connected between the grip seat 14121 and the slider 14122, the slider 14122 is provided with a first screw hole 14122-1 and a second screw hole, the first screw hole 14122-1 is provided with a step 14122-1, the second screw hole is also provided with a step, the first screw 14127 is located in the first screw hole of the slider 14122, and the second screw 14128 is located in the second screw hole of the slider 14122; the first screw 14127 is threadably connected to the first shaft 14121-1 and the second screw 14128 is threadably connected to the second shaft 14121-2. The grip 14121 is fixedly attached to the second link 1415. The degree of compression of the compression spring 14124 can be adjusted by rotating the first and second screws 14127, 14128, so that the amount of pressure required to make the slider 14122 touch the contact switch 14123 can be adjusted, and thus the applicability can be enhanced.
When a doctor holds the grip holder 14121 with a hand and presses the sliding block 14122 with a finger, the sliding block 14122 moves towards the direction of the contact switch 14123, the compression spring 14124 is compressed to store energy, when the sliding block 14122 touches the contact switch 14123, the contact switch 14123 is triggered, a first input signal is generated and sent to the main controller 170, the main controller 170 works to output an enabling signal to power utilization units in a doctor mechanical arm and a patient mechanical arm, and meanwhile, the main controller 170 instructs the LED indicator light 132 or the buzzer 133 to work so as to remind the doctor, and at the moment, the doctor can operate the opening and closing part 1413, the first connecting rod 1414 and the second connecting rod 1415 on the doctor mechanical arm and the grip so as to control the actions of the patient mechanical arm and a surgical instrument; this configuration ensures that the master-slave tracking mode can only be activated when the surgeon grasps and holds the push button 14122, i.e., the surgeon can operate the switch 1413 to operate the surgical instrument to perform the procedure after generating the first input signal. This prevents the surgeon from inadvertently inputting unwanted signals through the surgeon's console, increasing the safety of the teleoperation of the surgical instrument. After a certain time of the operation, the surgeon releases his finger and, under the action of the compression spring 14124, the slider 14122 moves to the initial position (to a position away from the contact switch 14123) and the contact switch 14123 is not activated. Step 14122-1-1 in first screw hole 14122-1 on slider 14122 abuts against the tail of first screw 14127, that is, the tail of first screw 14127 blocks slider 14122, so as to realize limiting (the step in the second screw hole has the same function as step 14122-1-1, and will not be described again).
Note that, the warning device may be provided in another manner other than the LED indicator 132 or the buzzer 133.
The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.
Claims (4)
1. An input device is characterized by comprising a wrist part, a handle, an opening and closing part, a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is rotationally connected with the wrist part, the second connecting rod is rotationally connected with the first connecting rod, the handle is fixedly connected with the upper part of the second connecting rod, the opening and closing part is rotationally connected with the bottom of the second connecting rod, the second connecting rod is provided with a third motor, the third motor is connected with the opening and closing part through a bevel gear, the wrist part is provided with a first motor, the first motor is connected with the first connecting rod through a bevel gear, the first connecting rod is provided with a second motor, and the second motor is connected with the second connecting rod through a bevel gear;
the handle comprises a handle seat, a sliding block, a contact switch, a compression spring, a first linear bearing, a second linear bearing, a first screw and a second screw, wherein the handle seat is provided with a first shaft and a second shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod.
2. A minimally invasive surgical robot comprises a doctor operating table and a patient operating table, wherein the doctor operating table comprises a base, a stand column, a handrail, a left doctor mechanical arm, a right doctor mechanical arm, a display and a main controller; the armrest is connected with a main control panel; the patient operating table comprises a base, a lifting column, a suspension arm, a left patient mechanical arm and a right patient mechanical arm; the left doctor mechanical arm is provided with a wrist, and the right doctor mechanical arm is provided with a wrist; the wrist comprises a wrist part, a handle, an opening and closing part, a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is rotationally connected with the wrist part, the second connecting rod is rotationally connected with the first connecting rod, the handle is fixedly connected with the upper part of the second connecting rod, the opening and closing part is rotationally connected with the bottom of the second connecting rod, the second connecting rod is provided with a third motor, the third motor is connected with the opening and closing part through a bevel gear, the wrist part is provided with a first motor, the first motor is connected with the first connecting rod through the bevel gear, the first connecting rod is provided with a second motor, and the second motor is connected with the second connecting rod through the bevel gear;
the handle comprises a handle seat, a sliding block, a contact switch, a compression spring, a first linear bearing, a second linear bearing, a first screw and a second screw, wherein the handle seat is provided with a first shaft and a second shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod;
the contact switch is connected with the main controller through a signal wire.
3. The minimally invasive surgical robot according to claim 2, further comprising a reminder device, wherein the reminder device is connected to the main controller.
4. The minimally invasive surgical robot according to claim 3, wherein the reminding device is an LED indicator light or a buzzer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921430578.5U CN210872023U (en) | 2019-08-30 | 2019-08-30 | Input device and minimally invasive surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921430578.5U CN210872023U (en) | 2019-08-30 | 2019-08-30 | Input device and minimally invasive surgery robot |
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| CN210872023U true CN210872023U (en) | 2020-06-30 |
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| CN201921430578.5U Active CN210872023U (en) | 2019-08-30 | 2019-08-30 | Input device and minimally invasive surgery robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112370168A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Minimally invasive surgery robot system |
| CN112370174A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Doctor operating table |
-
2019
- 2019-08-30 CN CN201921430578.5U patent/CN210872023U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112370168A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Minimally invasive surgery robot system |
| CN112370174A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Doctor operating table |
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