CN210872025U

CN210872025U - Doctor operating table for minimally invasive surgery

Info

Publication number: CN210872025U
Application number: CN201921439003.XU
Authority: CN
Inventors: 王炳强; 苏赫; 刘玉亮; 江万里; 孙明云; 王淑林; 隋鹏锦; 孙之建
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Surgical Robot Co Ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2020-06-30
Anticipated expiration: 2029-08-30

Abstract

The utility model relates to a doctor's operation panel for minimal access surgery, it has solved the complicated, heavy in weight of current doctor's arm structure, the arm vertical arrangement receives gravity influence great, difficult operation, doctor's easy fatigue, the motion flexibility is low, the low technical problem of joint motion precision, it includes frame, arm support post, doctor's arm, arm support post is connected with the front side of frame fixedly, doctor's arm is connected with arm support post, the rear side of frame is connected with the display; the doctor mechanical arm is positioned between the mechanical arm supporting upright post and the display; the doctor mechanical arm comprises a base, a first arm rod, a rotating connecting seat, a second arm rod and a wrist, wherein the base is connected with the stand column, the rear end of the first arm rod is connected with the base through a joint, the second arm rod is connected with the rotating connecting seat through a joint, and the rotating connecting seat is connected with the front end of the first arm rod through a joint; the wrist is connected with the second arm lever. The utility model discloses extensively be used for medical instrument technical field.

Description

Doctor operating table for minimally invasive surgery

Technical Field

The utility model relates to a minimal access surgery operation machine technical field particularly, relates to a doctor's operation panel for minimal access surgery.

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 auxiliary system, a minimally invasive surgical robot system includes a surgeon console, and the surgeon operates a surgeon robotic arm to precisely control one or more surgical instruments on the robotic arm of the patient console to perform various surgical actions by viewing a 3D image display.

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.

The doctor mechanical arm and the patient mechanical arm correspond to each other in moving joints, and in the operation process, the movement of the instrument mechanical arm follows the movement of the doctor mechanical arm and feeds back the movement parameters of each joint to the system. However, in the prior art, the doctor mechanical arm is complex in structure, large in size and heavy in weight, the mechanical arm is vertically arranged and greatly influenced by gravity, the operation is not easy, the doctor is easy to fatigue, the movement flexibility is low, and the joint movement precision is low.

However, the doctor mechanical arm is of a serial structure, and the doctor manually controls each rotary joint to rotate, so that the rotary load of the joint is overlarge, the movement precision of the joint is reduced, the manipulation fatigue of the doctor is caused, the operation quality is influenced, and the long-time operation is not facilitated. Therefore, how to reduce the power-off rotation load, improve the joint movement precision, reduce the operation fatigue of doctors, and improve the operation quality becomes a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The utility model discloses be exactly for solving current minimally invasive surgery robot's doctor arm structure complicacy, bulky, heavy, the arm is arranged perpendicularly and is received the gravity influence great, difficult operation, the doctor is tired easily, the motion flexibility is low, the technical problem that the joint motion precision is low, it is simple and easy, small, light in weight to provide a structure, the arm receives the gravity influence less, easy operation, alleviate doctor's burden, the motion flexibility is high, the high doctor's operation panel who is used for the minimally invasive surgery of joint motion precision.

The utility model provides a doctor's operation desk for minimally invasive surgery, which comprises a frame, an arm supporting upright post, a doctor's arm, a display supporting seat and a display, wherein the arm supporting upright post is fixedly connected with the front side of the frame; the doctor mechanical arm is positioned between the mechanical arm supporting upright post and the display; the doctor mechanical arm comprises a base, a first arm rod, a rotating connecting seat, a second arm rod and a wrist, wherein the base is connected with the stand column, the rear end of the first arm rod is connected with the base through a joint, and the first arm rod can rotate on a horizontal plane; the second arm rod is connected with the rotary connecting seat through a joint and can rotate on the vertical plane by taking the rotary connecting seat as a reference; the rotary connecting seat is connected with the front end of the first arm rod through a joint, and the rotary connecting seat can rotate on a horizontal plane by taking the first arm rod as a reference; the wrist is connected with the second arm lever.

Preferably, there are two groups of doctor's mechanical arms, which are a left doctor's mechanical arm and a right doctor's mechanical arm, respectively, and there are two groups of corresponding mechanical arm support columns, which are a left mechanical arm support column and a right mechanical arm support column, respectively; the left doctor mechanical arm and the right doctor mechanical arm are symmetrically arranged.

The utility model also provides a doctor's operation panel for minimally invasive surgery, including frame, arm support post, doctor's arm, display supporting seat and display, the arm support post is fixedly connected with the front side of the frame, the doctor's arm is connected with the arm support post, the display supporting seat is fixedly connected with the rear side of the frame, the display is connected with the display supporting seat; the doctor mechanical arm is positioned between the mechanical arm supporting upright post and the display; the doctor mechanical arm comprises a base, a first arm rod, a rotating connecting seat, a second arm rod, a wrist, a central shaft, a torsion spring, a connecting seat, a rear end connecting shaft, a front end connecting shaft, a third encoder, a third fixed synchronous belt pulley, a third driven synchronous belt pulley, a third synchronous belt, a first encoder, a first fixed synchronous belt pulley, a first rotating shaft, a first driven synchronous belt pulley, a first synchronous belt, a second encoder, a second fixed synchronous belt pulley, a second rotating shaft, a second driven synchronous belt pulley and a second synchronous belt; the wrist is connected with the second arm lever;

the first fixed synchronous belt wheel is fixedly connected with the base, the rear end connecting shaft is fixedly connected with the base, the upper part of the rear end of the first arm rod is rotatably connected with the rear end connecting shaft through an upper bearing, the upper part of the first rotating shaft is fixedly connected with the lower part of the rear end of the first arm rod, the first rotating shaft is rotatably connected with the base through a lower bearing, and the first rotating shaft penetrates through a central hole of the first fixed synchronous belt wheel; the first encoder is fixedly connected with the first arm rod, the first driven synchronous belt wheel is fixedly connected with a rotating shaft of the first encoder, and the first synchronous belt is connected between the first driven synchronous belt wheel and the first fixed synchronous belt wheel; the rear end connecting shaft is connected with the mechanical arm supporting upright post;

