CN212261517U - Compact laparoscopic surgery robot system - Google Patents
Compact laparoscopic surgery robot system Download PDFInfo
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- CN212261517U CN212261517U CN202021325656.8U CN202021325656U CN212261517U CN 212261517 U CN212261517 U CN 212261517U CN 202021325656 U CN202021325656 U CN 202021325656U CN 212261517 U CN212261517 U CN 212261517U
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Abstract
The utility model relates to a compact laparoscopic surgery robot system, including the bed board, a support frame, the ring support, multidimension degree of freedom arm, the bed board is used for supporting patient, the bed board below is provided with the support frame, the ring support has been erect above the bed board, the ring support is ring type structure, the ring support bottom both ends are connected in the bed board left and right sides movably, and make the reciprocating motion of fore-and-aft direction along the bed board, install multidimension degree of freedom arm on the ring support, multidimension degree of freedom arm is provided with at least two, and the end of each multidimension degree of freedom arm all installs minimal access surgery arm system, minimal access surgery arm system is used for carrying out the minimal access laparoscopic surgery to patient, minimal access surgery arm system carries out the multidimension motion under the drive of multidimension degree of; the utility model discloses can reduce the demand that occupies to the operating room space by a wide margin, provide the effective space of both sides simultaneously and make the doctor have more available space operations.
Description
[ technical field ]
The utility model belongs to the technical field of the medical instrument technique and specifically relates to a compact laparoscopic surgery robot system.
[ background art ]
At present, the existing laparoscopic minimally invasive robot system and the existing laparoscopic minimally invasive robot bed are two independent systems, and each system needs to occupy an independent operating room space, so that an operating room with a larger space is needed. Therefore, it would be clinically significant to provide a laparoscopic surgical robotic system that provides a compact space.
[ contents of utility model ]
The utility model aims at solving foretell not enough and provide a compact laparoscopic surgery robot system, can reduce the demand that occupies to the operating room space by a wide margin, provide the effective space of both sides simultaneously and make the doctor have more available space operations, improved the convenience and the reliability that the doctor performed the operation.
In order to realize the aim, the compact laparoscopic surgery robot system comprises a bed plate 1, a support frame 8, a circular ring support 3 and a multi-dimensional degree of freedom mechanical arm, the bed board 1 is used for supporting a patient 2, a support frame 8 is arranged below the bed board 1, a circular ring support 3 is erected above the bed board 1, the circular ring support 3 is a circular ring structure, the left end and the right end of the bottom of the circular ring support 3 are movably connected with the left side and the right side of the bed plate 1, and reciprocating back and forth along the bed plate 1, a multi-dimensional degree of freedom mechanical arm is arranged on the circular ring bracket 3, at least two multi-dimensional degree of freedom mechanical arms are arranged, and the tail end of each multi-dimensional degree-of-freedom mechanical arm is provided with a minimally invasive surgery mechanical arm system 9, the minimally invasive surgery mechanical arm system 9 is used for carrying out minimally invasive laparoscopic surgery on the patient 2, the minimally invasive surgery mechanical arm system 9 is driven by a multi-dimensional degree of freedom mechanical arm to perform multi-dimensional motion.
Furthermore, the multi-dimensional degree of freedom mechanical arm has at least six degrees of freedom of motion, and the multi-dimensional degree of freedom mechanical arm moves along the circular ring support 3 through the base in an arc track.
Further, be provided with circular arc guide 95 on the ring support 3, slidable connection has slider 92 on the circular arc guide 95, multidimensional degree of freedom arm 93 is installed to slider 92 below, be fixed with arm motor 91 through motor support 910 on the slider 92, install synchronizing wheel two 99 on arm motor 91's the output shaft, synchronizing wheel two 99 is connected with the cooperation of hold-in range two 97, the rate of tension is adjusted through bearing two 96 and bearing two 98 to hold-in range two 97, arm motor 91 drives slider 92, multidimensional degree of freedom arm 93 and makes circular arc orbit motion along circular arc guide 95.
