CN211433288U - Patient mechanical arm - Google Patents
Patient mechanical arm Download PDFInfo
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- CN211433288U CN211433288U CN201922031011.7U CN201922031011U CN211433288U CN 211433288 U CN211433288 U CN 211433288U CN 201922031011 U CN201922031011 U CN 201922031011U CN 211433288 U CN211433288 U CN 211433288U
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 45
- 239000010959 steel Substances 0.000 claims abstract description 45
- 230000037431 insertion Effects 0.000 claims 4
- 238000003780 insertion Methods 0.000 claims 4
- 230000005540 biological transmission Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000009429 electrical wiring Methods 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery 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 patient mechanical arm, which solves the problems that the transmission clearance of the patient mechanical arm of the existing minimally invasive surgical robot is large, and the supporting and positioning effects are not ideal; the device comprises an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a main driving wheel, a first steel wire, a first connecting rod driving wheel, a first shaft sleeve, a second steel wire, a second connecting rod driving wheel, a second shaft sleeve, a first connecting rod driving shaft, a third steel wire, a second connecting rod driving shaft and an instrument lifting seat driving shaft, wherein the inverted L-shaped arm rod is connected with a swing motor; the first wire is connected between the main drive wheel and the first link drive wheel. The utility model discloses extensively be used for medical instrument technical field.
Description
Technical Field
The utility model relates to a minimal access surgery robot technical field particularly, relates to a patient arm.
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 surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient.
The mechanical arm of a patient of the current surgical robot has large transmission clearance and unsatisfactory supporting and positioning effects; the structure is complex and the cost is high; the electric wiring is difficult, and the maintenance is inconvenient; single function, insufficient man-machine interaction and control performance and the like. Therefore, the structure and function of the mechanical arm need to be optimized and supplemented aiming at the problems.
Disclosure of Invention
The utility model aims to solve the problems that the transmission clearance of the mechanical arm of the patient in the existing robot system for minimally invasive surgery is large, and the supporting and positioning effects are not ideal; the technical problems of complex structure, difficult electrical wiring, inconvenient maintenance, high cost, single function and insufficient man-machine interaction and control performance are solved, and the transmission gap is small, and the supporting and positioning effects are good; and the patient mechanical arm has the advantages of simple structure, easy electrical wiring, convenience in maintenance, low cost, various functions and better man-machine interaction and control performance.
The utility model provides a patient mechanical arm, which comprises an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a swing motor, a main driving wheel, a first steel wire, a first connecting rod driving wheel, a first shaft sleeve, a first bearing, a second steel wire, a second bearing, a second connecting rod driving wheel, a third bearing, a second shaft sleeve, a fourth bearing, a first connecting rod driving shaft, a third steel wire, a fifth bearing, a second connecting rod driving shaft and an instrument lifting seat driving shaft; the inverted L-shaped arm rod comprises an upper part and a lower part, the swing motor is fixedly connected with the upper part of the inverted L-shaped arm rod, the main driving wheel is fixedly connected with an output shaft of the swing motor, the first shaft sleeve is fixedly connected with the lower part of the inverted L-shaped arm rod, and the first connecting rod driving shaft is rotatably connected with the first shaft sleeve through the first bearing and the second bearing; one end of the first connecting rod driving shaft is fixedly connected with the first connecting rod driving wheel, and the other end of the first connecting rod driving shaft is fixedly connected with the first connecting rod; the first steel wire is connected between the main driving wheel and the first connecting rod driving wheel;
the second shaft sleeve is fixedly connected with the upper end of the first connecting rod, and the second connecting rod driving shaft is rotatably connected with the second shaft sleeve through a third bearing and a fourth bearing; one end of the second connecting rod driving shaft is fixedly connected with the second connecting rod driving wheel, and the other end of the second connecting rod driving shaft is fixedly connected with the second connecting rod; the second steel wire is connected between the second connecting rod driving wheel and the first shaft sleeve;
the lower end of the instrument lifting seat is fixedly connected with the instrument lifting seat driving shaft; two symmetrically arranged threaded holes are formed in the side face of the second shaft sleeve, and two hook screw bolts penetrate through the third steel wire and are connected with the threaded holes; two symmetrically arranged threaded holes are formed in the side face of the driving shaft of the instrument lifting seat, and two hook screw bolts penetrate through the third steel wire and are connected with the threaded holes;
preferably, the main driving wheel is provided with two threaded holes which are symmetrically arranged, and two hook screw bolts penetrate through the first steel wire and are connected with the threaded holes; two threaded holes which are symmetrically arranged in a pile are formed in the first connecting rod driving wheel, and two hook screw bolts penetrate through the first steel wire and are connected with the threaded holes;
the second connecting rod driving wheel is provided with two threaded holes which are symmetrically arranged, and two hook screw bolts penetrate through the second steel wire and are connected with the threaded holes; the side of the first shaft sleeve is provided with two symmetrically arranged threaded holes, and two hook screw bolts penetrate through the second steel wire and are connected with the threaded holes.
