CN211535146U - Otology operation robot - Google Patents
Otology operation robot Download PDFInfo
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- CN211535146U CN211535146U CN201922415143.XU CN201922415143U CN211535146U CN 211535146 U CN211535146 U CN 211535146U CN 201922415143 U CN201922415143 U CN 201922415143U CN 211535146 U CN211535146 U CN 211535146U
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- connecting piece
- otological
- robot
- accommodating cavity
- hole
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Abstract
The utility model provides an otology operation robot includes at least: the bottom surface of the base is provided with a movable roller; a medical workstation; a movement assembly electrically connected with the medical workstation; the mechanical arm is connected with the moving assembly and is electrically connected with the medical workstation; the tail end of the mechanical arm is provided with a first connecting piece; the surgical instrument, surgical instrument one end is equipped with the second connecting piece, the second connecting piece is used for being connected with first connecting piece. The utility model discloses a workstation and the integrated design of actuating system, the space that surgical robot took in the operation process that has significantly reduced. The movable design can be realized, and the fixing can be realized after the position of the movable design is determined, so that the motorized requirements of the clinic on large medical equipment are met. The multiple degree of freedom design can meet the high accuracy requirements required for otology surgery. The connection mechanism is simply connected with the surgical instrument, the surgical instrument can be quickly replaced in the operation, and the operation time can be shortened.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to an otology operation robot.
Background
The surgical robot provides a brand new choice for various surgical operations due to the characteristics of accuracy and safety. With the development of a period of time, the related technology of the surgical robot is mature day by day, and the use frequency of the surgical robot in clinical operation is also increased year by year. However, the surgical robots in the market are mostly designed towards abdominal and orthopedic surgery, and have limited application value in otology and lateral and cranial related surgery with higher precision requirements. Meanwhile, the requirements of people on ear and lateral skull base related operations are increasing day by day, and the requirements of doctors and patients on operations with higher precision and smaller wounds are more and more urgent. In this case, it is important to design and develop a professional type surgical robot suitable for otology.
At present, the design of common surgical robots is mostly realized for abdominal cavity and orthopedic surgery, the specifications of the surgical robots are often huge, and a workstation system is required to be additionally configured outside the main body part of the surgical robot so as to be convenient for operation doctors to operate, so that the occupied space of the whole set of surgical robot system is relatively large in the operation process, and the surgical robot system is often difficult to move, and the clinical motorized requirements on large-scale medical equipment cannot be realized. In addition, compared with the otology and lateral skull base operation, the common surgical robot has lower precision requirement, and is difficult to meet the requirements of the otology and lateral skull base operation. Aiming at the problems, the design directly integrates the workstation and the surgical robot, and simultaneously designs a set of medical surgical robot system suitable for otology and lateral skull base surgery.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide an otological surgical robot.
To achieve the above and other related objects, the present invention provides an otological surgery robot, comprising at least:
the bottom surface of the base is provided with a movable roller;
the medical workstation is arranged on the base;
a movement assembly electrically connected with the medical workstation;
the mechanical arm is connected with the moving assembly and is electrically connected with the medical workstation; the tail end of the mechanical arm is provided with a first connecting piece, the first connecting piece is provided with a second connecting piece accommodating cavity and a fixed rod, at least one side of the second connecting piece accommodating cavity is provided with an opening, the inner wall of the second connecting piece accommodating cavity is provided with a movable ball groove, a movable ball is accommodated in the movable ball groove, part of the movable ball protrudes out of the movable ball groove, one side of the second connecting piece accommodating cavity, which is opposite to the movable ball groove, is provided with a slide rail and a fixed through hole, and the tail end of the fixed rod can penetrate through the fixed through hole to reach the second connecting piece accommodating cavity;
the surgical instrument is provided with a second connecting piece at one end, and the second connecting piece is used for being connected with the first connecting piece;
the second connecting piece can be embedded into the second connecting piece accommodating cavity, the second connecting piece is provided with a ball clamping groove and a sliding block, the ball clamping groove can accommodate the protruding part of the movable ball, and the sliding block is matched with the sliding rail and can slide in the sliding rail.