Furthermore, four circular arc guide rails 95 are arranged on the circular ring support 3, and the four circular arc guide rails 95 are distributed on the outer side surface 65 or the inner side surface 66 of the circular ring support 3.
Further, the track cross section of the arc guide rail 95 on the circular ring support 3 is dovetail-shaped.
Further, four multidimensional degree of freedom mechanical arms 93 are provided, which are respectively a multidimensional degree of freedom mechanical arm one 4, a multidimensional degree of freedom mechanical arm two 5, a multidimensional degree of freedom mechanical arm three 6 and a multidimensional degree of freedom mechanical arm four 7, and the four multidimensional degree of freedom mechanical arms 93 respectively move along four arc guide rails 95 in an arc track.
Further, support frame 8 is the movable support frame, movable wheel is installed to movable support frame bottom, the below at both ends all is provided with the movable support frame around the bed board 1, bed board 1 removes under the drive of movable support frame.
Further, the support frame 8 is a fixed support frame, the fixed support frame is arranged below the front end of the bed board 1, the front end of the bed board 1 is fixedly connected to the fixed support frame, and the fixed support frame is fixed on the ground.
Further, the minimally invasive surgery mechanical arm system 9 comprises a micro-motor, a steel wire and a surgery auxiliary device, the micro-motor is mounted on the multi-dimensional degree of freedom mechanical arm, the steel wire is mounted at the output end of the micro-motor, the steel wire is driven by the micro-motor to drive the surgery auxiliary device at the tail end to perform multi-dimensional movement, and the surgery auxiliary device is a minimally invasive surgery scissors, a surgery clamp, a laparoscope electrotome or a cleaning device.
Furthermore, one end of the circular ring bracket 3 is provided with a fixed plate 16, the fixed plate 16 is provided with a first sliding block 15, the first sliding block 15 is connected with the first guide rail on one side of the bed plate 1 in a matching way, the second sliding block 14 is arranged at the other end of the circular ring bracket 3, the second sliding block 14 is connected with the second guide rail on the other side of the bed board 1 in a matching way, a pinch roller 13 is arranged on the second sliding block 14, the pinch roller 13 is connected with the synchronous belt wheel 11 through a synchronous belt 12, the synchronous belt 12 is fixed at two ends of a second guide rail on the bed plate 1, and is meshed with a synchronous belt wheel 11 by bypassing two belt pressing wheels 13, the synchronous belt wheel 11 is arranged at the output end of a servo motor 10, the servo motor 10 drives the synchronous belt 12 to do linear motion through the synchronous belt pulley 11, and the synchronous belt 12 drives the circular ring support 3 to do reciprocating linear motion along the bed plate 1 through the pinch roller 13 and the second sliding block 14.
Compared with the prior art, the utility model, novel structure, and reasonable design, a robot system that can carry out the laparoscopic surgery of wicresoft to human abdominal cavity inside focus is provided, this system is integrated as an organic whole with operation robotic arm system and operation sick bed system, its occupation space is compared and can be reduced in current system by a wide margin, thereby can reduce the demand that occupies to the operating room space by a wide margin, the effective space that provides both sides simultaneously can make things convenient for the doctor to do the auxiliary operation of operation, make the doctor have more available space operation operations, the convenience and the reliability of the speed of auxiliary operation have been improved to the at utmost, be worth popularizing and applying.