Preferably, the patient arm still includes the torsional spring, and the lower extreme of falling L type armed lever is equipped with the torsional spring jack, and the lower extreme of first connecting rod is equipped with the torsional spring jack, and the torsional spring cover is sheathe in the primary shaft, and the first torsion arm of torsional spring inserts in the torsional spring jack on the type armed lever of falling L, and the second torsion arm inserts in the torsional spring jack of first connecting rod.
Preferably, the first connecting rod driving shaft, the second connecting rod driving shaft and the instrument lifting seat driving shaft are all of a central control structure.
The utility model has the advantages of stable support and accurate positioning; the size is small, the weight is light, the electric wiring is convenient, the maintenance is simple, the man-machine interaction and control performance is good, the cost is low, and the like.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of a patient table in a robotic system for minimally invasive surgery;
FIG. 2 is a schematic diagram of the construction of the right patient robotic arm;
FIG. 3 is an exploded view of the right patient robotic arm;
fig. 4 is an exploded view of the instrument lift base.
The symbols in the drawings illustrate that:
1. an instrument mechanical arm connecting seat, 2, a right patient mechanical arm, 201, an inverted L-shaped arm rod, 201-1, a torsion spring jack, 202, a first connecting rod, 203, a second connecting rod, 204, an instrument lifting seat, 204-1, a stamp card, 204-2, a puncture outfit connecting seat, 204-3, a puncture outfit, 204-4, a body, 204-4-1, a bearing seat hole, 204-5, a linear guide rail, 204-6, a sliding block fixing seat, 204-7, a ball screw, 204-8, a quick-change interface mounting frame, 204-9, a flange bearing, 204-10, a motor connecting shaft, 204-11, a lifting motor, 204-12, an indicator lamp seat, 204-13, a button, 204-14, an indicator lamp, 205, a surgical instrument, 206, a swinging motor, 207, a main driving wheel, 208, a first steel wire, 209. the first link driving wheel 210, the hook screw 211, the first bushing 212, the first bearing 213, the hook screw 214, the second wire 215, the second bearing 216, the second link driving wheel 217, the hook screw 218, the third bearing 219, the second bushing 220, the hook screw 221, the fourth bearing 222, the first link driving shaft 223, the third wire 224, the fifth bearing 225, the second link driving shaft 226, the instrument lifting seat driving shaft 227, and the torsion spring 227; 3. a left patient mechanical arm, 6, a first sliding rod, 7, driven connecting rods I and 8, driven connecting rods II and 9, a slave end base; 10. a cable.
2-1, 2-2, 2-3, 2-4, 2-5, and 2-6.