As described above, the otological operation robot of the present invention has the following advantageous effects:
the utility model discloses an otology operation robot adopts the design of workstation and actuating system integration, the space that the operation robot took at the operation in-process that has significantly reduced. The movable design can be realized, and the fixing can be realized after the position of the movable design is determined, so that the motorized requirements of the clinic on large medical equipment are met. The multiple degree of freedom design can meet the high accuracy requirements required for otology surgery. The connection mechanism is simply connected with the surgical instrument, the surgical instrument can be quickly replaced in the operation, and the operation time can be shortened.
Drawings
Fig. 1 shows a structure of the ear surgery robot of the present invention.
Fig. 2 is a view showing a first connecting member structure of the ear surgery robot according to the present invention.
Fig. 3 is a front view of a first connecting member of the ear surgery robot according to the present invention.
Fig. 4 is a top view of a first connecting member of the otological surgical robot of the present invention.
Fig. 5 is a right side view of a first connector of the ear surgery robot according to the present invention.
Fig. 6 shows a structure of the ear surgery robot of the present invention.
Fig. 7 is a top view of a second connecting member of the otological robot according to the present invention.
Fig. 8 is a right side view of a second connector of the otological surgical robot of the present invention.
Fig. 9 is a front view of a second connecting member of the ear surgery robot according to the present invention.
Description of the element reference numerals
1 base
11 moving roller
12 brake block
2 medical workstation
21 control host
22 display
23 manipulator
3 moving assembly
31 lifting platform
32 propelling table
33 connecting platform
4 mechanical arm
41 first connecting member
411 second connector receiving chamber
412 fixed rod
4121 rotating handle
413 movable ball groove
414 slide rail
415 fixing through hole
5 surgical instrument
51 second connecting piece
511 ball clamping groove
512 sliding block
513 fixed blind hole
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Please refer to fig. 1 to 9. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
As shown in fig. 1, the otological operation robot according to the embodiment of the present invention at least includes:
the device comprises a base 1, wherein a movable roller 11 is arranged on the bottom surface of the base 1;
the medical workstation 2 is arranged on the base 1 and used for controlling the surgical robot;
a mobile assembly 3 electrically connected with the medical workstation 2;
a mechanical arm 4 connected with the moving assembly 3 and electrically connected with the medical workstation 2; as shown in fig. 2 to 5, a first connecting member 41 is disposed at a distal end of the mechanical arm 4, the first connecting member 41 is provided with a second connecting member accommodating cavity 411 and a fixing rod 412, at least one side of the second connecting member accommodating cavity 411 is open, a movable ball groove 413 is disposed on an inner wall of the second connecting member accommodating cavity, a movable ball is accommodated in the movable ball groove, the movable ball partially protrudes out of the movable ball groove, a slide rail 414 and a fixing through hole 415 are disposed at a side of the second connecting member accommodating cavity opposite to the movable ball groove, and a distal end of the fixing rod 412 can penetrate through the fixing through hole 415 to reach the second connecting member accommodating cavity 411;
in one embodiment, the surgical device 5 is provided with a second connector 51 at one end, as shown in fig. 6, the second connector 51 is used for connecting with the first connector 41; the second connecting member 51 can be inserted into the second connecting member receiving cavity 411, and as shown in fig. 7 to 9, the second connecting member 51 is provided with a ball catching groove 511 and a sliding block 512, the ball catching groove 511 can receive the protruding part of the movable ball, and the sliding block 512 is matched with the sliding rail 414 and can slide in the sliding rail 414.
The second connector receiving chamber 411 is for receiving the second connector 51. The sliding rail 414 can enable the second connecting member 51 to slide in the second connecting member accommodating cavity 411, and the ball design can enhance the sliding effect and reduce the sliding time. The fixing through hole 415 and the fixing rod 412 are matched with each other, so that the second connecting member 51 can be fixed after sliding into the second connecting member accommodating cavity 411, and the second connecting member 51 is prevented from loosening or falling off. The fixing through hole 415 is on the same side as the slide rail 414. The fixing effect is enhanced.
The surgical instrument further includes an execution tip connected to the second connector, which may vary from procedure to procedure. For example, a clamping device, a shearing device, a tympanostomy knife, a tympanostomy tube, or the like may be used.
Preferably, the extension direction of the actuating tip is perpendicular to the extension direction of the slider. The fixing effect is better.