the second fixed synchronous belt wheel is fixedly connected with the rotating connecting seat, the front end connecting shaft is fixedly connected with the rotating connecting seat, the upper part of the front end of the first arm rod is rotatably connected with the front end connecting shaft through an upper bearing, the upper part of the second rotating shaft is fixedly connected with the lower part of the front end of the first arm rod, and the second rotating shaft is rotatably connected with the rotating connecting seat through a lower bearing; the second rotating shaft penetrates through a center hole of the second fixed synchronous belt wheel; the second encoder is fixedly connected with the first arm rod, the second driven synchronous belt wheel is fixedly connected with a rotating shaft in the second encoder, and the second synchronous belt is connected between the second driven synchronous belt wheel and the second fixed synchronous belt wheel; the connecting seat is fixedly connected with the second arm rod, the central shaft is provided with a body and a torsional spring connecting part, the torsional spring connecting part is provided with a torsional spring connecting hole, the torsional spring connecting part is fixedly connected with the rotating connecting seat, the body of the central shaft is connected with the connecting seat through a bearing, the torsional spring is sleeved on the body of the central shaft, one end of the torsional spring is connected with the torsional spring connecting hole, and the other end of the torsional spring is connected with the connecting seat; third encoder and connecting seat fixed connection, the pivot fixed connection of third driven synchronous pulley and third encoder, third fixed synchronous pulley and center pin fixed connection, third hold-in range is connected between third fixed synchronous pulley and third driven synchronous pulley.

Preferably, the number of the torsion spring coupling holes is two or more.

Preferably, the physician's robotic arm further comprises a brake for locking the second arm.

Preferably, the brake for locking the second arm lever comprises a third band-type brake, a band-type brake seat and a synchronous belt wheel for locking, the band-type brake seat is fixedly connected with the connecting seat, the third band-type brake is fixedly connected with the band-type brake seat, the third band-type brake is provided with a band-type brake block and a shaft hole, the torsion spring connecting part of the central shaft is provided with a synchronous belt connecting part, the band-type brake seat is connected with a rotating shaft through a bearing, the lower part of the rotating shaft is arranged in the shaft hole of the third band-type brake, and the band-type brake block of the third band-; the synchronous belt wheel for locking is fixedly connected with the upper part of the rotating shaft, and the synchronous belt wheel for locking is connected with the synchronous belt connecting part of the central shaft through a synchronous belt.

Preferably, doctor arm still includes spacing piece and spacer pin, spacing piece and connecting seat fixed connection, and spacing piece is equipped with the spacing groove, and the body coupling of spacer pin and center pin, spacer pin are arranged in the spacing groove.

Preferably, the physician's robotic arm further comprises a brake for locking the first arm.

Preferably, the surgeon robot arm further comprises a brake for locking the rotation connection socket.

Preferably, the rear end connecting shaft is connected with the mechanical arm supporting upright post through a mechanical arm lifting device; the mechanical arm lifting device comprises a bracket, a spline sleeve, a spline shaft seat, a ball screw, an upper screw rod supporting seat, a lower screw rod supporting seat, a nut seat, a fourth band-type brake, a booster shaft, a booster motor and an arm connecting seat, the spline sleeve is fixedly connected with the top of the support, the spline shaft penetrates through the spline sleeve, the spline shaft seat is fixedly connected with the lower end of the spline shaft, the upper lead screw supporting seat is fixedly connected with the top of the support, the lower lead screw supporting seat is fixedly connected with the bottom of the support, the upper end of a ball screw is connected with the upper lead screw supporting seat, the lower end of the ball screw is connected with the lower lead screw supporting seat, the nut seat is connected with the ball screw, the spline shaft seat is fixedly connected with the nut seat, a fourth band-type brake is fixedly connected with the bottom of the support, the fourth band-type brake is provided with a band-type brake block and a shaft hole, the power-assisted shaft is fixedly connected with the lower end of the ball screw, the power-assisted shaft penetrates; the power-assisted motor is fixedly connected with the bracket, and an output shaft of the power-assisted motor is connected with the lower end of the power-assisted shaft through a transmission mechanism; the arm connecting seat is connected with the upper end of the spline shaft;

the rear end connecting shaft is connected with the arm connecting seat, and the support is fixedly connected with the mechanical arm supporting upright post.

Preferably, the transmission mechanism between the booster motor and the booster shaft is a gear transmission mechanism.

Preferably, the gear transmission mechanism comprises a first gear, a second gear and an intermediate gear, the second gear is fixedly connected with the lower end of the power-assisted shaft, the first gear is connected with an output shaft of the power-assisted motor, the intermediate gear is rotatably connected with the end face of the bottom of the support, the intermediate gear is meshed with the first gear, and the second gear is meshed with the intermediate gear.

Preferably, the booster motor is a servo motor.

Preferably, there are two groups of doctor mechanical arms, namely a left doctor mechanical arm and a right doctor mechanical arm; the mechanical arm support columns are divided into two groups, namely a left mechanical arm support column and a right mechanical arm support column; the left doctor mechanical arm and the right doctor mechanical arm are symmetrically arranged; the mechanical arm lifting devices are divided into two groups, namely a left mechanical arm lifting device and a right mechanical arm lifting device.

Preferably, the display is connected with the display supporting seat through a lifting electric push rod, the lifting electric push rod is connected with the display supporting seat, and the display is connected with a telescopic rod of the lifting electric push rod.

Preferably, the display comprises a display screen, a frame and a control panel, wherein the display screen is connected with the frame, and the control panel is connected with the lower part of the frame.