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, the patient operating table comprises an instrument mechanical arm connecting seat 1, a right patient mechanical arm 2 and a left patient mechanical arm 3, a first sliding rod 6 is connected with the instrument mechanical arm connecting seat 1 in a sliding mode, one end of a passive connecting rod I7 is rotatably installed at the bottom end of the first sliding rod 6, and the rotation axis of the passive connecting rod I7 is consistent with the gravity direction; one end of the driven link II8 is rotatably arranged at the other end of the driven link I7, and the rotation axis of the driven link II8 is consistent with the gravity direction; the other end of the passive connecting rod II8 is fixedly arranged at one end of the end base 9; the right patient mechanical arm 2 comprises an inverted L-shaped arm rod 201, a first connecting rod 202, a second connecting rod 203, an instrument lifting seat 204 and a surgical instrument 205, wherein the horizontal upper part of the inverted L-shaped arm rod 201 is rotatably installed at the other end of the slave end base 9, the rotation axis of the inverted L-shaped arm rod is consistent with the gravity direction, one end of the first connecting rod 202 is rotatably connected with the vertical lower part of the inverted L-shaped arm rod 201, one end of the second connecting rod 203 is rotatably connected with the other end of the first connecting rod 202, one end of the instrument lifting seat 204 is rotatably connected with the other end of the second connecting rod 203, and the surgical instrument 205 is connected with the instrument lifting seat 204. The first link 202, the second link 203 and the instrument lift base 204 can be folded and unfolded based on the vertical portion of the inverted-L arm 201, fig. 1 shows the first link 202, the second link 203 and the instrument lift base 204 in an unfolded state, the instrument lift base 204 is parallel to the first link 202, and the second link 203 is parallel to the vertical portion of the inverted-L arm 201.
As shown in fig. 2-3, the right patient robot arm 2 includes an inverted L-shaped arm 201, a first link 202, a second link 203, an instrument lift base 204, a swing motor 206, a main driving wheel 207, a first wire 208, a first link driving wheel 209, a hook screw 210, a first bushing 211, a first bearing 212, a hook screw 213, a second wire 214, a second bearing 215, a second link driving wheel 216, a hook screw 217, a third bearing 218, a second bushing 219, a hook screw 220, a fourth bearing 221, a first link driving shaft 222, a third wire 223, a fifth bearing 224, a second link driving shaft 225, an instrument lift base driving shaft 226, and a torsion spring 227, the instrument lift base 204 includes a stamp card 204-1, a puncture instrument connecting base 204-2, and a puncture instrument 204-3; the inverted-L arm 201 is a swing joint body that includes an upper portion and a lower portion, the upper portion being rotatable about an axis-2-1. The swing motor 206 is fixedly arranged at the upper part of the inverted-L-shaped arm rod 201, the main driving wheel 207 is fixedly arranged with an output shaft of the swing motor 206 through a screw, and the main driving wheel 207 can rotate around an axis 2-2. The first shaft sleeve 211 is fixedly connected with the tail end of the lower part of the inverted-L-shaped arm rod 201, the first connecting rod driving shaft 222 is rotatably connected with the first shaft sleeve through a first bearing 212 and a second bearing 215, one end of the first connecting rod driving shaft 222 is fixedly installed with the first connecting rod driving wheel 209, and the other end of the first connecting rod driving shaft 222 is fixedly connected with the first connecting rod 202 through a screw, so that the first connecting rod 202 rotates around the axis 2-3 under the driving of the first connecting rod driving wheel 209; two threaded holes are symmetrically processed on the main driving wheel 207, and two hook screw bolts 210 are respectively used for penetrating through the first steel wire 208 and then connecting with the threaded holes, so that the upper end of the first steel wire 208 is installed on the main driving wheel 207; two threaded holes are symmetrically processed on the first link driving wheel 209, and two hook screw nails are respectively used for penetrating through the first steel wire 208 and then connected with the threaded holes, so that the lower end of the first steel wire 208 is installed on the first link driving wheel 209; the main driving wheel 207 drives the first link driving wheel 209 to rotate through the first steel wire 208, and the transmission ratio is 1: 1. The lower end of the inverted L-shaped arm rod 201 is provided with a torsion spring jack 201-1, the lower end of the first connecting rod 202 is provided with a torsion spring jack, the torsion spring 227 is sleeved on the first shaft sleeve 211, the first torsion arm of the torsion spring 227 is inserted into the torsion spring jack 201-1, and the second torsion arm is inserted into the torsion spring jack of the first connecting rod 202. The torsion spring 227 plays a role in gravity compensation in the motion process of the mechanical arm, so that the load of the motor is effectively reduced, and the service life of the motor is prolonged; the torsional spring jack sets up a plurality ofly, can adjust the torque arm mounted position according to actual conditions in the assembling process. The second shaft sleeve 219 is fixedly