CN215778617U - Patient operating table for minimally invasive surgery - Google Patents
Patient operating table for minimally invasive surgery Download PDFInfo
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- CN215778617U CN215778617U CN202121868824.2U CN202121868824U CN215778617U CN 215778617 U CN215778617 U CN 215778617U CN 202121868824 U CN202121868824 U CN 202121868824U CN 215778617 U CN215778617 U CN 215778617U
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 17
- 210000004907 gland Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 208000002847 Surgical Wound Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The utility model relates to a patient operating table for minimally invasive surgery, which aims to solve the problems that the passive device of the patient operating table of the existing minimally invasive surgery robot has insufficient structural strength and larger locking clearance; the mechanical arm is inflexible in adjustment and limited in motion range, and comprises a far-end passive adjusting device, a near-end passive adjusting device and the mechanical arm, wherein the far-end passive adjusting device comprises a base, a lifting upright post, a large rotation and a cross beam; the crossbeam comprises a crossbeam fixed end and a crossbeam sliding end, the crossbeam fixed end is connected with the large autorotation, and the crossbeam sliding end is connected with the crossbeam fixed end through a linear module; the left instrument driving arm is connected with the left instrument driven arm, and the image driving arm is connected with the image driven arm; the left instrument driving arm is arranged obliquely with respect to the left instrument passive arm, and the image driving arm is arranged obliquely with respect to the image passive arm. The utility model is widely applied to the robot system for minimally invasive surgery.
Description
Technical Field
The utility model relates to the technical field of minimally invasive surgery robots, in particular to a patient operating table for minimally invasive surgery.
Background
Referring to the chinese patent with an authorization publication number of CN109091237B and named as an auxiliary system of minimally invasive surgery instruments and the chinese patent with an authorization publication number of CN109091238B and named as an auxiliary system of split type minimally invasive surgery instruments, a minimally invasive surgery instrument control system is designed as an equipment system which is operated by a doctor in an operating room under an endoscope to control a surgical instrument to perform an operation. The doctor sits in front of the doctor operation panel, and through watching the 3D image display, operates the doctor arm, and the doctor can utilize the accurate control surgical instruments of patient arm to carry out various operation actions like ordinary operation.
In order to adapt to the actual condition of compact space in an operating room and the uncertainty of the position of a minimally invasive surgery incision, a passive device of a patient operating table connected with a mechanical arm of a patient mostly adopts a serial joint structure so as to realize the large-range adjustment of the space position of a stationary point of the mechanical arm of the patient. Due to structural defects, the conventional passive device of the patient operating table generally has insufficient structural strength and larger locking clearance; the defects of inflexible mechanical arm adjustment and limited motion range are overcome by optimizing the structure of a mounting platform of the mechanical arm of the patient to meet the requirement of modern minimally invasive surgery.
Disclosure of Invention
The utility model aims to solve the problems that the passive device of the patient operating table of the existing minimally invasive surgery robot has insufficient structural strength and larger locking clearance; the mechanical arm is inflexible to adjust and the movement range is limited, and the passive adjusting device provided by the utility model has high strength and small locking clearance; the mechanical arm is flexibly adjusted, and the movement range is large, so that the patient operating table is used for minimally invasive surgery.
The utility model provides a patient operating table for minimally invasive surgery, which comprises a far-end passive adjusting device, a near-end passive adjusting device and a mechanical arm, wherein the far-end passive adjusting device comprises a base, a lifting upright post, a large autorotation part and a cross beam; the crossbeam comprises a crossbeam fixed end and a crossbeam sliding end, the crossbeam fixed end is connected with the big autorotation and can rotate along with the big autorotation, and the crossbeam sliding end is connected with the crossbeam fixed end through a linear module;
the near-end passive adjusting device comprises a small autorotation device, a tail-end lifting device, a left instrument passive arm and an image passive arm, the small autorotation device is connected with the sliding end of the cross beam, and the tail-end lifting device is connected with the small autorotation device; the tail end lifting device comprises a lifting support, and the lifting support is connected with a left lifting device and a middle lifting device; the left instrument passive arm is connected with the left lifting device, and the image passive arm is connected with the middle lifting device; the mechanical arm comprises a left instrument driving arm and an image driving arm, the left instrument driving arm is connected with a left instrument driven arm, and the image driving arm is connected with the image driven arm; the left instrument driving arm is arranged obliquely with respect to the left instrument passive arm, and the image driving arm is arranged obliquely with respect to the image passive arm.