The beneficial effects of the utility model are that, can balance effectively to rotary joint to alleviate operator's burden, improved the joint motion precision, avoid long-time operation to produce fatigue. In addition, the device also has the advantages of low cost, small volume and high reliability. The doctor arm has the characteristics of light structure, small volume, light weight, low motion inertia, high motion flexibility and high joint motion precision, is easy to operate, effectively reduces the fatigue feeling of the doctor operation, is favorable for long-time operation, and ensures the operation quality. Meanwhile, in order to prevent potential risks brought to the patient by misoperation and facilitate transportation and fixation, the doctor mechanical arm further has a position locking function, and all joints can be locked at expected positions. The utility model discloses can also overcome the uncoordinated problem of eye hand motion among the current wicresoft technique. The joint motion measuring device can accurately feed back the joint motion parameters of the mechanical arm in real time.

The utility model is particularly suitable for the use conditions of low speed and light load, such as the doctor mechanical arm rotary joint of a minimally invasive surgery robot controlled in a master-slave following mode.

The display screen is great, and the distance between doctor's eyes and the display screen is shorter, makes doctor's view immerse completely in the screen within range, promotes the operation third dimension, improves operation quality. The vision reminding device is located display screen both sides, and the operation in-process, the doctor needn't look over in the art deliberately whether have abnormal conditions or other conditions, promote the operation and focus on the degree. The control panel 8-5 is positioned right in front of the doctor, so that the doctor can operate conveniently, and meanwhile, the condition that the buttons on the operation panel are touched by mistake can not occur.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a schematic structural view of a minimally invasive surgical robotic surgeon console;

FIG. 2 is a schematic view of the construction of the right physician's robotic arm;

FIG. 3 is a schematic view of the joint structure between the pivotal connection mount and the second arm of the right surgeon's arm of FIG. 2;

FIG. 4 is a schematic view of the torsion spring connection of FIG. 3;

FIG. 5 is a schematic view of the structure of the central shaft in the structure of FIG. 4;

FIG. 6 is a schematic view of two extending arms of the torsion spring respectively connected to the connecting base and the central shaft;

FIG. 7 is a schematic view of the joint of FIG. 3 with an encoder installed;

FIG. 8 is a schematic diagram showing the relationship between the swing and rotation angles of the third fixed synchronous pulley and the third driven synchronous pulley;

FIG. 9 is a schematic connection diagram of a third band-type brake;

FIG. 10 is a schematic view of the rotary joint between the rear end of the first arm and the base and the rotary joint between the rotating connecting seat and the front end of the first arm in the right surgeon's arm;

FIG. 11 is a schematic view of the rotational joint between the rear end of the first arm and the base in the configuration of FIG. 10;

FIG. 12 is a schematic view of the structure of FIG. 10 showing the rotary joint between the rotary connecting seat and the front end of the first arm;

fig. 13 is a schematic structural view of the right robot arm lifting device.

The symbols in the drawings illustrate that:

1. the medical robot comprises a base, 1-1 universal caster, 2 left mechanical arm supporting upright columns, 3 right mechanical arm supporting upright columns, 4-1 left mechanical arm lifting devices, 4-2 right mechanical arm lifting devices, 5 left doctor mechanical arms, 5-1 joint axes I, 5-2 joint axes II, 5-3 joint axes III; 6. the medical robot comprises a right doctor mechanical arm, 6-1, a first joint axis, 6-2, a second joint axis, 601, a base, 602, a first arm rod, 603, a rotating connecting seat, 604, a second arm rod, 605, a wrist, 606, a central shaft, 606-1, a body, 606-2, a torsion spring connecting part, 606-3, a torsion spring connecting hole, 606-4, a synchronous belt connecting part, 607, a torsion spring, 607-1, a first extending arm, 607-2, a second extending arm, 608, a bearing, 609, a connecting seat, 610, a limiting piece, 611, a limiting pin, 612, a contracting brake seat, 613, a third contracting brake, 614, a rear end connecting shaft, 615, a front end connecting shaft, 616, a third encoder, 617, a third fixed synchronous pulley, 618, a third driven synchronous pulley, 619, a third synchronous belt, 620, a synchronous belt, 621, a synchronous pulley for locking, a rotating shaft, 622-1. bearing; 623. a first encoder, 624, a first band-type brake, 625, a first fixed synchronous pulley, 626, an upper bearing, 627, a first rotating shaft, 628, a lower bearing, 629, a first driven synchronous pulley, 630, a first synchronous belt; 631. the second encoder 632, the second band-type brake 633, the second fixed synchronous pulley 634, the upper bearing 635, the second rotating shaft 636, the lower bearing 637, the second driven synchronous pulley 638, and the second synchronous belt. D denotes the center of gravity. 7. The system comprises a display supporting seat, 8 parts of a display, 8-1 parts of a display screen, 8-2 parts of a frame, 8-3 parts of a loudspeaker, 8-4 parts of a visual reminding device and 8-5 parts of a control panel; 9. and lifting the electric push rod.