connected with the upper end of the first link 202, the second link driving shaft 225 is rotatably connected with the second shaft sleeve 219 through a third bearing 218 and a fourth bearing 221, one end of the second link driving shaft 225 is fixedly connected with the second link driving wheel 216, and the other end of the second link driving shaft 225 is fixedly connected with the second link 203 through a screw; two threaded holes are symmetrically processed on the second connecting rod driving wheel 216, and two hook screw nails 217 are respectively used for penetrating through the second steel wire 214 and then connecting with the threaded holes, so that the upper end of the second steel wire 214 is installed on the second connecting rod driving wheel 216; two threaded holes are symmetrically processed in the side surface of the first shaft sleeve 211, and two hook screw bolts 213 are respectively used for penetrating through the second steel wire 214 and then connecting with the threaded holes, so that the lower end of the second steel wire 214 is installed on the first shaft sleeve 211; while the first connecting rod 202 rotates around the axis 2-3, the second steel wire 214 also drives the second connecting rod driving wheel 216 to rotate around the axis 2-4 in the opposite direction, namely the second connecting rod driving wheel 216 performs planetary motion around the axis 2-3, the transmission ratio is 1:1, and the second connecting rod 203 rotates around the axis 2-4 under the driving of the second connecting rod driving wheel 216; since the transmission ratio of the planetary motion of the second link driving wheel 216 is 1:1, the rotation angle of the first link 202 around the axis 2-3 is the same as the rotation angle of the second link 203 around the axis 2-4 at the same time, that is, the second link 203 and the lower part (vertical part) of the inverted-L arm 201 are kept in a parallel positional relationship at any moment during the motion of the mechanical arm. The instrument lifting seat driving shaft 226 is rotatably connected with the lower end of the second connecting rod 203 through a fifth bearing 224, and the lower end of the instrument lifting seat 204 is fixedly connected with the instrument lifting seat driving shaft 226 through a screw; two threaded holes are symmetrically processed in the side surface of the second sleeve 219 and are respectively connected with the threaded holes after passing through the third steel wire 223 by two hook screw screws 220, so that the upper end of the third steel wire 223 is mounted on the second sleeve 219; two threaded holes are symmetrically processed on the side surface of the instrument lifting seat driving shaft 226, and two hook screw nails are respectively used for penetrating through the third steel wire 223 and then connected with the threaded holes, so that the lower end of the third steel wire 223 is installed on the instrument lifting seat driving shaft 226; while the second link 203 rotates about the axis 2-4, the third wire 223 also drives the implement elevator shaft 226 to rotate about the axis 2-5 in the opposite direction, i.e., the implement elevator shaft 226 performs a planetary motion about the axis 2-4, with the same transmission ratio of 1:1, so as to realize the rotation of the implement elevator 204 about the axis 2-5 driven by the implement elevator shaft 226. Since the transmission ratio of the planetary motion of the device lifting seat driving shaft 226 is 1:1, the rotation angle of the second connecting rod 203 around the axis 2-4 is the same as the rotation angle of the device lifting seat 204 around the axis 2-5 in the same time, i.e. the device lifting seat 204 and the first connecting rod 202 are kept in parallel positional relationship at the moment in the mechanical arm motion process. This constraint allows the instrument lift 204 of the patient robotic arm swing joint to swing about a fixed axis 2-6 in space at all times during motion. Namely, when the swing motor 206 is operated, under the constraint of the first connecting rod 202 and the second connecting rod 203 in the swing joint, the instrument lifting seat 204 will move under the constraint of the mechanism under the transmission of the first steel wire 208, the second steel wire 214 and the third steel wire 223, and always pass through the axis 2-6 no matter the swing is to any angle.
The first connecting rod driving shaft 222, the second connecting rod driving shaft 225 and the instrument lifting seat driving shaft 226 are all hollow structures, and the cable 10 penetrates through the driving shafts, so that electric wiring is facilitated, meanwhile, damage to the cable due to friction and the like caused by frequent rotation of joints can be effectively avoided, the internal space of the mechanical arm can be fully utilized, the weight of the joints is reduced, the strength is improved, the appearance is kept clean, and wiping and maintenance by a doctor are facilitated. Each joint all adopts detachable steel wire transmission structure, adopts the steel wire transmission structure of this kind of form, not only has the precision height, and light in weight, inertia are little and the advantage that the noise is low, and maintenance, the maintenance of the equipment later stage of being convenient for can also convenient dismantlement, change and tensioning. The gravity compensation device adopting the torsion spring structure reduces the installation space, simplifies the structure, greatly reduces the cost and improves the reliability.