[ description of the drawings ]
Fig. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a schematic view of the connection of one side of the ring support of the present invention;
FIG. 4 is a first schematic connection diagram of the other side of the ring support of the present invention;
FIG. 5 is a second schematic view of the connection of the other side of the ring support of the present invention;
FIG. 6 is a first schematic view of the installation of the multi-dimensional degree-of-freedom robot arm along the circular ring support of the present invention;
FIG. 7 is a second schematic view of the installation of the multi-dimensional degree of freedom robot along the circular ring support of the present invention;
fig. 8 is a first schematic distribution diagram of the circular guide rail of the present invention;
fig. 9 is a second schematic distribution diagram of the arc guide rail of the present invention;
fig. 10 is a third schematic distribution diagram of the circular guide rail of the present invention;
in the figure: 1. the device comprises a bed plate 2, a patient 3, a ring support 4, a first multidimensional freedom degree mechanical arm 5, a second multidimensional freedom degree mechanical arm 6, a third multidimensional freedom degree mechanical arm 7, a fourth multidimensional freedom degree mechanical arm 8, a support frame 9, a minimally invasive surgery mechanical arm system 10, a servo motor 11, a synchronous belt wheel 12, a synchronous belt 13, a belt pressing wheel 14, a second sliding block 15, a first sliding block 16, a fixing plate 65, an outer side surface 66, an inner side surface 91, a mechanical arm motor 92, a sliding block 93, a multidimensional freedom degree mechanical arm 95, an arc guide rail 96, a first bearing 97, a second synchronous belt 98, a second bearing 99, a second synchronous wheel 910, a motor support 951, a first arc guide rail 952, a second arc guide rail 953, a third arc guide rail 954, a fourth arc guide 955 and a fifth arc.
[ detailed description of the invention ]
The invention is further described below with reference to the accompanying drawings:
as shown in the attached figure 1, the utility model provides a compact laparoscope operation robot system, which comprises a bed plate 1, a support frame 8, a circular ring bracket 3 and a multi-dimensional freedom degree mechanical arm, wherein the bed plate 1 is used for supporting a patient 2, the support frame 8 is arranged below the bed plate 1, the circular ring bracket 3 is erected above the bed plate 1, the circular ring bracket 3 is in a circular ring structure, the left end and the right end of the bottom of the circular ring bracket 3 can be movably connected with the left side and the right side of the bed plate 1, and reciprocating back and forth along the bed plate 1, a multi-dimensional degree of freedom mechanical arm is arranged on the circular ring bracket 3, at least two multi-dimensional degree of freedom mechanical arms are arranged, the tail end of each multi-dimensional degree-of-freedom mechanical arm is provided with a minimally invasive surgery mechanical arm system 9, the minimally invasive surgery mechanical arm system 9 is used for carrying out minimally invasive laparoscopic surgery on the patient 2, and the minimally invasive surgery mechanical arm system 9 carries out multi-dimensional motion under the driving of the multi-dimensional degree-of-freedom mechanical arms; the minimally invasive surgery mechanical arm system 9 comprises a micro motor, a steel wire and a surgery auxiliary device, the micro motor is installed on the multi-dimensional freedom degree mechanical arm, the steel wire is installed at the output end of the micro motor, the steel wire is driven by the micro motor to drive the tail end surgery auxiliary device to move in a multi-dimensional mode, and the surgery auxiliary device is a minimally invasive surgery scissors, a surgery clamp, a laparoscope electrotome or a cleaning device.
In the utility model, the multidimensional degree of freedom mechanical arm has at least six degrees of freedom of motion, and the multidimensional degree of freedom mechanical arm does the motion of circular arc track along the circular ring bracket 3 through the base; be provided with circular arc guide rail 95 on the ring support 3, be connected with slider 92 on the circular arc guide rail 95 slidable, multidimensional degree of freedom arm 93 is installed to slider 92 below, be fixed with arm motor 91 through motor support 910 on the slider 92, install synchronizing wheel two 99 on arm motor 91's the output shaft, synchronizing wheel two 99 is connected with the cooperation of hold-in range two 97, the rate of tension is adjusted through bearing one 96 and bearing two 98 to hold-in range two 97, arm motor 91 drives slider 92, multidimensional degree of freedom arm 93 makes circular arc orbit motion along circular arc guide rail 95. Four arc guide rails 95 are arranged on the circular ring support 3, the four arc guide rails 95 are distributed on the outer side surface 65 or the inner side surface 66 of the circular ring support 3, and the cross section of the track of each arc guide rail 95 is in a dovetail shape. The four multidimensional degree of freedom mechanical arms 93 are respectively a multidimensional degree of freedom mechanical arm I4, a multidimensional degree of freedom mechanical arm II 5, a multidimensional degree of freedom mechanical arm III 6 and a multidimensional degree of freedom mechanical arm IV 7, and the four multidimensional degree of freedom mechanical arms 93 respectively move along the four arc guide rails 95 in an arc track. The support frame 8 can be a movable support frame, as shown in fig. 2, the movable support frame is provided with a movable wheel at the bottom, the movable support frame is arranged below the front end and the rear end of the bed board 1, and the bed board 1 is driven by the movable support frame to move. The supporting frame 8 can also be a fixed supporting frame, as shown in fig. 1, the fixed supporting frame is arranged below the front end of the bed board 1, the front end of the bed board 1 is fixedly connected to the fixed supporting frame, and the fixed supporting frame is fixed on the ground.