Optionally, the radius of the ball is 1-3 mm.
Optionally, the radius of the fixing through hole is 1-5 mm.
The medical workstation comprises a control host 21, a display 22 and a manipulator 23, wherein the display 22, the manipulator 23, the moving assembly 3 and the mechanical arm 4 are respectively and electrically connected with the control host 21. The control host may be a computer, and the computer may be used to install a control program, and control the display 22, the manipulator 23, the moving assembly 3 and the mechanical arm 4 is realized by running the control program. The display may display the operating condition of the surgical robot, etc.
The utility model provides a hardware architecture of medical workstation. The utility model discloses a control program that medical workstation's main control system can install different settings as required.
The moving assembly 3 comprises a lifting table 31, a pushing table 32 and a connecting platform 33 which are connected in sequence, wherein the lifting table 31 is used for enabling the mechanical arm 4 to vertically lift and provide a degree of freedom in the vertical direction; the propulsion platform is used for enabling the mechanical arm 4 to transversely displace and can provide one degree of freedom in the horizontal direction; the connecting platform is used for connecting the mechanical arm and can provide one degree of freedom. The lifting platform 31 is arranged on the base 1, and the connecting platform 33 is connected with the mechanical arm 4. The connecting platform is provided with a rotary joint and a connecting rod, so that the connecting rod can move under the driving of the rotary joint, and then the mechanical arm is driven to move.
The lifting platform and the propelling platform can both adopt a hydraulic telescopic mode to provide freedom degree, and the lifting platform and the propelling platform are both in the prior art, such as a hydraulic telescopic device in 201621378225.1.
The connecting platform is provided with at least one rotary joint and a connecting rod, and the rotary joint is a rotary joint in the prior art, such as 201510572954.4.
The robotic arm is capable of providing at least 3 rotational degrees of freedom. The mechanical arm is provided with at least three rotating joints and connecting rods for connecting the rotating joints, so that the mechanical arm rotates. The robot arm is known in the art and may be, for example, the robot arm described in patent 201510567721.5.
And a brake block 12 is arranged on the movable roller 11. The robot can be freely moved and fixed in position. Such as universal wheels with braking function. The moving roller is prior art.
Further, the fixing through hole 415 and the side wall of the fixing rod 412 are provided with threads matching with each other. The fixing effect is enhanced.
One end of the fixing rod 412 is provided with a rotary handle 4121. The operation personnel can hold the device conveniently to rotate.
The volume of the second connecting piece accommodating cavity 411 is 27-8000mm3。
The second connector receiving chamber 411 and the second connector 51 may have any shape as long as the mating can be achieved. Preferably, the second connector receiving cavity 411 is a spherical or rectangular parallelepiped cavity. The second connecting piece is convenient to insert and fix.
Further, the second connector accommodating cavity 411 is a cubic cavity. The side length of the second connecting piece accommodating cavity 411 is 3mm-20 mm.
The number of the sliding rails 414 is 1 to 6. Preferably 2, both guaranteed fixed effect, prevent again that the slide rail is too much, inconvenient operation.
The slide rail can be a cuboid groove or a dovetail groove.
The first connecting piece can be connected with the mechanical arm in a screw and screw hole matching mode. Other connection methods in the prior art can also be adopted as long as the connection with the mechanical arm can be realized.
Preferably, the second connector receiving cavity 411 is open on three sides. The insertion of the second connector is facilitated.
As shown in fig. 8, in one embodiment, the second connector 51 is further provided with a blind fixing hole 513 for accommodating the end of the fixing rod 412, and in the connected state of the first connector 41 and the second connector 51, the blind fixing hole 513 is coaxial with the through fixing hole 415.
The fixing blind hole 513 is provided with a thread matching with the fixing rod 412. For connecting the fixing bar 412.
The ball clamping groove can be used for positioning.
The radius of the fixing blind hole 513 is the same as the radius of the fixing through hole 415.
Optionally, the radius of the fixing blind hole 513 is 1-5 mm.
The radius of the ball clamping groove is 1-3 mm.
The sliding block can be a cuboid or a dovetail sliding block matched with the sliding rail.