As shown in FIG. 4, the instrument lifting seat 204 comprises a body 204-4, a stab card 204-1, a puncture outfit connecting seat 204-2, a puncture outfit 204-3, a linear guide rail 204-5, a slider fixing seat 204-6, a ball screw 204-7, a quick-change interface mounting rack 204-8, a flange bearing 204-9, a motor connecting shaft 204-10, a lifting motor 204-11, an indicating lamp holder 204-12, a button 204-13 and an indicating lamp 204-14, wherein the stab card 204-1 is connected with the lower part of the body 204-4, the puncture outfit connecting seat 204-2 is connected with the stab card 204-1, the puncture outfit 204-3 is connected with the puncture outfit connecting seat 204-2, the linear guide rail 204-5 is fixedly installed in the body 204-4, the slider fixing seat 204-6 is fixedly connected with a slider on the linear guide rail 204, the body 204-4 is provided with a bearing seat hole 204-4-1, the upper end of a ball screw 204-7 is connected with the bearing seat hole 204-4-1 through a flange bearing 204-9, a lifting motor 204-11 is fixedly installed on the stamp card 204-1, the lower end of the ball screw 204-7 is connected with an output shaft of the lifting motor 204-11 through a motor connecting shaft 204-10, a nut seat of the ball screw 204-7 is fixedly connected with a slider fixing seat 204-6, a quick-change interface mounting frame 204-8 is fixedly connected with the slider fixing seat 204-6, an indicating lamp seat 204-12 is connected with the upper part of the body 204-4, an indicating lamp 204-14 is connected with an indicating lamp seat 204-12, and a button 204-13 is connected with the indicating lamp seat 204-12. The quick-change interface used for mounting the surgical instrument is connected with the quick-change interface mounting frame 204-8, the surgical instrument is connected with the quick-change interface, and the ball screw 204-7 and the quick-change interface mounting frame 204-8 can move up and down under the driving of the lifting motor 204-11, so that the surgical instrument can be driven to slide linearly along the axis 204-3-1. The linear guide 204-5 can ensure the precision of the surgical instrument in the process of telescopic motion. The buttons 204-13 arranged on the two sides of the indicator lamp base 204-12 are used for adjusting the pose, and the pose of the mechanical arm of the patient can be manually adjusted after the buttons 204-13 are pressed.
The axis 2-1 of the rotary joint, the axis 2-6 of the swing joint and the axis 204-3-1 of the telescopic joint of the patient mechanical arm can intersect at one point in the space far away from the mechanical arm body, namely the remote center through the assembly relation. Before and during surgery, an operator can manually adjust the mechanical arm to align the remote center with the incision point of the surgical site of the patient, so as to quickly and effectively position the surgical instrument. Because the remote center coincides with the incision point of the surgical site of the patient and is far away from the mechanical arm body. Therefore, the mechanical arm can be effectively prevented from contacting the body surface of the patient in the operation process, the operation infection risk of the patient is reduced, and the cleaning and maintenance of the post-operation equipment are facilitated.
