CN212521922U - Universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery - Google Patents
Universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery Download PDFInfo
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- CN212521922U CN212521922U CN202020091348.7U CN202020091348U CN212521922U CN 212521922 U CN212521922 U CN 212521922U CN 202020091348 U CN202020091348 U CN 202020091348U CN 212521922 U CN212521922 U CN 212521922U
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Abstract
The utility model discloses a universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery, which comprises a first actuating mechanism, a second actuating mechanism, a third actuating mechanism, a fourth actuating mechanism and the like. The first, second and third executing mechanisms respectively comprise two angle adjusting wheels, a fixed pin and a wire wheel; the fourth actuating mechanism comprises an angle adjusting wheel, a fixed pin and a wire wheel; the angle adjusting wheel is connected with the wire wheel, and the wire wheel is connected with the joint; the angle adjusting wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the joint; the first joint, the second joint and the third joint can swing around the respective axis in the X-axis direction and the Y-axis direction; the fixed pin fixes the angle adjusting wheel through separating and laminating with the angle adjusting wheel. The instrument can conveniently support and fix organs or tissues such as the liver and the like, so that a clinician can obtain a larger operation space and an operation visual field when performing abdominal minimally invasive surgery operation, and the abdominal minimally invasive surgery operation of the clinician is greatly facilitated.
Description
Technical Field
The utility model relates to a medical equipment in the minimally invasive surgery field, in particular to an universal joint organ supporting and fixing instrument suitable for the minimally invasive surgery of abdomen.
Background
Minimally invasive surgery represented by laparoscope is known as one of important contributions of medical science in the 20 th century to human civilization, and minimally invasive surgery operation refers to operation performed by a doctor who probes into a body through a tiny incision on the surface of the human body by means of a slender surgical instrument. 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, and achieves the same curative effect as the traditional open surgery. When a clinician performs an abdominal minimally invasive surgical operation, the clinician needs to have as large an operation space and an operation field as possible so as to conveniently perform various surgical operations.
At present, the inventor finds that when a clinician performs an abdominal minimally invasive surgical operation, organs such as a liver and the like are short of proper instruments for supporting and fixing, the operation space and the operation visual field of the clinician are seriously influenced, and great inconvenience is brought to the abdominal minimally invasive surgical operation and observation.
SUMMERY OF THE UTILITY MODEL
The utility model discloses organs such as liver to clinician face when carrying out belly minimal access surgery operation lack suitable apparatus to support and fix, have influenced clinician's operating space and the problem in operation field of vision, have provided a universal joint organ that is suitable for belly minimal access surgery operation and have supported and fixed apparatus. The problem that organs such as a liver and the like are short of proper instruments for supporting and fixing when a clinician performs abdominal minimally invasive surgery operation and influence the operation space and the operation visual field of the clinician is solved, so that the clinician can obtain a larger operation space and a larger operation visual field when performing the abdominal minimally invasive surgery operation, great convenience is brought to the clinician to perform the abdominal minimally invasive surgery operation, and the method has important significance for promoting technical progress in related fields.
The utility model provides a can solve the clinician and carry out organs such as liver when carrying out the operation of belly minimal access surgery and support and fix, make the clinician can obtain great operating space and operation field of vision when carrying out the operation of belly minimal access surgery, very big has made things convenient for the clinician to carry out convenient regulation, location accuracy, the great universal joint organ of rigidity of belly minimal access surgery operation and has supported and fixed apparatus, and concrete scheme is as follows:
a universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery comprises a first actuating mechanism, a second actuating mechanism, a third actuating mechanism and a fourth actuating mechanism; the four actuating mechanisms totally comprise 7 degrees of freedom, and the 7 degrees of freedom start from one end of the tail end transmission box and sequentially comprise: the swing freedom degree around the first joint axis of the first actuating mechanism in the x axial direction and the y axial direction, the swing freedom degree around the second joint axis of the second actuating mechanism in the x axial direction and the y axial direction, the swing freedom degree around the third joint axis of the third actuating mechanism in the x axial direction and the y axial direction, and the swing freedom degree around the fourth joint axis of the fourth actuating mechanism in the y axial direction.
As a further technical scheme, the structures in the tail end transmission boxes of the first, second and third actuating mechanisms are the same, and each of the first, second and third actuating mechanisms comprises two angle adjusting wheels, a fixed pin and a wire wheel; the structure in the tail end transmission box of the fourth actuating mechanism comprises an angle adjusting wheel, a fixed pin and a wire wheel; the angle adjusting wheel is connected with the wire wheel, and the wire wheel is connected with the corresponding joint; the angle adjusting wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the corresponding joint; the fixed pin fixes the angle adjusting wheel by separating and attaching with the angle adjusting wheel.