During the use, aim at the slide rail that the second connecting piece held the chamber 411 with the slider of second connecting piece 51, make the slider slide in the slide rail, accelerate simultaneously under the effect of activity ball to slide into the second connecting piece holds the chamber, at this moment, ball draw-in groove 511 is gone into to the activity ball card, and fixed blind hole 513 is coaxial with fixed through hole 415, inserts the dead lever, inserts fixed blind hole 513 with the end of dead lever in, fixes surgical instruments to the arm on. The manipulator 23 controls the movement of the moving assembly 3 and the mechanical arm 4, and further controls the movement of the surgical instrument to perform the operation. The arrows in fig. 1 are used to indicate the direction of movement of the various components.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An otological surgery robot, characterized in that: the surgical robot includes at least:
the device comprises a base (1), wherein a movable roller (11) is arranged on the bottom surface of the base (1);
the medical workstation (2) is arranged on the base (1);
a mobile assembly (3) electrically connected with the medical workstation (2);
a robotic arm (4) connected to the moving assembly (3) and electrically connected to the medical workstation (2); the tail end of the mechanical arm (4) is provided with a first connecting piece (41), the first connecting piece (41) is provided with a second connecting piece accommodating cavity (411) and a fixed rod (412), at least one side of the second connecting piece accommodating cavity (411) is opened, the inner wall of the second connecting piece accommodating cavity is provided with a movable ball groove (413), a movable ball is accommodated in the movable ball groove, the movable ball partially protrudes out of the movable ball groove, one side of the second connecting piece accommodating cavity, opposite to the movable ball groove, is provided with a sliding rail (414) and a fixed through hole (415), and the tail end of the fixed rod (412) can penetrate through the fixed through hole (415) to reach the second connecting piece accommodating cavity (411);
the surgical instrument (5), one end of the surgical instrument (5) is provided with a second connecting piece (51), and the second connecting piece (51) is used for being connected with the first connecting piece (41); the second connecting piece (51) can be embedded into the second connecting piece accommodating cavity (411), the second connecting piece (51) is provided with a ball clamping groove (511) and a sliding block (512), the ball clamping groove (511) can accommodate the protruding part of the movable ball, and the sliding block (512) is matched with the sliding rail (414) and can slide in the sliding rail (414).
2. Otological robot according to claim 1, characterized in that the medical workstation comprises a control host (21), a display (22) and a manipulator (23), the display (22), the manipulator (23), the moving assembly (3) and the robot arm (4) being electrically connected with the control host (21), respectively.
3. Otological robot according to claim 1, characterized in that said moving assembly (3) comprises, in succession, an elevating table (31), a pushing table (32) and a connecting platform (33), said elevating table (31) being arranged on said base (1), said connecting platform (33) being connected to said robotized arm (4).
4. Otological robot according to claim 1, characterized in that the robot arm (4) is capable of providing at least 3 rotational degrees of freedom.
5. Otological robot according to claim 1, characterized in that the moving roller (11) is provided with a brake block (12).
6. An otological surgical robot as recited in claim 1, further comprising one or more of the following features:
1) the side walls of the fixing through hole (415) and the fixing rod (412) are provided with threads matched with each other;
2) one end of the fixed rod (412) is provided with a rotating handle (4121).
7. Otological robot according to claim 1, characterized in that said second connector receiving cavity (411) is a sphere or a cuboid cavity.
8. The otological robot as recited in claim 1, characterized in that the number of the sliding rails (414) is 1-6.
9. Otological robot according to claim 1, characterized in that said second connector (51) is further provided with a blind fixing hole (513) for receiving the end of said fixing rod (412), said blind fixing hole (513) being coaxial with said through fixing hole (415) in the connected state of said first connector (41) and second connector (51).
10. Otological robot according to claim 9, characterized in that the blind fastening hole (513) is provided with a thread matching the fastening rod (412).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922415143.XU CN211535146U (en) | 2019-12-26 | 2019-12-26 | Otology operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922415143.XU CN211535146U (en) | 2019-12-26 | 2019-12-26 | Otology operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211535146U true CN211535146U (en) | 2020-09-22 |
Family
ID=72510880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922415143.XU Active CN211535146U (en) | 2019-12-26 | 2019-12-26 | Otology operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211535146U (en) |
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2019
- 2019-12-26 CN CN201922415143.XU patent/CN211535146U/en active Active
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