CN210872030U - Minimally invasive surgery robot with horizontal telescopic joint - Google Patents
Minimally invasive surgery robot with horizontal telescopic joint Download PDFInfo
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- CN210872030U CN210872030U CN201921440228.7U CN201921440228U CN210872030U CN 210872030 U CN210872030 U CN 210872030U CN 201921440228 U CN201921440228 U CN 201921440228U CN 210872030 U CN210872030 U CN 210872030U
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 13
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000001356 surgical procedure Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model relates to a minimally invasive surgery robot with a horizontal telescopic joint, which solves the technical problems of complicated structure, large volume, high cost and low precision of a manual adjusting device for adjusting the pose of an instrument mechanical arm in the existing minimally invasive surgery robot, and comprises a stand column, a cross beam and an instrument mechanical arm, wherein the cross beam comprises a supporting seat, a nut seat, a ball screw, a left screw supporting seat, a right screw supporting seat, a feed screw and a mechanical arm mounting rack, the nut seat is fixedly connected with the supporting seat, the ball screw is connected with the nut seat, the left end of the ball screw is connected with the left screw supporting seat, the right end of the ball screw is connected with the right screw supporting seat, the mechanical arm mounting rack is fixedly connected with the right screw supporting seat, the left end of the feed screw is fixedly connected with the left screw supporting seat, the right end of the feed screw is fixedly connected with the right, the light bar passes through the linear bearing; the supporting seat is connected with the upright post; the instrument mechanical arm is connected with the mechanical arm mounting frame. The utility model discloses extensively be used for medical instrument technical field.
Description
Technical Field
The utility model relates to a minimal access surgery operation machine technical field particularly, relates to a minimal access surgery operation robot with horizontal telescopic joint.
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 an instrument robot arm of a patient console to perform various surgical actions by operating the surgeon console.
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.
Before and during the operation, the pose of an instrument mechanical arm of the minimally invasive surgery robot can be manually adjusted to adapt to the incision positions of different operation parts of a patient. However, the existing manual adjusting device has the technical problems of complex structure, large volume, high cost, low precision and the like.
Disclosure of Invention
The utility model discloses be exactly for solve among the current minimal access surgery robot manual adjusting device structure that is used for adjusting the apparatus arm position appearance complicated, bulky, with high costs, the technical problem that the precision is low provides a simple structure, small, with low costs, the high minimal access surgery robot who has horizontal telescopic joint of precision.
The utility model provides a minimally invasive surgery robot with a horizontal telescopic joint, which comprises a stand column, a cross beam and an instrument mechanical arm, wherein the cross beam comprises a supporting seat, a nut seat, a ball screw, a left screw supporting seat, a right screw supporting seat, a feed rod and a mechanical arm mounting rack, the nut seat is fixedly connected with the supporting seat, the ball screw is connected with the nut seat, the left end of the ball screw is connected with the left screw supporting seat, the right end of the ball screw is connected with the right screw supporting seat, the mechanical arm mounting rack is fixedly connected with the right screw supporting seat, the left end of the feed rod is fixedly connected with the left screw supporting seat, the right end of the feed rod is fixedly connected with the right screw supporting seat, a linear bearing is connected in the supporting; the supporting seat is connected with the upright post; the instrument mechanical arm is connected with the mechanical arm mounting frame.
Preferably, the support base is rotatably connected to the upright.
Preferably, the number of optical bars is two and the number of linear bearings is two.
Preferably, the crossbeam still includes band-type brake and band-type brake connecting axle, and the band-type brake connecting axle is connected with ball screw's left end fixed connection, and band-type brake fixed connection is on left screw supporting seat, and the band-type brake is equipped with band-type brake piece and shaft hole, and in the shaft hole of band-type brake was located to the band-type brake connecting axle, the band-type brake piece was connected with the band-type brake connecting axle through the parallel key.