As a further technical scheme, the first actuating mechanism comprises a first joint x axial swing angle adjusting wheel I, a fixed pin I, a wire wheel I, a y axial swing angle adjusting wheel II, a fixed pin II, a wire wheel II, an arm section I connecting sleeve, an arm section II connecting sleeve and a first joint at the joint of the arm section I connecting sleeve and the arm section II connecting sleeve; the first x-axis cycloid angle adjusting wheel is connected with a first wire wheel, and the first wire wheel is connected with the first joint; the first x-axis cycloidal angle adjusting wheel controls an x-axis cycloidal angle of a first wire wheel, and the first wire wheel controls an x-axis cycloidal angle of the first joint; the fixing pin I is separated from and attached to the x axial swing angle adjusting wheel I to fix the x axial swing angle adjusting wheel I; the y-axis cycloidal angle adjusting wheel II is connected with a wire wheel II, and the wire wheel II is connected with the first joint; the y-axis cycloidal angle adjusting wheel II controls the y-axis cycloidal angle of a wire wheel II, and the wire wheel II controls the y-axis cycloidal angle of the first joint; and the second fixing pin is separated from and attached to the second y-axis swinging angle adjusting wheel to fix the second y-axis swinging angle adjusting wheel.
As a further technical scheme, the second actuating mechanism comprises a first joint x axial swing angle adjusting wheel III, a fixed pin III, a wire wheel III, a y axial swing angle adjusting wheel IV, a fixed pin IV, a wire wheel IV, an arm section II connecting sleeve, an arm section III connecting sleeve and a second joint at the joint of the arm section II connecting sleeve and the arm section III connecting sleeve; the x-axis cycloid angle adjusting wheel III is connected with a wire wheel III, and the wire wheel III is connected with the second joint; the x-axis cycloidal angle adjusting wheel III controls the x-axis cycloidal angle of the wire wheel III, and the wire wheel III controls the x-axis cycloidal angle of the second joint; the fixing pin III is separated from and attached to the x axial swing angle adjusting wheel III to fix the x axial swing angle adjusting wheel III; the y-axis cycloidal angle adjusting wheel IV is connected with a wire wheel IV, and the wire wheel IV is connected with the second joint; the y-axis cycloidal angle adjusting wheel IV controls the y-axis cycloidal angle of a wire wheel IV, and the wire wheel IV controls the y-axis cycloidal angle of the second joint; and the fixing pin IV is used for fixing the y axial swinging angle adjusting wheel IV by separating and attaching with the y axial swinging angle adjusting wheel IV. As a further technical scheme, the third actuating mechanism comprises a third joint at the joint of a third joint x axial swing angle adjusting wheel five, a fixed pin five, a wire wheel five, a y axial swing angle adjusting wheel six, a fixed pin six, a wire wheel six, an arm section three connecting sleeve, an arm section four connecting sleeve and an arm section four connecting sleeve; the x-axis cycloidal angle adjusting wheel V is connected with the wire wheel V, and the wire wheel V is connected with the third joint; the x-axis cycloidal angle adjusting wheel five controls the x-axis cycloidal angle of the wheel five, and the wheel five controls the x-axis cycloidal angle of the third joint; the fixing pin V is separated from and attached to the x axial swing angle adjusting wheel V to fix the x axial swing angle adjusting wheel V; the y-axis cycloidal angle adjusting wheel six is connected with the wire wheel six, and the wire wheel six is connected with the third joint; the y-axis cycloidal angle adjusting wheel six controls the y-axis cycloidal angle of the wheel six, and the wheel six controls the y-axis cycloidal angle of the third joint; and the fixing pin six is used for fixing the y axial swinging angle adjusting wheel six through separation and attachment with the y axial swinging angle adjusting wheel six.
As a further technical scheme, the fourth actuating mechanism comprises a fourth joint angle adjusting wheel seven, a fixing pin seven, a wire wheel seven, an arm section four connecting sleeve, a clamping head I, a clamping head II, a fourth joint at the joint of the arm section four connecting sleeve and the clamping head I, and the clamping head II; the angle adjusting wheel seventh is connected with the wire wheel seventh, and the wire wheel seventh is connected with the first clamping head and the second clamping head of the fourth joint; the angle adjusting wheel seventh controls the rotation angle of the wire wheel seventh, and the wire wheel seventh controls the rotation angles of the first clamping head and the second clamping head of the fourth joint; the fixing pin seventh fixes the angle adjusting wheel seventh by separating and attaching with the angle adjusting wheel seventh.
As a further technical scheme, the first, second, third and fourth actuating mechanisms respectively and correspondingly drive the first joint, the second joint, the third joint and the fourth joint to rotate through steel wire ropes;
as a further technical scheme, wire rope grooves are formed in the wire wheels and joints of the first, second, third and fourth actuating mechanisms and used for winding wire ropes.