As shown in fig. 3 to 5, a fixing plate 16 is installed at one end of a circular ring support 3, a first slider 15 is installed on the fixing plate 16, the first slider 15 is connected with a first guide rail on one side of a bed plate 1 in a matching manner, a second slider 14 is installed at the other end of the circular ring support 3, the second slider 14 is connected with a second guide rail on the other side of the bed plate 1 in a matching manner, a pinch roller 13 is installed on the second slider 14, the pinch roller 13 is connected with a synchronous belt pulley 11 through a synchronous belt 12, the synchronous belt 12 is fixed at two ends of the second guide rail on the bed plate 1 and meshed with the synchronous belt pulley 11 by bypassing the two pinch rollers 13, the synchronous belt 11 is installed at the output end of a servo motor 10, the servo motor 10 drives the synchronous belt 12 to move linearly through the synchronous belt 11, and the synchronous belt.
The utility model discloses creatively provides a compact minimal access surgery robot system, this system be the integral type with operation robotic arm system and operation sick bed system integration, can reduce the demand that occupies to the operating room space by a wide margin, provides the effective space of both sides simultaneously and can make things convenient for the doctor to do the auxiliary operation of performing the operation, can provide the convenience of auxiliary operation's speed to the at utmost.
The utility model discloses in, bed board 1 can be used for supporting patient 2, can be used for supporting ring support 3 simultaneously, and this ring support 3 is ring type structure, can be used for four multidimension motion arms of integration, also is used for simultaneously doing the full stroke motion along the bed board, and reference numeral 4-7 are four multidimension degree of freedom arms respectively, and the end is equipped with minimal access surgery mechanical arm system. The utility model discloses integrated operation robot system on the operation sick bed, this system provides four at least minimal access surgery arms, and six degrees of freedom of motion are no less than to every arm simultaneously, and the base of every arm can be along the motion of circular arc orbit of ring support moreover. And all there is a minimal access surgery arm system 9 at every multidimension arm end, and this system is more ripe a plurality of micromotor drive steel wires and then drives the terminal structure and carry out the minimal access surgery scissors of multidimension motion or surgical clip or peritoneoscope and auxiliary operation devices such as electrotome and cleaning system to above-mentioned ripe operation terminal structure, the utility model discloses do not do the figure of detail.
As a variation, the operation sickbed can also be designed into a movable operation sickbed system, the structural state of which is shown in figure 2, and the system can carry the sickbed, the patient and the laparoscopic operation robot system to move in different operations, thereby having clinical use significance.