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 figure 1, the doctor operating table comprises a base 1, a left mechanical arm supporting upright 2, a right mechanical arm supporting upright 3, a left mechanical arm lifting device 4-1, a right mechanical arm lifting device 4-2, a left doctor mechanical arm 5, a right doctor mechanical arm 6, a display supporting seat 7, a display 8 and a lifting electric push rod 9, wherein four universal casters 1-1 are installed at the bottom of the base 1, the left mechanical arm supporting upright 2 and the right mechanical arm supporting upright 3 are respectively and fixedly installed at the front side of the base 1, the left mechanical arm supporting upright 2 and the right mechanical arm supporting upright 3 are arranged at the left side and the right side of the base 1, the left mechanical arm lifting device 4-1 is fixedly installed on the left mechanical arm supporting upright 2, the right mechanical arm lifting device 4-2 is fixedly installed on the right mechanical arm supporting upright 3, the left doctor mechanical arm 5 is connected with the left mechanical arm, the right doctor mechanical arm 6 is connected with a right mechanical arm lifting device 4-2, a display supporting seat 7 is fixedly installed on the rear side of the base 1, two lifting electric push rods 9 are installed on the display supporting seat 7, a display 8 comprises a display screen 8-1, a frame 8-2, a loudspeaker 8-3, a visual reminding device 8-4 and a control panel 8-5, the display screen 8-1 is connected with the frame 8-2, the loudspeaker 8-3 is connected with the frame 8-2, the visual reminding device 8-4 is connected with the frame 8-2 (the visual reminding device 8-4 can specifically adopt an LED lamp, a display screen and the like), the control panel 8-5 is connected with the lower part of the frame 8-2, and the frame 8-2 is connected with a telescopic rod of the lifting electric push rods 9; the control panel 8-5 is connected and communicated with a control system of the minimally invasive surgery robot, the display screen 8-1 is electrically connected with the control system, and the loudspeaker 8-3 and the visual reminding device 8-4 are respectively electrically connected with the control system. Thereby left doctor arm 5 and right doctor arm 6 symmetrical arrangement adapt to doctor's left hand, right hand, and two doctor arms are located between arm support post and the display screen. The height of the display screen 8-1 can be adjusted by lifting the electric push rod 9 to adapt to the actual operation requirements of doctors. The size of the display screen 8-1 is larger, so that the view of a doctor is completely immersed in the screen range, and the stereoscopic impression of operation is improved. Various auditory and visual information is obviously provided for the doctor through the loudspeaker 8-3 and the visual reminding device 8-4, and the doctor can receive various information fed back by the system in real time while focusing on the operation, so that the perception capability is improved. Various operation buttons are integrated on the control panel 8-5, and the control panel 8-5 is positioned right in front of the doctor, so that the doctor can conveniently operate the operation panel without touching the buttons on the operation panel by mistake. The right doctor mechanical arm 6 comprises a base 601, a first arm rod 602, a rotating connecting seat 603, a second arm rod 604 and a wrist 605, the base 601 is fixedly connected with the output part of the right mechanical arm lifting device 4-2, the rear end of the first arm rod 602 is connected with the base 601 through a joint, and the first arm rod 602 can rotate on the horizontal plane; the second arm 604 is connected to the rotary connecting seat 603 through a joint, and the second arm 604 can rotate on a vertical plane with the rotary connecting seat 603 as a reference; the rotary joint holder 603 is connected to the front end of the first arm 602 by a joint, and the rotary joint holder 603 can rotate on a horizontal plane with reference to the first arm 602. The wrist 605 is connected to the second arm 604.

The left doctor mechanical arm 5 and the right doctor mechanical arm 6 have the same structure. The doctor mechanical arm is of a serial structure, in the operation process, a doctor holds a wrist with a hand to operate the doctor mechanical arm to perform an operation, each joint of the left doctor mechanical arm 5 rotates around a joint axis I5-1, a joint axis II 5-2 and a joint axis III 5-3 respectively, wherein the joint axis III 5-3 is perpendicular to the gravity direction, the joint axis I5-1 and the joint axis II 5-2 are perpendicular to the ground, the influence of the gravity of the mechanical arm on the doctor arm is avoided, the doctor operation is more portable and flexible, the doctor operation fatigue is effectively reduced, and the operation quality is guaranteed.

In the operation process, a doctor sits in front of a doctor operation table, wears 3D glasses to watch a display screen 8-1, a left doctor mechanical arm 5 is located in front of the left side of the doctor body, a right doctor mechanical arm 6 is located in front of the right side of the doctor body, and the left doctor mechanical arm 5 and the right doctor mechanical arm 6 are controlled by two hands to perform various operation operations. The height of the doctor mechanical arm can be independently adjusted through the left mechanical arm lifting device 4-1 and the right mechanical arm lifting device 4-2 so as to adapt to the operation requirements of different doctors and prevent the interference or the movement range of the two doctor mechanical arms from exceeding the working space in the operation process.

As shown in fig. 2 to 6, the rear end connecting shaft 614 is fixedly connected to the base 601, and the rear end of the first arm 602 is rotatably connected to the rear end connecting shaft 614 through a bearing; the joint structure between the second arm 604 and the rotating connection seat 603 specifically includes a central shaft 606, a torsion spring 607, a bearing 608, a connection seat 609, a limiting plate 610, and a limiting pin 611, the connection seat 609 is fixedly connected with the second arm 604 through a screw, the central shaft 606 is provided with a body 606-1 and a torsion spring connection part 606-2, the torsion spring connection part 606-2 is provided with a plurality of torsion spring connection holes 606-3, the torsion spring connection part 606-2 is fixedly connected with the rotating connection seat 603 through a screw, the bearing 608 is sleeved on the body 606-1, an outer ring of the bearing 608 is connected with the connection seat 609 (i.e. the second arm 604 is rotatably connected with the central shaft 606 through a bearing), the torsion spring 607 is sleeved on the body 606-1, a first outward extending arm 607-1 of the torsion spring 607-1 is connected with the torsion spring connection hole 606-3, a second outward extending arm 607-, the torsion of the torsion spring 607 can be adjusted according to the torsion spring connecting holes 606-3 at different positions), the limiting piece 610 is fixedly connected with the connecting seat 609, the limiting piece 610 is provided with a limiting groove 610-1, the limiting pin 611 is connected with the body 606-1 of the central shaft 606, and the limiting pin 611 is positioned in the limiting groove 610-1. When the surgeon holds the wrist 605 with his hand and rotates the second arm 604 around the central axis 606, the stopper pin 611 can move only in the stopper groove 610-1, thereby defining the rotation angle of the second arm 604.