As a further technical scheme, guide structures are arranged on two sides of a wire wheel in a tail end transmission box of each of the first, second, third and fourth executing mechanisms; the guide structures respectively comprise a guide wheel shaft, a guide wheel set and a sleeve, the sleeve is sleeved on the guide wheel shaft, and the guide wheel is sleeved on the guide wheel shaft; the two ends of the guide wheel shaft are fixed on the base shell.
The utility model has the advantages that:
the utility model discloses an universal joint organ supports and compares with prior art fixed apparatus has following beneficial effect for belly minimal access surgery operation:
1. the utility model discloses an universal joint organ supports and fixes apparatus convenient regulation, location accuracy, rigidity great for belly minimal access surgery operation, and the angle between each joint of apparatus can conveniently and accurately be adjusted, conveniently carries out different angle ground supports to organ and tissue to conveniently can form the best holding surface to organ and tissue.
2. The utility model discloses an universal joint organ supports and fixed apparatus for belly minimal access surgery can solve the clinician and carry out organs such as liver when carrying out the operation of belly minimal access surgery and support and fix, and the terminal holding head of apparatus can firmly carry out the centre gripping to the tissue, improves the organ and supports and fixed effect.
3. The utility model discloses an universal joint organ supports and fixed apparatus for belly minimal access surgery can solve the clinician and carry out organs such as liver when carrying out belly minimal access surgery operation and support and fix, makes the clinician can obtain great operation field of vision when carrying out belly minimal access surgery operation, and very big has made things convenient for the clinician to observe with the best operation field of vision when carrying out belly minimal access surgery operation.
4. The utility model discloses an universal joint organ supports and fixed apparatus for belly minimal access surgery can solve the clinician and carry out organs such as liver when carrying out belly minimal access surgery operation and support and fix, makes the clinician can obtain great operating space when carrying out belly minimal access surgery operation, very big has made things convenient for the clinician and is carrying out belly minimal access surgery operation.
Drawings
Fig. 1 and 2 are schematic structural diagrams of the universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery of the present invention.
Fig. 3 and 4 are enlarged schematic structural views of a universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to the present invention.
Fig. 5 and fig. 6 are schematic diagrams showing an enlarged structure of a universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery of the present invention.
Fig. 7 and 8 are schematic enlarged structural views of a universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to the present invention.
Fig. 9 is a side view of the universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to the present invention in a use state.
FIG. 10 is a top view of the universal joint organ supporting and fixing device for minimally invasive abdominal surgery of the present invention.
Fig. 11 and 12 are schematic diagrams illustrating x-axis angle adjustment of universal joint organ supporting and fixing apparatus for minimally invasive abdominal surgery according to the present invention.
Fig. 13 and 14 are schematic views showing the y-axis angle adjustment of the universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "upper", "lower", "left" and "right" in the present application, if any, merely indicate correspondence with the upper, lower, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the present invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
As described in the background art, currently, when a clinician performs an abdominal minimally invasive surgical operation, organs such as a liver and the like lack suitable instruments for supporting and fixing, which seriously affects the operation space and the operation field of the clinician, and brings great inconvenience to the abdominal minimally invasive surgical operation and observation. The utility model discloses organs such as liver to clinician face when carrying out belly minimal access surgery operation lack suitable apparatus to support and fix, have influenced clinician's operating space and the problem in operation field of vision, have provided a universal joint organ that is suitable for belly minimal access surgery operation and have supported and fixed apparatus. The problem that organs such as a liver and the like are short of proper instruments for supporting and fixing when a clinician performs abdominal minimally invasive surgery operation and influence the operation space and the operation visual field of the clinician is solved, so that the clinician can obtain a larger operation space and a larger operation visual field when performing the abdominal minimally invasive surgery operation, great convenience is brought to the clinician to perform the abdominal minimally invasive surgery operation, and the method has important significance for promoting technical progress in related fields. An object of the utility model is to overcome prior art's is not enough, provide one kind and can solve the clinician and carry out organs such as liver when carrying out the operation of belly minimal access surgery and support and fix, make the clinician can obtain great operating space and operation field of vision when carrying out the operation of belly minimal access surgery, very big has made things convenient for the clinician to carry out convenient regulation, location accuracy, the great universal joint organ of rigidity of the operation of belly minimal access surgery and support and fixed apparatus.