As shown in fig. 6, the circular ring support 3 is provided with a circular arc guide rail 95, the mechanical arm is mounted on the slide block 92, the mechanical arm motor 91 is fixed on the slide block 92 through a motor support 910, a second synchronizing wheel 99 is mounted on a motor output shaft, the second synchronizing wheel 99 is matched with a second synchronizing belt 97, the second synchronizing belt 97 adjusts the tension degree through a first bearing 96 and a second bearing 98, the motor shaft rotates to drive the slide block 92, the mechanical arm motor 91 and the mechanical arm to move along the circular arc guide rail 95 in a circular arc track, and the transmission mode can adopt other flexible transmission modes besides the synchronous belt 97. The track cross section of the arc guide rail 95 on the circular ring bracket 3 is dovetail-shaped, as shown in figure 7. The circular ring support 3 is provided with four circular arc guide rails which can be distributed as shown in the attached drawing 8, namely two circular arc guide rails I951 are distributed on the outer side surface 65 of the circular ring support 3, and two circular arc guide rails II 952 are distributed on the inner side surface 66 of the circular ring support 3. Or as shown in fig. 9, that is, four circular guide rails three 953 are all distributed on the outer side surface 65 of the circular ring support 3. As shown in fig. 10, the two arc guide rails four 954 are distributed on the outer side surface 65 of the circular ring support 3, and the two arc guide rails five 955 are distributed on the inner side surface 66 of the circular ring support 3.
The utility model discloses an implement the step and do:
1) an operation space is established, and a pneumoperitoneum needle is manually arranged around the umbilical region of the human body to establish the operation space.
2) Establishing a visual channel, making an operation incision under the umbilical region, and placing a laparoscope sleeve as an endoscope channel to provide vision for the operation of surgical instruments.
3) Establishing a surgical instrument channel, making a surgical incision on the abdomen according to the surgical requirements, and placing a laparoscopic sleeve as the channel of the surgical instrument.
4) A surgical robot system is configured, taking the figure 8 as an example, the circular ring bracket translates in place along the bed plate and is locked in position; the four mechanical arms respectively do circular arc motion along the respective tracks and are locked after being in place; according to the operation requirement, surgical instruments are respectively arranged on the mechanical arms, and the surgical space is accessed through a laparoscope sleeve.
5) And (4) performing the operation, wherein the doctor operates the surgical robot system (the far-end master console) to perform the laparoscopic operation according to the visual feedback information.
The present invention is not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and are all included in the protection scope of the present invention.
Claims (10)
1. A compact laparoscopic surgical robotic system, characterized by: the multifunctional minimally invasive laparoscopic surgery bed comprises a bed plate (1), a support frame (8), a ring support (3) and a multidimensional degree of freedom mechanical arm, wherein the bed plate (1) is used for supporting a patient (2), the support frame (8) is arranged below the bed plate (1), the ring support (3) is erected above the bed plate (1), the ring support (3) is of a ring-shaped structure, the left end and the right end of the bottom of the ring support (3) are movably connected to the left side and the right side of the bed plate (1) and move back and forth along the bed plate (1), the multidimensional degree of freedom mechanical arm is arranged on the ring support (3), at least two multidimensional degree of freedom mechanical arms are arranged, a minimally invasive surgery mechanical arm system (9) is arranged at the tail end of each multidimensional degree of freedom mechanical arm, and the minimally invasive surgery mechanical arm system (9) is used for carrying out minimally invasive laparoscopic surgery on the patient (, the minimally invasive surgery mechanical arm system (9) is driven by the multi-dimensional freedom mechanical arm to perform multi-dimensional motion.
2. The compact laparoscopic surgical robotic system as claimed in claim 1, wherein: the multi-dimensional degree of freedom mechanical arm has at least six degrees of freedom of motion, and the multi-dimensional degree of freedom mechanical arm moves along the circular ring support (3) through the base in an arc track.
3. A compact laparoscopic surgical robotic system as claimed in claim 1 or 2, wherein: be provided with circular arc guide rail (95) on ring support (3), but sliding connection has slider (92) on circular arc guide rail (95), multidimension degree of freedom arm (93) are installed to slider (92) below, be fixed with arm motor (91) through motor support (910) on slider (92), install synchronizing wheel two (99) on the output shaft of arm motor (91), synchronizing wheel two (99) are connected with the cooperation of hold-in range two (97), the rate of tension is adjusted through bearing one (96) and bearing two (98) in hold-in range two (97), arm motor (91) drive slider (92), multidimension degree of freedom arm (93) are followed circular arc guide rail (95) and are made the circular arc orbit motion.