As shown in fig. 7 and 8, in order to measure the motion data of the second arm 604 in rotation relative to the rotation connection seat 603, a third encoder 616, a third fixed synchronous pulley 617, a third driven synchronous pulley 618 and a third synchronous belt 619 are configured, the third encoder 616 is fixedly installed on the connection seat 609, the third driven synchronous pulley 618 is fixedly connected with a rotating shaft of the third encoder 616 (the third driven synchronous pulley 618 rotates to drive the rotating shaft of the third encoder 616 to rotate), the third fixed synchronous pulley 617 is fixedly connected with the central shaft 606, and the third synchronous belt 619 is connected between the third fixed synchronous pulley 617 and the third driven synchronous pulley 618. The position feedback function of the joint is realized by means of an encoder, and the process of enabling the third encoder 616 to act to generate signals is as follows: the rotation connecting seat 603 is stationary, so that the second arm 604 rotates around the axis of the central shaft 606, the third timing belt 619 winds around the third fixed timing pulley 617, and drives the third driven timing pulley 618 to rotate, that is, to perform a planetary motion as shown in fig. 8, and the third driven timing pulley 618 revolves around the axis of the third fixed timing pulley 617, and at the same time, the third driven timing pulley 618 rotates (the rotation direction is opposite to the revolution direction). If the revolution angular velocity of the third driven timing pulley 618 is ω 1 and the angle is θ 1, the rotation angular velocity of the third driven timing pulley 618 is ω 2 and the angle is θ 2, the radius of the third fixed timing pulley 617 is R1, and the radius of the third driven timing pulley 618 is R2, then ω 1 × R1 is ω 2 × R2, that is: since θ 1/θ 2 is ω 1/ω 2 is R2/R1, it can be seen that variable speed and variable angle transmission can be realized. The third encoder 616, the third fixed synchronous pulley 617, the third driven synchronous pulley 618 and the third synchronous belt 619 have the advantages of light structure, easy operation, high precision, small volume and low cost, can accurately feed back the motion parameters of the joints of the mechanical arm in real time, and is particularly suitable for the use conditions of low speed and light load.

In addition, a band-type brake seat 612 can be fixedly installed on the connecting seat 609, referring to fig. 2, 7 and 9, a third band-type brake 613 is fixedly installed on the band-type brake seat 612, the third band-type brake 613 adopts a known structure, the third band-type brake 613 is provided with a band-type brake block and a shaft hole, and the third band-type brake 613 can lock the second arm 604, that is, the second arm 604 is fixed at a certain position. A synchronous belt connecting part 606-4 (shown in fig. 5) is arranged on a torsional spring connecting part 606-2 of the central shaft 606, the rotating shaft 622 is rotatably connected with the brake base 612 through a bearing 622-1, the lower part of the rotating shaft 622 is arranged in a shaft hole of the third brake 613, and a brake block of the third brake 613 is connected with the rotating shaft 622 through a flat key; the locking synchronous pulley 621 is fixedly connected with the upper part of the rotating shaft 622, and the synchronous belt 620 is connected between the locking synchronous pulley 621 and the synchronous belt connecting part 606-4 of the central shaft 606 to realize transmission; when the third brake 613 is in the power-on state, the brake base 612 rotates around the central shaft 606, and the third encoder 616 generates a signal; in the power-off state of the third band-type brake 613, the band-type brake block of the third band-type brake 613 is tightly held, the rotating shaft 622 is further locked and cannot rotate, and the band-type brake seat 612 cannot rotate around the central shaft 606 under the action of the synchronous belt 620, so that the locking and braking of the band-type brake seat 612 and the central shaft 606 are realized, and the second arm 604 is locked and fixed. Note that, a mechanism including the third band-type brake 613, the rotating shaft 622, the locking timing pulley 621, the timing belt 620, and the timing belt connecting portion 606-4 is used as a brake, and a brake having another known structure may be used to lock the second arm 604.

Referring to FIG. 3, let the weight of the wrist 605 and the second arm 604 be G₁The center of gravity is located at a distance L1 from the axis of the center shaft 606, and the gravity of the brake 613 and the brake holder 612 is G as shown by D in the figure₂The center of gravity is at a distance L2 from the axis of the central shaft 606. In the mechanical arm assembling process, the torque of the pre-tightened torsional spring to the member composed of the third band-type brake 613 and the band-type brake seat 612 is M_{Torsion bar}. Then M is satisfied_{Torsion bar}+G₂·L2＝G₁L1, the arm is balanced in the current position. In the less angular range of injecing, the torsional spring provides the helping hand, and the characteristic curve of torsional spring is more stable, and consequently this structure can carry out effective balance to the rotary joint of doctor arm, the gravity of balanced wrist portion to alleviate doctor's burden, make things convenient for doctor's operation, avoid long-time operation to produce fatigue, effectively overcome the tired problem of doctor that long-time operation caused.

As shown in FIG. 10, the first arm 602 can rotate around the first joint axis 6-1, and the rotation connecting seat 603 can rotate around the second joint axis 6-2. As shown in fig. 11, the first band brake 624 is fixedly mounted on the base 601 by screws, the first fixed synchronous pulley 625 is fixedly connected to the base 601, the rear end connecting shaft 614 is fixedly connected to the base 601 by screws, and the upper portion of the rear end of the first arm 602 is rotatably connected to the rear end connecting shaft 614 by an upper bearing 626. The upper portion of the first rotating shaft 627 is fixedly connected with the lower portion of the rear end of the first arm 602 by a screw, and the first rotating shaft 627 is rotatably connected with the base 1 by a lower bearing 628. The first rotational shaft 627 passes through a center hole of the first fixed synchronous pulley 625. The first band-type brake 624 adopts a well-known structure in the prior art, and is provided with a band-type brake block 624-2 and a shaft hole, the lower part of the first rotating shaft 627 is arranged in the shaft hole of the first band-type brake 624, the band-type brake block 624-2 is connected with the first rotating shaft 627 through a flat key, and in a power-off state, the band-type brake block 624-2 is tightly held, and the first rotating shaft 627 is further locked and cannot rotate; in the power-on state, the brake block 624-2 is released, and the first rotating shaft 627 can rotate under the support of the lower bearing 628. The first encoder 623 is fixedly mounted on the first arm 602, the first driven synchronous pulley 629 is fixedly connected to a rotating shaft of the first encoder 623 (the first driven synchronous pulley 629 rotates to drive the rotating shaft of the first encoder 623 to rotate), and the first synchronous belt 630 is connected between the first driven synchronous pulley 629 and the first fixed synchronous pulley 625. By rotating the first arm 602 relative to the base 601, referring to fig. 8, the first timing belt 630 is wound around the first fixed timing pulley 625 and rotates the first driven timing pulley 629, and the first encoder 623 generates a signal. The signal from the first encoder 623 is sent to the control system of the physician's console. It should be noted that the first brake 624 is used as a brake, which is only an example, and other known brake structures may be used to lock the first arm 602.