Example 1
See fig. 1-8: the universal joint organ supporting and fixing instrument for the abdominal minimally invasive surgery comprises a first actuating mechanism, a second actuating mechanism, a third actuating mechanism and a fourth actuating mechanism; the first, second, third and fourth actuating mechanisms totally comprise four joints, the four actuating mechanisms comprise 7 degrees of freedom, and the 7 degrees of freedom start from one end of the tail end transmission box 1, and sequentially comprise: the freedom degree of swinging around the axis (x axial direction + y axial direction) of the first joint 3, the freedom degree of swinging around the axis (x axial direction + y axial direction) of the second joint 5, the freedom degree of swinging around the axis (x axial direction + y axial direction) of the third joint 7 and the freedom degree of swinging around the axis y of the fourth joint 9.
The tail end transmission boxes of the first, second and third actuating mechanisms have the same structure and respectively comprise two angle adjusting wheels, a fixed pin and a wire wheel; the structure in the tail end transmission box of the fourth actuating mechanism comprises an angle adjusting wheel, a fixed pin and a wire wheel; the angle adjusting wheel is connected with the wire wheel, and the wire wheel is connected with the corresponding joint; the angle adjusting wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the corresponding joint; the fixed pin fixes the angle adjusting wheel by separating and attaching with the angle adjusting wheel. Guide structures are arranged on two sides of the wire wheel in the tail end transmission boxes of the first, second, third and fourth actuating mechanisms; the guide structures respectively comprise a guide wheel shaft, a guide wheel set and a sleeve, the sleeve is sleeved on the guide wheel shaft, and the guide wheel is sleeved on the guide wheel shaft; the two ends of the guide wheel shaft are fixed on the base shell.
The first executing mechanism comprises a first joint x axial swing angle adjusting wheel I1-1, a fixed pin I1-3, a wire wheel I1-2, a y axial swing angle adjusting wheel II 1-4, a fixed pin II 1-6, a wire wheel II 1-5, an arm section I connecting sleeve 2, an arm section II connecting sleeve 4, and a first joint 3 at the joint of the arm section I connecting sleeve 2 and the arm section II connecting sleeve 4; the X-axis direction cycloidal angle adjusting wheel I1-1 is connected with the wire wheel I1-2, specifically, the X-axis direction cycloidal angle adjusting wheel I1-1 is fixedly connected with the wire wheel I1-2, the X-axis direction cycloidal angle adjusting wheel I1-1 rotates to drive the wire wheel I1-2 to rotate, and the wire wheel I1-2 is connected with the first joint 3 through a steel wire rope; the x-axis cycloidal angle adjusting wheel I1-1 controls the cycloidal angle of the wire wheel I1-2, and the wire wheel I1-2 controls the x-axis cycloidal angle of the first joint 3; the fixing pin I1-3 is separated from and attached to the x axial swing angle adjusting wheel I1-1 to fix the x axial swing angle adjusting wheel I1-1; when the fixing pin I1-3 is separated from the x axial swinging angle adjusting wheel I1-1, the x axial swinging angle adjusting wheel I1-1 can rotate freely, and when the fixing pin I1-3 is attached to the x axial swinging angle adjusting wheel I1-1, the position of the x axial swinging angle adjusting wheel I1-1 is fixed; the y-axis cycloidal angle adjusting wheel II 1-4 is connected with the wire wheel II 1-5, specifically, the y-axis cycloidal angle adjusting wheel II 1-4 is fixedly connected with the wire wheel II 1-5, the y-axis cycloidal angle adjusting wheel II 1-4 rotates to drive the wire wheel II 1-5 to rotate, and the wire wheel II 1-5 is connected with the first joint 3 through a steel wire rope; the y-axis cycloidal angle adjusting wheel II 1-4 controls the cycloidal angle of the wire wheel II 1-5, and the wire wheel II 1-5 controls the y-axis cycloidal angle of the first joint 3; the fixing pin II 1-6 is separated from and attached to the y-axial swinging angle adjusting wheel II 1-4 to fix the y-axial swinging angle adjusting wheel II 1-4; when the fixing pin II 1-6 is separated from the y axial swinging angle adjusting wheel II 1-4, the y axial swinging angle adjusting wheel II 1-4 can rotate freely, and when the fixing pin II 1-6 is attached to the y axial swinging angle adjusting wheel II 1-4, the position of the y axial swinging angle adjusting wheel II 1-4 is fixed.
As a further technical scheme, as shown in fig. 3, two guide structures are installed below a first wire wheel 1-2, and a steel wire rope on the first wire wheel 1-2 is connected with a first joint 3 after being guided by the two guide structures below the first wire wheel 1-2 and a guide mechanism positioned on the left side of the lowest middle part of fig. 3, so that x-axis swing control over the first joint 3 is realized;
two guide structures are arranged below the second wire wheel 1-5, a steel wire rope on the second wire wheel 1-5 firstly bypasses the two guide structures below the second wire wheel 1-5, then bypasses the two guide structures positioned at the left side and the right side of the first wire wheel 1-2, and then bypasses the two guide structures below the first wire wheel 1-2 and the guide structure positioned at the left side in the middle of the lowest part of the drawing 3 to be connected with the first joint 3, so that the y-axis swing control of the first joint 3 is realized.