The utility model also provides a minimally invasive surgery robot with a horizontal telescopic joint, which comprises a stand column, a cross beam, a slide bar connecting seat, a first instrument mechanical arm, a second instrument mechanical arm, a first slide bar and a second slide bar, wherein the cross beam is rotationally connected with the stand column, the slide bar connecting seat is rotationally connected with the cross beam, the first slide bar is slidably connected with the slide bar connecting seat, the second slide bar is slidably connected with the slide bar connecting seat, the first instrument mechanical arm is connected with the first slide bar, and the second instrument mechanical arm is connected with the second slide bar; the cross beam comprises a supporting seat, a nut seat, a ball screw, a left screw supporting seat, a right screw supporting seat, a feed rod and a mechanical arm mounting rack, wherein the nut seat is fixedly connected with the supporting seat; the supporting seat is rotationally connected with the upright post; the slide bar connecting seat is rotatably connected with the mechanical arm mounting rack.
Preferably, the number of the optical bars is two and the number of the linear bearings is two.
Preferably, the crossbeam still includes band-type brake and band-type brake connecting axle, and the band-type brake connecting axle is connected with ball screw's left end fixed connection, and band-type brake fixed connection is on left screw supporting seat, and the band-type brake is equipped with band-type brake piece and shaft hole, and in the shaft hole of band-type brake was located to the band-type brake connecting axle, the band-type brake piece was connected with the band-type brake connecting axle through the parallel key.
The utility model also provides a minimally invasive surgery robot with horizontal telescopic joint, including stand, crossbeam and doctor's arm, the crossbeam includes supporting seat, nut seat, ball, left lead screw supporting seat, right lead screw supporting seat, feed rod and arm mounting bracket, nut seat and supporting seat fixed connection, ball are connected with nut seat, ball's left end and left lead screw supporting seat are connected, ball's right-hand member and right lead screw supporting seat are connected, arm mounting bracket and right lead screw supporting seat fixed connection, feed rod's left end and left lead screw supporting seat fixed connection, feed rod's right-hand member and right lead screw supporting seat fixed connection, be connected with linear bearing in the supporting seat, feed rod passes linear bearing; the supporting seat is connected with the upright post; the doctor arm is connected with the arm mounting bracket.
Preferably, the supporting seat is rotatably connected with the upright column, the number of the polish rods is two, and the number of the linear bearings is two.
Preferably, the crossbeam still includes band-type brake and band-type brake connecting axle, and the band-type brake connecting axle is connected with ball screw's left end fixed connection, and band-type brake fixed connection is on left screw supporting seat, and the band-type brake is equipped with band-type brake piece and shaft hole, and in the shaft hole of band-type brake was located to the band-type brake connecting axle, the band-type brake piece was connected with the band-type brake connecting axle through the parallel key.
The beneficial effects of the utility model are that, simple structure, light and handy, it is small, with low costs, can be very easy the position of hand regulation arm, the regulation precision is high to it is little to have the movement resistance, and the noise is low, does not have the return stroke clearance, and the precision is high, characteristics that the reliability is high. In addition, the lock also has a locking function.
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 robot with horizontal telescoping joints;
fig. 2 is a schematic structural view of the cross member.
The symbols in the drawings illustrate that:
1. the mechanical arm comprises a vertical column, a first axis, a second axis, a cross beam, a second axis, a supporting seat, a nut seat, a ball screw 203, a ball screw 204, a left screw supporting seat, a right screw supporting seat 205, a polished rod 206, a linear bearing 207, a band-type brake 208, a band-type brake block 2081, a band-type brake connecting shaft 209, a mechanical arm mounting frame 210, a sliding rod connecting seat 3, a third axis, a first mechanical arm 4, a second mechanical arm 5, a first sliding rod 6, a fourth axis 6-1, a second sliding rod 7-1 and a fifth axis 7-1.