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. A patient mechanical arm is characterized by comprising an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a swing motor, a main driving wheel, a first steel wire, a first connecting rod driving wheel, a first shaft sleeve, a first bearing, a second steel wire, a second bearing, a second connecting rod driving wheel, a third bearing, a second shaft sleeve, a fourth bearing, a first connecting rod driving shaft, a third steel wire, a fifth bearing, a second connecting rod driving shaft and an instrument lifting seat driving shaft; the inverted L-shaped arm rod comprises an upper part and a lower part, the swing motor is fixedly connected with the upper part of the inverted L-shaped arm rod, the main driving wheel is fixedly connected with an output shaft of the swing motor, the first shaft sleeve is fixedly connected with the lower part of the inverted L-shaped arm rod, and the first connecting rod driving shaft is rotatably connected with the first shaft sleeve through a first bearing and a second bearing; one end of the first connecting rod driving shaft is fixedly connected with the first connecting rod driving wheel, and the other end of the first connecting rod driving shaft is fixedly connected with the first connecting rod; the first steel wire is connected between the main driving wheel and the first connecting rod driving wheel;
the second shaft sleeve is fixedly connected with the upper end of the first connecting rod, and the second connecting rod driving shaft is rotatably connected with the second shaft sleeve through a third bearing and a fourth bearing; one end of the second connecting rod driving shaft is fixedly connected with the second connecting rod driving wheel, and the other end of the second connecting rod driving shaft is fixedly connected with the second connecting rod; the second steel wire is connected between the second connecting rod driving wheel and the first shaft sleeve;
the lower end of the instrument lifting seat is fixedly connected with the instrument lifting seat driving shaft; two symmetrically arranged threaded holes are formed in the side face of the second shaft sleeve, and two hook screw bolts penetrate through the third steel wire and are connected with the threaded holes; and two threaded holes which are symmetrically arranged are formed in the side surface of the instrument lifting seat driving shaft, and two hook screw bolts penetrate through the third steel wire and are connected with the threaded holes.
2. The patient robotic arm of claim 1, wherein the main drive wheel is provided with two symmetrically disposed threaded holes, and two hook screws are inserted through the first steel wire and connected to the threaded holes; two threaded holes which are symmetrically arranged in a pile are formed in the first connecting rod driving wheel, and two hook screw bolts penetrate through the first steel wire and are connected with the threaded holes;
the second connecting rod driving wheel is provided with two threaded holes which are symmetrically arranged, and two hook screw bolts penetrate through the second steel wire and are connected with the threaded holes; and two symmetrically arranged threaded holes are formed in the side surface of the first shaft sleeve, and two hook screw bolts penetrate through the second steel wire and are connected with the threaded holes.
3. The patient mechanical arm as claimed in claim 1 or 2, further comprising a torsion spring, wherein the lower end of the inverted-L-shaped arm rod is provided with a torsion spring insertion hole, the lower end of the first connecting rod is provided with a torsion spring insertion hole, the torsion spring is sleeved on the first shaft sleeve, the first torsion arm of the torsion spring is inserted into the torsion spring insertion hole on the inverted-L-shaped arm rod, and the second torsion arm is inserted into the torsion spring insertion hole of the first connecting rod.
4. The patient robotic arm of claim 1 or 2, wherein the first link drive shaft, the second link drive shaft and the instrument lift base drive shaft are all centralized structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031011.7U CN211433288U (en) | 2019-11-20 | 2019-11-20 | Patient mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031011.7U CN211433288U (en) | 2019-11-20 | 2019-11-20 | Patient mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN211433288U true CN211433288U (en) | 2020-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922031011.7U Active CN211433288U (en) | 2019-11-20 | 2019-11-20 | Patient mechanical arm |
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| CN (1) | CN211433288U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520602A (en) * | 2021-08-02 | 2021-10-22 | 南京佗道医疗科技有限公司 | Mechanical arm structure, pre-positioning structure and surgical robot |
| CN113768625A (en) * | 2021-08-03 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | Mechanical arm configuration determining method, device and equipment of surgical robot system |
| CN113796962A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
-
2019
- 2019-11-20 CN CN201922031011.7U patent/CN211433288U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520602A (en) * | 2021-08-02 | 2021-10-22 | 南京佗道医疗科技有限公司 | Mechanical arm structure, pre-positioning structure and surgical robot |
| CN113520602B (en) * | 2021-08-02 | 2024-03-12 | 佗道医疗科技有限公司 | Mechanical arm structure, pre-positioning structure and surgical robot |
| CN113768625A (en) * | 2021-08-03 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | Mechanical arm configuration determining method, device and equipment of surgical robot system |
| CN113768625B (en) * | 2021-08-03 | 2023-03-14 | 武汉联影智融医疗科技有限公司 | Mechanical arm configuration determining method, device and equipment of surgical robot system |
| CN113796962A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
| CN113796962B (en) * | 2021-08-27 | 2024-01-30 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
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