The second executing mechanism comprises a second joint x axial swing angle adjusting wheel III 1-7, a fixed pin III 1-9, a wire wheel III 1-8, a y axial swing angle adjusting wheel IV 1-10, a fixed pin IV 1-12, a wire wheel IV 1-11, an arm section II connecting sleeve 4, an arm section III connecting sleeve 6, and a second joint 5 at the joint of the arm section II connecting sleeve 4 and the arm section III connecting sleeve 6; the x-axis direction cycloidal angle adjusting wheel III 1-7 is connected with the wire wheel III 1-8, specifically, the x-axis direction cycloidal angle adjusting wheel III 1-7 is fixedly connected with the wire wheel III 1-8, the x-axis direction cycloidal angle adjusting wheel III 1-7 rotates to drive the wire wheel III 1-8 to rotate, and the wire wheel III 1-8 is connected with the second joint 5 through a steel wire rope; the x-axis cycloidal angle adjusting wheel III 1-7 controls the cycloidal angle of the wire wheel III 1-8, and the wire wheel III 1-8 controls the x-axis cycloidal angle of the second joint 5; the fixing pin III 1-9 is separated from and attached to the x axial swing angle adjusting wheel III 1-7 to fix the x axial swing angle adjusting wheel III 1-7; when the fixing pin III 1-9 is separated from the x axial swinging angle adjusting wheel III 1-7, the x axial swinging angle adjusting wheel III 1-7 can rotate freely, and when the fixing pin III 1-9 is attached to the x axial swinging angle adjusting wheel III 1-7, the position of the x axial swinging angle adjusting wheel III 1-7 is fixed; the y-axial cycloidal angle adjusting wheel IV 1-10 is connected with the wire wheel IV 1-11, specifically, the y-axial cycloidal angle adjusting wheel IV 1-10 is fixedly connected with the wire wheel IV 1-11, the y-axial cycloidal angle adjusting wheel IV 1-10 rotates to drive the wire wheel IV 1-11 to rotate, and the wire wheel IV 1-11 is connected with the second joint 5 through a steel wire rope; the y-axis cycloidal angle adjusting wheel IV 1-10 controls the cycloidal angle of the wire wheel IV 1-11, and the wire wheel IV 1-11 controls the y-axis cycloidal angle of the second joint 5; the fixing pins IV 1-12 are separated from and attached to the y-axial swinging angle adjusting wheels IV 1-10 to fix the y-axial swinging angle adjusting wheels IV 1-10; when the fixed pin four 1-12 is separated from the y axial swing angle adjusting wheel four 1-10, the y axial swing angle adjusting wheel four 1-10 can rotate freely, and when the fixed pin four 1-10 is attached to the y axial swing angle adjusting wheel four 1-11, the y axial swing angle adjusting wheel four 1-11 is fixed in position.
As a further technical solution, as shown in fig. 3, two guide structures are installed below the third pulley 1-8, the steel wire rope on the third pulley 1-8 firstly bypasses the two guide structures below the third pulley 1-8, then bypasses the two guide structures at the left and right sides of the second pulley 1-5, then bypasses the two guide structures at the left and right sides of the first pulley 1-2, then bypasses the two guide structures below the first pulley 1-2 and then is connected with the second joint 5 after bypassing the guide structure at the middle left side of the lowest part in fig. 3, so as to realize x-axis yaw control of the second joint 5; two guide structures are arranged below the four wheel 1-11, a steel wire rope on the four wheel 1-11 firstly bypasses the two guide structures below the four wheel 1-11, then bypasses the two guide structures on the left and right sides of the three wheel 1-8, then bypasses the two guide structures on the left and right sides of the two wheel 1-5, then bypasses the two guide structures on the left and right sides of the first wheel 1-2, then bypasses the two guide structures below the first wheel 1-2 and finally bypasses the guide structure on the left side in the middle of the lowest part of the figure 3, and is connected with the second joint 5, so that the y-axis swing control of the second joint 5 is realized.