As shown in fig. 12, the second band-type brake 632 is fixedly mounted on the rotating connecting base 603 by screws, the second fixed synchronous pulley 633 is fixedly connected to the rotating connecting base 603, the front connecting shaft 615 is fixedly connected to the rotating connecting base 603 by screws, and the upper portion of the front end of the first arm 602 is rotatably connected to the front connecting shaft 615 by the upper bearing 634. The upper part of the second rotating shaft 635 is fixedly connected with the lower part of the front end of the first arm 602 through a screw, and the second rotating shaft 635 is rotatably connected with the rotating connecting seat 603 through a lower bearing 636. The second rotating shaft 635 passes through a center hole of the second fixed timing pulley 633. The second band-type brake 632 is of a known structure in the prior art, and is provided with a band-type brake block 632-2 and a shaft hole, the lower part of the second rotating shaft 635 is arranged in the shaft hole of the second band-type brake 632, the band-type brake block 632-2 is connected with the second rotating shaft 635 through a flat key, and in a power-off state, the band-type brake block 632-2 is tightly held, and the second rotating shaft 635 is further locked and cannot rotate; in the power-on state, the brake block 632-2 is released, and the second rotating shaft 635 can rotate under the support of the lower bearing 636. The second encoder 631 is fixedly installed on the first arm 602, the second driven synchronous pulley 637 is fixedly connected to a rotating shaft of the second encoder 631 (the second driven synchronous pulley 637 rotates to drive the rotating shaft of the second encoder 631 to rotate), and the second synchronous belt 638 is connected between the second driven synchronous pulley 637 and the second fixed synchronous pulley 633. The second encoder 631 generates and sends a signal to the control system of the doctor's station by rotating the rotating connecting base 603 relative to the first arm 602. It should be noted that the second band-type brake 632 is used as a brake, and for example only, other known brake structures may be adopted to lock the rotating connection seat 603.

As shown in fig. 13, the specific implementation structure of the right mechanical arm lifting device 4-2 may be: the right mechanical arm lifting device 4-2 comprises a support 4-2-1, a spline housing 4-2-2, a spline shaft 4-2-3, a spline shaft seat 4-2-4, a ball screw 4-2-5, an upper screw support seat 4-2-6, a lower screw support seat 4-2-7, a nut seat 4-2-8, a fourth band-type brake 4-2-9, a booster shaft 4-2-10, a first gear 4-2-11, a second gear 4-2-12, an intermediate gear 4-2-13, a booster motor 4-2-14 and an arm connection seat 4-2-15, wherein the spline housing 4-2-2 is fixedly connected with the top of the support 4-2-1 through a screw, the spline shaft 4-2-3 penetrates through the spline sleeve 4-2-2 to realize connection, the spline shaft seat 4-2-4 is fixedly connected with the lower end of the spline shaft 4-2-3 through a screw, the upper lead screw supporting seat 4-2-6 is fixedly connected with the top of the bracket 4-2-1, the lower lead screw supporting seat 4-2-7 is fixedly connected with the bottom of the bracket 4-2-1, the upper end of the ball screw 4-2-5 is connected with a bearing in the upper lead screw supporting seat 4-2-6, the lower end of the ball screw 4-2-5 is connected with a bearing in the lower lead screw supporting seat 4-2-7, the nut seat 4-2-8 is connected with the ball screw 4-2-5, the spline shaft seat 4-2-4 is fixedly connected with the nut seat 4-2-8 through a screw, the fourth band-type brake 4-2-9 is fixedly arranged at the bottom of the support 4-2-1 through a screw, the fourth band-type brake 4-2-9 is provided with a band-type brake block 4-2-9-1 and a shaft hole, the power-assisted shaft 4-2-10 is fixedly connected with the lower end of the ball screw 4-2-5, the power-assisted shaft 4-2-10 penetrates through the shaft hole of the fourth band-type brake 4-2-9, the band-type brake block 4-2-9-1 of the fourth band-type brake 4-2-9 is connected with the power-assisted shaft 4-2-10 through a flat key, the second gear 4-2-12 is fixedly connected with the lower end of the power-assisted shaft 4-2-10, and the power-assisted motor 4-2-14 is fixedly connected with the lower part of the support 4-2-1, the first gear 4-2-11 is fixedly connected with an output shaft of the power-assisted motor 4-2-14, the intermediate gear 4-2-13 is rotatably connected with the bottom end face of the bracket 4-2-1, the intermediate gear 4-2-13 is meshed with the first gear 4-2-11, the second gear 4-2-12 is meshed with the intermediate gear 4-2-13, and the arm connecting seat 4-2-15 is connected with the upper end of the spline shaft 4-2-3 (through screw fixing connection or other fixing connection modes and the like). The rear end connecting shaft 614 in the right doctor mechanical arm 6 is fixedly connected with the arm connecting seats 4-2-15 through screws, and the rear end connecting shaft 614 can be connected with the arm connecting seats 4-2-15 in a sliding way, a rotating way and the like by adopting a known structure. The bracket 4-2-1 is fixedly arranged on the right mechanical arm supporting upright post 3 through a screw.