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 and 2, the cross beam 2 is rotatably connected to the upright post 1, the slide bar connecting seat 3 is rotatably connected to the cross beam 2, the first slide bar 6 is slidably connected to the slide bar connecting seat 3, the second slide bar 7 is slidably connected to the slide bar connecting seat 3, the first instrument mechanical arm 4 is connected to the first slide bar 6, and the second instrument mechanical arm 5 is connected to the second slide bar 7. The beam 2 is horizontally arranged, the beam 2 comprises a supporting seat 201, a nut seat 202, a ball screw 203, a left screw supporting seat 204, a right screw supporting seat 205, a polished rod 206, a linear bearing 207, a band-type brake 208, a band-type brake connecting shaft 209 and a mechanical arm mounting rack 210, the nut seat 202 is fixedly connected with the supporting seat 201, the ball screw 203 is connected with the nut seat 202, the left end of the ball screw 203 is connected with a bearing in the left screw supporting seat 204, the right end of the ball screw 203 is connected with a bearing in the right screw supporting seat 205, the band-type brake connecting shaft 209 is fixedly connected with the left end of the ball screw 203, the band-type brake 208 is fixedly mounted on the left screw supporting seat 204, the band-type brake 208 is provided with a band-type brake block 2081 and a shaft hole, the band-type brake connecting shaft 209 is arranged in the shaft hole of the band-type brake 208, the band-type brake block 2081 is connected with the band-type brake, the right end of the feed rod 206 is fixedly connected with a right screw rod supporting seat 205, a linear bearing 207 is installed in the supporting seat 201, and the feed rod 206 penetrates through the linear bearing 207; there are a total of two optical bars 206 and two matching sets of linear bearings 207. The supporting seat 201 is rotatably connected with the upright 1. The slide bar connecting base 3 is rotatably connected with the robot mounting bracket 210. The structure of the beam 2 can be understood as a telescopic joint, when the supporting seat 201 is still, an operator manually drags the mechanical arm mounting rack 210 to the right or left, the ball screw 203 rotates, the light bar 206 slides in the supporting seat 201, the left-right translation of the mechanical arm mounting rack 210 is realized, the mechanical arm mounting rack 210 stretches relative to the upright post 1 (stretches along the two 2-1 directions of the axis), thereby adjusting the positions of the first mechanical arm 4 and the second mechanical arm 5, the operator can understand that the operator only needs to overcome the rolling friction force between the light bar and the linear bearing and between the nut seat and the ball screw 203 to realize the linear motion, the operation is light, the adjustment is flexible, and the precision is high. The band-type brake 208 can lock the ball screw 203, and when the power is off, the band-type brake block 2081 in the band-type brake 208 is tightly held, so that the ball screw 203 cannot rotate; when the power is turned on, the band-type brake block 2081 is released, and the ball screw 203 can rotate. The ball screw has high precision, no transmission clearance and no return clearance after the telescopic joint is locked.
The first instrument robot arm 4 may be directly connected to the robot arm mounting block 210, and the second instrument robot arm 5 may be directly connected to the robot arm mounting block 210. In addition, the cross beam 2 and the upright 1 can be used for supporting and adjusting the doctor arm, that is, the doctor arm can be connected with the arm mounting bracket 210.
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 (10)
1. A minimally invasive surgery robot with a horizontal telescopic joint is characterized by comprising a stand column, a cross beam and an instrument mechanical arm, wherein the cross beam comprises a supporting seat, a nut seat, a ball screw, a left screw supporting seat, a right screw supporting seat, a feed bar and a mechanical arm mounting rack; the supporting seat is connected with the upright post; the instrument mechanical arm is connected with the mechanical arm mounting frame.
2. The minimally invasive surgical robot with the horizontal telescopic joint according to claim 1, wherein the supporting base is rotatably connected with the upright.
3. The minimally invasive surgical robot with the horizontal telescopic joint according to claim 1 or 2, characterized in that the number of the optical bars is two and the number of the linear bearings is two groups.