The third executing mechanism comprises a third joint x axial swing angle adjusting wheel five 1-13, a fixed pin five 1-15, a wire wheel five 1-14, a y axial swing angle adjusting wheel six 1-16, a fixed pin six 1-18, a wire wheel six 1-17, an arm section three connecting sleeve 6, an arm section four connecting sleeve 8, and a third joint 7 at the joint of the arm section three connecting sleeve 6 and the arm section four connecting sleeve 8; the x-axis cycloidal angle adjusting wheel five 1-13 is connected with the wheel five 1-14, specifically, the x-axis cycloidal angle adjusting wheel five 1-13 is fixedly connected with the wheel five 1-14, the x-axis cycloidal angle adjusting wheel five 1-13 rotates to drive the wheel five 1-14 to rotate, and the wheel five 1-14 is connected with the third joint 7 through a steel wire rope; the x-axis cycloidal angle adjusting wheel five 1-13 controls the cycloidal angle of the wheel five 1-14, and the wheel five 1-14 controls the x-axis cycloidal angle of the third joint 7; the fixing pin V1-15 is separated from and attached to the x axial swing angle adjusting wheel V1-13 to fix the x axial swing angle adjusting wheel V1-13; when the fixing pin five 1-15 is separated from the x axial swinging angle adjusting wheel five 1-13, the x axial swinging angle adjusting wheel five 1-13 can rotate freely, and when the fixing pin five 1-15 is attached to the x axial swinging angle adjusting wheel five 1-13, the position of the x axial swinging angle adjusting wheel five 1-13 is fixed; the y-axis cycloidal angle adjusting wheels six 1-16 are connected with the wheel six 1-17, specifically, the y-axis cycloidal angle adjusting wheels six 1-16 are fixedly connected with the wheel six 1-17, the y-axis cycloidal angle adjusting wheels six 1-16 rotate to drive the wheel six 1-17 to rotate, and the wheel six 1-17 is connected with the third joint 7 through a steel wire rope; the y-axis cycloidal angle adjusting wheels six 1-16 control the cycloidal angles of the wheel six 1-17, and the wheel six 1-17 control the y-axis cycloidal angle of the third joint 7; the fixing pins six 1-18 are separated from and attached to the y-axial swinging angle adjusting wheels six 1-16 to fix the y-axial swinging angle adjusting wheels six 1-16; when the fixing pins six 1-18 are separated from the y axial swinging angle adjusting wheels six 1-16, the y axial swinging angle adjusting wheels six 1-16 can rotate freely, and when the fixing pins six 1-18 are attached to the y axial swinging angle adjusting wheels six 1-16, the positions of the y axial swinging angle adjusting wheels six 1-16 are fixed.
As a further technical scheme, as shown in fig. 3, two guide structures are installed below the five wheels 1 to 14, and a steel wire rope on the five wheels 1 to 14 is connected with the third joint 6 after bypassing the two guide structures below the five wheels 1 to 14 and the guide structure positioned on the left side of the lowest middle of fig. 3, so that x-axis swing control of the third joint 6 is realized; two guide structures are arranged below the wheel six 1-17, a steel wire rope on the wheel six 1-17 firstly bypasses the two guide structures below the wheel six 1-17, then bypasses the two guide structures on the left and right sides of the wheel five 1-14, and then bypasses the two guide structures below the wheel five 1-14 and the guide structure on the middle right side of the lowest part in the figure 3, and then is connected with the third joint 6, so that the x-axis swing control of the third joint 6 is realized.
The fourth actuating mechanism comprises a fourth joint angle adjusting wheel seven 1-19, a fixing pin seven 1-21, a wire wheel seven 1-20, an arm section four connecting sleeve 8, a clamping head I10, a clamping head II 11, and a fourth joint 9 at the joint of the arm section four connecting sleeve 8, the clamping head I10 and the clamping head II 11; the angle adjusting wheels seven 1-19 are connected with the wire wheels seven 1-20, and the wire wheels seven 1-20 are connected with the first clamping head 10 and the second clamping head 11 of the fourth joint 9; the angle adjusting wheels seven 1-19 control the rotating angles of the wire wheels seven 1-20, and the wire wheels seven 1-20 control the rotating angles of the first clamping head 10 and the second clamping head 11 of the fourth joint 9; the fixing pins seven 1-21 are separated from and attached to the angle adjusting wheels seven 1-19 to fix the angle adjusting wheels seven 1-19. When the fixing pins seven 1 to 21 are separated from the angle adjusting wheels seven 1 to 19, the angle adjusting wheels seven 1 to 19 can rotate freely, and when the fixing pins seven 1 to 21 are attached to the angle adjusting wheels seven 1 to 19, the positions of the angle adjusting wheels seven 1 to 19 are fixed.
As a further technical scheme, as shown in fig. 3, two guide structures are installed below the reel seven 1-20, the steel wire rope on the reel seven 1-20 firstly passes through the two guide structures below the reel seven 1-20, then passes through the two guide structures on the left and right sides of the reel six 1-17, then passes through the two guide structures on the left and right sides of the reel five 1-14, then passes through the two guide structures below the reel five 1-14 and the guide structure on the left side of the middle of the lowest part of fig. 3, and then is connected with the fourth joint 9, so that the control of the fourth joint 9 is realized.