The right mechanical arm lifting device 4-2 is locked by means of the locking function of the band-type brakes, the fourth band-type brakes 4-2-9 can lock the ball screws 4-2-5, when power is off, the band-type brake blocks 4-2-9-1 in the fourth band-type brakes 4-2-9 are tightly held, the ball screws 4-2-5 cannot rotate, and the spline shafts 4-2-3 cannot move up and down. The fourth band-type brake 4-2-9 is electrified, the band-type brake block 4-2-9-1 is released, the ball screw 4-2-5 rotates to drive the power-assisted shaft 4-2-10 to rotate, the second gear 4-2-12 rotates along with the power-assisted shaft 4-2-10, and the second gear 4-2-12 drives the first gear 4-2-11 to rotate through the intermediate gear 4-2-13. The ball screw has high transmission efficiency and small friction, and the nut seat 4-2-8 drives the ball screw and the power-assisted shaft 4-2-10 to rotate around the axis III 4-2-5-1 while performing linear motion.

When the right mechanical arm lifting device 4-2 works, the power-assisted motor 4-2-14 is driven to work through the external motor controller, the output torque of the power-assisted motor 4-2-14 is transmitted to the ball screw 4-2-5 through the first gear 4-2-11, the middle gear 4-2-13 and the second gear 4-2-12, and is converted into an upward thrust along an axis I4-2-3-1 and an axis III 4-2-5-1 through a nut seat 4-2-8, the gravity of the spline shaft seat 4-2-4, the spline shaft 4-2-3, the arm connecting seat 4-2-15 and the right doctor mechanical arm 6 is overcome, then the fourth band-type brake 4-2-9 is electrified, and the band-type brake block is released; an operator slightly and forcefully moves the arm connecting seat 4-2-15 upwards or downwards along the direction of the first axis 4-2-3-1 by hand to drive the integral spline shaft seat 4-2-4, the spline shaft 4-2-3, the nut seat 4-2-8, the arm connecting seat 4-2-15 and the right doctor mechanical arm 6 to move upwards or downwards along the first axis 4-2-3-1; after the right doctor mechanical arm 6 is adjusted to a certain position, the fourth band-type brake 4-2-9 is powered off (the band-type brake block of the fourth band-type brake 4-2-9 is tightly held), the power-assisted motor 4-2-14 stops outputting torque, the ball screw 4-2-5 cannot rotate, the spline shaft 4-2-3, the arm connecting seat 4-2-15 and the right doctor mechanical arm 6 are further restrained from moving, and due to the fact that the ball screw is high in precision, transmission is free of a gap, and a return gap is not formed after the telescopic joint is locked. The lifting structure is high in adjustment precision and flexible in movement. The booster motors 4-2-14 are preferably servo motors. The spline shaft 4-2-3 is preferably hollow to reduce weight, and the hollow position can also be used for threading electric wires. The intermediate gear, namely three gears are preferably arranged, so that the size of each gear can be reduced, the corresponding structural size is reduced, and the meshing effect among the gears can be improved. If only two gear structures of the first gear 4-2-11 and the second gear 4-2-12 are provided, the respective diameters of the two gears are relatively large, the structural size becomes large, and poor meshing is likely to occur. It should be noted that the transmission between the booster motor 4-2-14 and the ball screw 4-2-5 may be replaced by other transmission mechanisms besides gear transmission.

The left mechanical arm lifting device 4-1 and the right mechanical arm lifting device 4-2 have the same structure, and are not described in detail.

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

1. A doctor operating table for minimally invasive surgery is characterized by comprising a machine base, a mechanical arm supporting upright post, a doctor mechanical arm, a display supporting seat and a display, wherein the mechanical arm supporting upright post is fixedly connected with the front side of the machine base; the doctor mechanical arm is positioned between the mechanical arm supporting upright post and the display; the doctor mechanical arm comprises a base, a first arm rod, a rotating connecting seat, a second arm rod, a wrist, a central shaft, a torsion spring, a connecting seat, a rear end connecting shaft, a front end connecting shaft, a third encoder, a third fixed synchronous belt pulley, a third driven synchronous belt pulley, a third synchronous belt, a first encoder, a first fixed synchronous belt pulley, a first rotating shaft, a first driven synchronous belt pulley, a first synchronous belt, a second encoder, a second fixed synchronous belt pulley, a second rotating shaft, a second driven synchronous belt pulley and a second synchronous belt; the wrist is connected with the second arm lever;

the second fixed synchronous belt pulley is fixedly connected with the rotating connecting seat, the front end connecting shaft is fixedly connected with the rotating connecting seat, the upper part of the front end of the first arm rod is rotatably connected with the front end connecting shaft through an upper bearing, the upper part of the second rotating shaft is fixedly connected with the lower part of the front end of the first arm rod, and the second rotating shaft is rotatably connected with the rotating connecting seat through a lower bearing; the second rotating shaft penetrates through a center hole of the second fixed synchronous belt wheel; the second encoder is fixedly connected with the first arm rod, the second driven synchronous belt wheel is fixedly connected with a rotating shaft in the second encoder, and the second synchronous belt is connected between the second driven synchronous belt wheel and the second fixed synchronous belt wheel; the connecting seat is fixedly connected with the second arm rod, the central shaft is provided with a body and a torsional spring connecting part, the torsional spring connecting part is provided with a torsional spring connecting hole, the torsional spring connecting part is fixedly connected with the rotating connecting seat, the body of the central shaft is connected with the connecting seat through a bearing, the torsional spring is sleeved on the body of the central shaft, one end of the torsional spring is connected with the torsional spring connecting hole, and the other end of the torsional spring is connected with the connecting seat; the third encoder is fixedly connected with the connecting seat, the third driven synchronous pulley is fixedly connected with a rotating shaft of the third encoder, the third fixed synchronous pulley is fixedly connected with the central shaft, and the third synchronous belt is connected between the third fixed synchronous pulley and the third driven synchronous pulley.

2. The doctor console for minimally invasive surgery according to claim 1, wherein the number of the torsion spring connecting holes is two or more.

3. The surgeon console for minimally invasive surgery of claim 1 wherein the surgeon robotic arm further comprises a detent for locking the second arm.