4. The minimally invasive surgical robot with the horizontal telescopic joint according to claim 1 or 2, wherein the cross beam further comprises a band-type brake and a band-type brake connecting shaft, the band-type brake connecting shaft is fixedly connected with the left end of the ball screw, the band-type brake is fixedly connected to the left screw supporting seat, the band-type brake is provided with a band-type brake block and a shaft hole, the band-type brake connecting shaft is arranged in the shaft hole of the band-type brake, and the band-type brake block is connected with the band-type brake connecting shaft through a flat key.
5. A minimally invasive surgery robot with a horizontal telescopic joint is characterized by comprising a stand column, a cross beam, a slide bar connecting seat, a first instrument mechanical arm, a second instrument mechanical arm, a first slide bar and a second slide bar, wherein the cross beam is rotatably connected with the stand column; the cross beam comprises a supporting seat, a nut seat, a ball screw, a left screw supporting seat, a right screw supporting seat, a feed bar and a mechanical arm mounting rack, wherein the nut seat is fixedly connected with the supporting seat, the ball screw is connected with the nut seat, the left end of the ball screw is connected with the left screw supporting seat, the right end of the ball screw is connected with the right screw supporting seat, the mechanical arm mounting rack is fixedly connected with the right screw supporting seat, the left end of the feed bar is fixedly connected with the left screw supporting seat, the right end of the feed bar is fixedly connected with the right screw supporting seat, a linear bearing is connected in the supporting seat, and the feed bar penetrates through the linear bearing; the supporting seat is rotatably connected with the upright post; the slide bar connecting seat is rotatably connected with the mechanical arm mounting rack.
6. The minimally invasive surgical robot with a horizontal telescopic joint according to claim 5, characterized in that the number of the optical bars is two and the number of the linear bearings is two.
7. The minimally invasive surgical robot with the horizontal telescopic joint according to claim 5 or 6, wherein the cross beam further comprises a band-type brake and a band-type brake connecting shaft, the band-type brake connecting shaft is fixedly connected with the left end of the ball screw, the band-type brake is fixedly connected onto the left screw supporting seat, the band-type brake is provided with a band-type brake block and a shaft hole, the band-type brake connecting shaft is arranged in the shaft hole of the band-type brake, and the band-type brake block is connected with the band-type brake connecting shaft through a flat key.
8. A minimally invasive surgery robot with a horizontal telescopic joint is characterized by comprising a stand column, a cross beam and a doctor mechanical arm, wherein the cross beam comprises a supporting seat, a nut seat, a ball screw, a left screw supporting seat, a right screw supporting seat, a feed bar and a mechanical arm mounting rack; the supporting seat is connected with the upright post; the doctor arm is connected with the arm mounting bracket.
9. The minimally invasive surgical robot with the horizontal telescopic joint according to claim 8, wherein the supporting seat is rotatably connected with a vertical column, the number of the optical levers is two, and the number of the linear bearings is two.
10. The minimally invasive surgical robot with the horizontal telescopic joint according to claim 9, wherein the cross beam further comprises a band-type brake and a band-type brake connecting shaft, the band-type brake connecting shaft is fixedly connected with the left end of the ball screw, the band-type brake is fixedly connected to the left screw supporting seat, the band-type brake is provided with a band-type brake block and a shaft hole, the band-type brake connecting shaft is arranged in the shaft hole of the band-type brake, and the band-type brake block is connected with the band-type brake connecting shaft through a flat key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921440228.7U CN210872030U (en) | 2019-08-30 | 2019-08-30 | Minimally invasive surgery robot with horizontal telescopic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921440228.7U CN210872030U (en) | 2019-08-30 | 2019-08-30 | Minimally invasive surgery robot with horizontal telescopic joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210872030U true CN210872030U (en) | 2020-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921440228.7U Active CN210872030U (en) | 2019-08-30 | 2019-08-30 | Minimally invasive surgery robot with horizontal telescopic joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210872030U (en) |
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2019
- 2019-08-30 CN CN201921440228.7U patent/CN210872030U/en active Active
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