The first, second, third and fourth actuating mechanisms respectively drive the first joint 3, the second joint 5, the third joint 7 and the fourth joint 9 to rotate correspondingly through steel wire ropes;
further, wire rope grooves are formed in the first wire wheel 1-2 and the first joint 3 in the first executing mechanism and used for winding a wire rope;
wire rope grooves are formed in the wire wheels II 1-5 and the second joint 5 in the second executing mechanism and used for winding a wire rope;
wire rope grooves are formed in the third wire wheels 1-8 and the third joint 7 in the third executing mechanism and used for winding a wire rope;
wire rope grooves are formed in the wire wheels 1-11 in the fourth executing mechanism, the first clamping head 10 and the second clamping head 11 at the fourth joint 9 and used for winding the wire ropes.
The utility model discloses a theory of operation:
see fig. 5, 6:
when a clinician operates an abdominal minimally invasive surgery, the front end of the instrument is inserted into the abdominal cavity of a human body, the first joint 3 can swing around the axis of the first joint in the x axial direction and the axial direction, a certain included angle can be formed between the first arm section connecting sleeve 2 and the second arm section connecting sleeve 4, a certain included angle can be formed between the first arm section connecting sleeve 2 and a supporting plane formed by the second arm section connecting sleeve 4, the third arm section connecting sleeve 6 and the fourth arm section connecting sleeve 8, and a certain included angle can be formed between the first arm section connecting sleeve 2 and the supporting plane formed by the second arm section connecting sleeve 4, the third arm section connecting sleeve 6 and the fourth arm section connecting sleeve 8, as shown in fig. 7, the supporting plane formed by the second arm section connecting.
The second joint 5, the third joint 7 and the fourth joint 9 swing around the axis x-axis and the axis x-axis of the second joint 5 and the axis x-axis of the third joint 7; the adjustable contained angle between two adapter sleeve 4 of arm section, three adapter sleeve 6 of arm section, four adapter sleeve 8 of arm section can make two adapter sleeve 4 of arm section, three adapter sleeve 6 of arm section, four adapter sleeve 8 of arm section form the support plane of multiple shape, see figure 8, and the support plane that convenient two adapter sleeve 4 of adjusting apparatus arm section, three adapter sleeve 6 of arm section, four adapter sleeve 8 of arm section constitute supports organs or tissues such as liver.
The first clamping head 10 and the second clamping head 11 at the fourth joint 9 can be separated and clamped to clamp organs or tissues such as liver, and the fixing effect of the instrument on the organs or tissues such as liver is improved.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (8)
1. A universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery is characterized by comprising a first executing mechanism, a second executing mechanism, a third executing mechanism and a fourth executing mechanism; the four actuating mechanisms totally comprise 7 degrees of freedom, and the 7 degrees of freedom start from one end of the tail end transmission box and sequentially comprise: the swing freedom degree around the first joint axis of the first actuating mechanism in the x axial direction and the y axial direction, the swing freedom degree around the second joint axis of the second actuating mechanism in the x axial direction and the y axial direction, the swing freedom degree around the third joint axis of the third actuating mechanism in the x axial direction and the y axial direction, and the swing freedom degree around the fourth joint axis of the fourth actuating mechanism in the y axial direction.
2. The universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to claim 1, wherein the end transmission boxes of the first actuator, the second actuator and the third actuator have the same structure and respectively comprise two angle adjusting wheels, a fixed pin and a wire wheel; the structure in the tail end transmission box of the fourth actuating mechanism comprises an angle adjusting wheel, a fixed pin and a wire wheel; the angle adjusting wheel is connected with the wire wheel, and the wire wheel is connected with the corresponding joint; the angle adjusting wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the corresponding joint; the fixed pin fixes the angle adjusting wheel by separating and attaching with the angle adjusting wheel.
3. The gimbaled organ support and fixation instrument for minimally invasive abdominal surgery of claim 2, wherein: the first executing mechanism comprises a first joint x axial swing angle adjusting wheel I, a fixed pin I, a wire wheel I, a y axial swing angle adjusting wheel II, a fixed pin II, a wire wheel II, an arm section I connecting sleeve, an arm section II connecting sleeve and a first joint at the joint of the arm section I connecting sleeve and the arm section II connecting sleeve; the first x-axis cycloid angle adjusting wheel is connected with a first wire wheel, and the first wire wheel is connected with the first joint; the first x-axis cycloidal angle adjusting wheel controls an x-axis cycloidal angle of a first wire wheel, and the first wire wheel controls an x-axis cycloidal angle of the first joint; the fixing pin I is separated from and attached to the x axial swing angle adjusting wheel I to fix the x axial swing angle adjusting wheel I; the y-axis cycloidal angle adjusting wheel II is connected with a wire wheel II, and the wire wheel II is connected with the first joint; the y-axis cycloidal angle adjusting wheel II controls the y-axis cycloidal angle of a wire wheel II, and the wire wheel II controls the y-axis cycloidal angle of the first joint; and the second fixing pin is separated from and attached to the second y-axis swinging angle adjusting wheel to fix the second y-axis swinging angle adjusting wheel.