4. The doctor operating table for minimally invasive surgery according to claim 3, wherein the brake for locking the second arm lever comprises a third band-type brake, a band-type brake seat and a synchronous pulley for locking, the band-type brake seat is fixedly connected with the connecting seat, the third band-type brake is fixedly connected with the band-type brake seat, the third band-type brake is provided with a band-type brake block and a shaft hole, a synchronous belt connecting part is arranged on a torsional spring connecting part of the central shaft, the band-type brake seat is connected with a rotating shaft through a bearing, the lower part of the rotating shaft is arranged in the shaft hole of the third band-type brake, and the band-type brake block of the third band-type brake is connected with the rotating shaft through a flat key; the synchronous pulley for locking is fixedly connected with the upper part of the rotating shaft, and the synchronous pulley for locking is connected with the synchronous belt connecting part of the central shaft through a synchronous belt.

5. The doctor operating table for minimally invasive surgery according to claim 1, wherein the doctor mechanical arm further comprises a limiting piece and a limiting pin, the limiting piece is fixedly connected with the connecting seat, the limiting piece is provided with a limiting groove, the limiting pin is connected with the body of the central shaft, and the limiting pin is located in the limiting groove.

6. The surgeon console for minimally invasive surgery of claim 1 wherein the surgeon robotic arm further comprises a detent for locking the first arm.

7. The surgeon console for minimally invasive surgery according to claim 1, wherein the surgeon robotic arm further comprises a brake for locking the rotating connection hub.

8. The doctor console for minimally invasive surgery according to any one of claims 1 to 7, wherein there are two sets of doctor robotic arms, a left doctor robotic arm and a right doctor robotic arm respectively, and there are two sets of corresponding robotic arm support posts, a left robotic arm support post and a right robotic arm support post respectively; the left doctor mechanical arm and the right doctor mechanical arm are symmetrically arranged.

9. The doctor operating table for minimally invasive surgery according to any one of claims 1 to 7, wherein the rear connecting shaft is connected with the mechanical arm supporting upright through a mechanical arm lifting device; the mechanical arm lifting device comprises a support, a spline housing, a spline shaft seat, a ball screw, an upper lead screw supporting seat, a lower lead screw supporting seat, a nut seat, a fourth band-type brake, a power-assisted shaft, a power-assisted motor and an arm connecting seat, wherein the spline housing is fixedly connected with the top of the support, the spline shaft penetrates through the spline housing, the spline shaft seat is fixedly connected with the lower end of the spline shaft, the upper lead screw supporting seat is fixedly connected with the top of the support, the lower lead screw supporting seat is fixedly connected with the bottom of the support, the upper end of the ball screw is connected with the upper lead screw supporting seat, the lower end of the ball screw is connected with the lower lead screw supporting seat, the nut seat is connected with the ball screw, the spline shaft seat is fixedly connected with the nut seat, the fourth band-type brake is fixedly connected with the bottom of the support, a band-type brake block, the power-assisted shaft penetrates through a shaft hole of a fourth band-type brake, and a band-type brake block of the fourth band-type brake is connected with the power-assisted shaft; the power-assisted motor is fixedly connected with the bracket, and an output shaft of the power-assisted motor is connected with the lower end of the power-assisted shaft through a transmission mechanism; the arm connecting seat is connected with the upper end of the spline shaft;

10. The surgeon's console for minimally invasive surgery of claim 9, wherein the transmission between the power-assist motor and the power-assist shaft is a gear transmission.

11. The doctor operating table for minimally invasive surgery according to claim 10, wherein the gear transmission mechanism comprises a first gear, a second gear and an intermediate gear, the second gear is fixedly connected with the lower end of the assistance shaft, the first gear is connected with an output shaft of the assistance motor, the intermediate gear is rotatably connected with the end face of the bottom of the support and meshed with the first gear, and the second gear is meshed with the intermediate gear.

12. The doctor console for use in minimally invasive surgery of claim 11, wherein the power assist motor is a servo motor.

13. The doctor console for minimally invasive surgery of claim 10, wherein there are two groups of doctor robotic arms, a left doctor robotic arm and a right doctor robotic arm; the mechanical arm support columns are divided into two groups, namely a left mechanical arm support column and a right mechanical arm support column; the left doctor mechanical arm and the right doctor mechanical arm are symmetrically arranged; the mechanical arm lifting devices are divided into two groups, namely a left mechanical arm lifting device and a right mechanical arm lifting device.

14. The doctor operating table for minimally invasive surgery according to claim 1, wherein the display is connected with the display supporting seat through a lifting electric push rod, the lifting electric push rod is connected with the display supporting seat, and the display is connected with a telescopic rod of the lifting electric push rod.

15. The doctor console for minimally invasive surgery according to claim 1, wherein the display comprises a display screen, a frame and a control panel, the display screen is connected with the frame, and the control panel is connected with the lower portion of the frame.

16. A doctor operating table for minimally invasive surgery is characterized by comprising a machine base, a mechanical arm supporting upright post, a doctor mechanical arm, a display supporting seat and a display, wherein the mechanical arm supporting upright post is fixedly connected with the front side of the machine base; the doctor mechanical arm is positioned between the mechanical arm supporting upright post and the display; the doctor mechanical arm comprises a base, a first arm rod, a rotating connecting seat, a second arm rod and a wrist, wherein the base is connected with the stand column, the rear end of the first arm rod is connected with the base through a joint, and the first arm rod can rotate on a horizontal plane; the second arm rod is connected with the rotary connecting seat through a joint and can rotate on the vertical plane by taking the rotary connecting seat as a reference; the rotary connecting seat is connected with the front end of the first arm rod through a joint, and the rotary connecting seat can rotate on a horizontal plane by taking the first arm rod as a reference; the wrist is connected with the second arm lever.

17. The doctor console for minimally invasive surgery according to claim 16, wherein there are two sets of doctor robotic arms, a left doctor robotic arm and a right doctor robotic arm, respectively, and there are two sets of corresponding robotic arm support posts, a left robotic arm support post and a right robotic arm support post, respectively; the left doctor mechanical arm and the right doctor mechanical arm are symmetrically arranged.