4. The compact laparoscopic surgical robotic system as claimed in claim 3, wherein: the circular ring support (3) is provided with four circular arc guide rails (95), and the four circular arc guide rails (95) are distributed on the outer side surface (65) or the inner side surface (66) of the circular ring support (3).
5. The compact laparoscopic surgical robotic system as claimed in claim 3, wherein: the cross section of the track of the arc guide rail (95) on the circular ring bracket (3) is in a dovetail shape.
6. The compact laparoscopic surgical robotic system as claimed in claim 4, wherein: the four multidimensional degree of freedom mechanical arms (93) are respectively a multidimensional degree of freedom mechanical arm I (4), a multidimensional degree of freedom mechanical arm II (5), a multidimensional degree of freedom mechanical arm III (6) and a multidimensional degree of freedom mechanical arm IV (7), and the four multidimensional degree of freedom mechanical arms (93) respectively move along four arc guide rails (95) in an arc track.
7. The compact laparoscopic surgical robotic system as claimed in claim 1, wherein: support frame (8) are the movable support frame, movable support frame installs the bottom and removes the wheel, the below at both ends all is provided with the movable support frame around bed board (1), bed board (1) removes under the drive of movable support frame.
8. The compact laparoscopic surgical robotic system as claimed in claim 1, wherein: the support frame (8) is a fixed support frame, the fixed support frame is arranged below the front end of the bed board (1), the front end of the bed board (1) is fixedly connected to the fixed support frame, and the fixed support frame is fixed on the ground.
9. The compact laparoscopic surgical robotic system as claimed in claim 1, wherein: the minimally invasive surgery mechanical arm system (9) comprises a micro motor, a steel wire and a surgery auxiliary device, wherein the micro motor is arranged on a multi-dimensional degree of freedom mechanical arm, the steel wire is arranged at the output end of the micro motor, the steel wire is driven to drive the surgery auxiliary device at the tail end to perform multi-dimensional movement, and the surgery auxiliary device is a minimally invasive surgery scissors, a surgery clamp, a laparoscope electrotome or a cleaning device.
10. The compact laparoscopic surgical robotic system as claimed in claim 1, wherein: fixed plate (16) is installed to ring holder (3) one end, install slider (15) on fixed plate (16), slider (15) are connected with the guide rail cooperation of bed board (1) one side, slider two (14) are installed to the ring holder (3) other end, slider two (14) are connected with the guide rail cooperation of bed board (1) opposite side, install pinch roller (13) on slider two (14), pinch roller (13) are connected synchronous pulley (11) through synchronous belt (12), synchronous belt (12) are fixed at the both ends of guide rail two on bed board (1), and walk around two pinch rollers (13) and synchronous pulley (11) meshing, the output at servo motor (10) is installed in synchronous pulley (11), servo motor (10) drive synchronous belt (12) through synchronous pulley (11) and are linear motion, the synchronous belt (12) drives the circular ring support (3) to do reciprocating linear motion along the bed plate (1) through the pinch roller (13) and the second sliding block (14).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021325656.8U CN212261517U (en) | 2020-07-08 | 2020-07-08 | Compact laparoscopic surgery robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021325656.8U CN212261517U (en) | 2020-07-08 | 2020-07-08 | Compact laparoscopic surgery robot system |
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| CN212261517U true CN212261517U (en) | 2021-01-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113171179A (en) * | 2021-04-25 | 2021-07-27 | 上海微创医疗机器人（集团）股份有限公司 | Adjustment arm assembly and surgical robot |
| CN113440262A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Abdominal cavity minimally invasive surgery robot |
-
2020
- 2020-07-08 CN CN202021325656.8U patent/CN212261517U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113171179A (en) * | 2021-04-25 | 2021-07-27 | 上海微创医疗机器人（集团）股份有限公司 | Adjustment arm assembly and surgical robot |
| CN113171179B (en) * | 2021-04-25 | 2023-07-14 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot |
| CN113440262A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Abdominal cavity minimally invasive surgery robot |
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