4. The universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to claim 2, wherein the second actuator comprises a second joint at the joint of a first joint x-axis swing angle adjusting wheel III, a fixed pin III, a wire wheel III, a y-axis swing angle adjusting wheel IV, a fixed pin IV, a wire wheel IV, an arm section II connecting sleeve, an arm section III connecting sleeve and an arm section II connecting sleeve; the x-axis cycloid angle adjusting wheel III is connected with a wire wheel III, and the wire wheel III is connected with the second joint; the x-axis cycloidal angle adjusting wheel III controls the x-axis cycloidal angle of the wire wheel III, and the wire wheel III controls the x-axis cycloidal angle of the second joint; the fixing pin III is separated from and attached to the x axial swing angle adjusting wheel III to fix the x axial swing angle adjusting wheel III; the y-axis cycloidal angle adjusting wheel IV is connected with a wire wheel IV, and the wire wheel IV is connected with the second joint; the y-axis cycloidal angle adjusting wheel IV controls the y-axis cycloidal angle of a wire wheel IV, and the wire wheel IV controls the y-axis cycloidal angle of the second joint; and the fixing pin IV is used for fixing the y axial swinging angle adjusting wheel IV by separating and attaching with the y axial swinging angle adjusting wheel IV.
5. The universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to claim 2, wherein the third actuator comprises a third joint at the joint of a third joint x-axis swing angle adjusting wheel five, a third pin five, a wire wheel five, a y-axis swing angle adjusting wheel six, a third pin six, a wire wheel six, an arm section three connecting sleeve, an arm section four connecting sleeve, an arm section three connecting sleeve and an arm section four connecting sleeve; the x-axis cycloidal angle adjusting wheel V is connected with the wire wheel V, and the wire wheel V is connected with the third joint; the x-axis cycloidal angle adjusting wheel five controls the x-axis cycloidal angle of the wheel five, and the wheel five controls the x-axis cycloidal angle of the third joint; the fixing pin V is separated from and attached to the x axial swing angle adjusting wheel V to fix the x axial swing angle adjusting wheel V; the y-axis cycloidal angle adjusting wheel six is connected with the wire wheel six, and the wire wheel six is connected with the third joint; the y-axis cycloidal angle adjusting wheel six controls the y-axis cycloidal angle of the wheel six, and the wheel six controls the y-axis cycloidal angle of the third joint; and the fixing pin six is used for fixing the y axial swinging angle adjusting wheel six through separation and attachment with the y axial swinging angle adjusting wheel six.
6. The universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to claim 2, wherein the fourth actuator comprises a fourth joint at the joint of a fourth joint angle adjusting wheel seven, a fixing pin seven, a wire wheel seven, an arm section four connecting sleeve, a clamping head I, a clamping head II, an arm section four connecting sleeve and the clamping head I, and the clamping head II; the angle adjusting wheel seventh is connected with the wire wheel seventh, and the wire wheel seventh is connected with the first clamping head and the second clamping head of the fourth joint; the angle adjusting wheel seventh controls the rotation angle of the wire wheel seventh, and the wire wheel seventh controls the rotation angles of the first clamping head and the second clamping head of the fourth joint; the fixing pin seventh fixes the angle adjusting wheel seventh by separating and attaching with the angle adjusting wheel seventh.
7. The universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery as claimed in claim 1, wherein the first actuator, the second actuator, the third actuator and the fourth actuator respectively drive the first joint, the second joint, the third joint and the fourth joint to rotate correspondingly through steel cables.
8. The universal joint organ supporting and fixing instrument for minimally invasive abdominal surgery according to claim 2, wherein the end transmission boxes of the first, second, third and fourth actuators are further provided with a guide structure; the guide structures respectively comprise a guide wheel shaft, a guide wheel set and a sleeve, the sleeve is sleeved on the guide wheel shaft, and the guide wheel is sleeved on the guide wheel shaft; the two ends of the guide wheel shaft are fixed on the base shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020091348.7U CN212521922U (en) | 2020-01-15 | 2020-01-15 | Universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020091348.7U CN212521922U (en) | 2020-01-15 | 2020-01-15 | Universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery |
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| Publication Number | Publication Date |
|---|---|
| CN212521922U true CN212521922U (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020091348.7U Active CN212521922U (en) | 2020-01-15 | 2020-01-15 | Universal joint organ supporting and fixing instrument for abdominal minimally invasive surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212521922U (en) |
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2020
- 2020-01-15 CN CN202020091348.7U patent/CN212521922U/en active Active
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