Preferably, the patient operating table for minimally invasive surgery further comprises a right instrument passive arm, the tail end lifting device further comprises a right lifting device, the right instrument passive arm is connected with the right lifting device, and the right instrument active arm is connected with the right instrument passive arm.
The utility model has the beneficial effects that: the passive adjusting device has high strength and small locking clearance. The mechanical arm of the instrument is flexible to adjust and has a large movement range.
Further features of the utility model will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic overall structural view of a patient table for minimally invasive surgery;
FIG. 2 is an exploded view of the patient console shown in FIG. 1 for use in minimally invasive surgery;
FIG. 3 is a schematic structural view of a support column;
FIG. 4 is a schematic structural view of the end effector;
fig. 5 is a schematic view showing the construction of a left-side lifting device among the end lifting devices shown in fig. 4;
FIG. 6 is a schematic diagram of the overall structure of the image passive arm;
FIG. 7 is a schematic view of the patient table in a surgical procedure;
FIG. 8 is a schematic structural view of a small autorotation and its braking device;
FIG. 9 is an exploded view of the structure shown in FIG. 8;
FIG. 10 is a cross-sectional view of a small autorotation;
FIG. 11 is a schematic structural view of the brake assembly;
FIG. 12 is an exploded view of the brake assembly of FIG. 11;
FIG. 13 is a schematic representation of the structure of the left instrument active arm;
FIG. 14 is a schematic view of the support arm of the left instrument active arm;
FIG. 15 is a schematic view of the L-shaped link, first link, and second link of the active arm of the left hand implement in a collapsed configuration;
FIG. 16 is a schematic view of the construction of the instrument lift base;
FIG. 17 is a schematic view of the engagement of the drive gear with the driven gear in the implement elevator platform;
FIG. 18 is a schematic view of the L-shaped link, the first link, and the second link of the active arm of the left hand implement in a folded configuration.
The symbols in the drawings illustrate that:
1. a far-end passive adjusting device, 1.1, a base, 1.2, a lifting upright post, 1.3, large autorotation and 1.4, a cross beam; 2. a near-end passive adjusting device, 3. a mechanical arm,
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1 and 2, in order to adapt to the real situation of the compact environment in the operating room, the whole patient operating table adopts a suspended layout, and the whole structure of the patient operating table mainly comprises a far-end passive adjusting device 1, a near-end passive adjusting device 2 and a mechanical arm 3. The mechanical arm 3 is connected with the near-end passive adjusting device 2 and is positioned above an operation area, and a user can flexibly adjust the position of the mechanical arm in a local range according to different operation positions of a patient before an operation. In order to reduce the pollution risk of an operation area and facilitate the installation of a sterile sleeve bag and surgical instruments by a doctor, the distance between the far-end passive adjusting device and the near-end passive adjusting device is far, and the position adjustment and locking of the mechanical arm in a large-range space can be realized under the operation of a user. Before an operation, the determination of the spatial positions of different points of the mechanical arm of a patient can be smoothly realized through the arrangement of the far-end passive adjusting device 1 and the near-end passive adjusting device 2.
The far-end passive adjusting device 1 is formed by connecting a series of moving and rotating joints in series, and the whole structure of the far-end passive adjusting device comprises a base 1.1, a lifting upright post 1.2, a large autorotation post 1.3 and a cross beam 1.4. The base 1.1 can realize the overall movement and position locking of the patient operating table. The lifting upright column 1.2 comprises a support column 1.2.1 and a movable cylinder 1.2.2, wherein the support column 1.2.1 and the base 1.1 are fixedly installed through a fastener and can move together with the base. The structure of the supporting column 1.2.1 is shown in fig. 3, and mainly comprises three parts, namely an upright post weldment 1.2.1.1, a linear module 1.2.1.2 and a lifting motor 1.2.1.3, wherein the upright post weldment 1.2.1.1 is fixedly connected with the linear module 1.2.1.2 and a base through fasteners, and the lifting motor 1.2.1.3 is connected with a lead screw of the linear module 1.2.1.2 and can drive a sliding block of the linear module to reciprocate along the direction of an axis 1-1. The moving cylinder 1.2.2 is connected with the slide block of the linear module through a fastener and can reciprocate along the axis 1-1 along with the slide block of the linear module under the drive of the lifting motor, so that the overall height of the mechanical arm 3 of the patient operating table and the proximal end passive adjusting device 2 can be adjusted.
The large rotation 1.3 is connected with the cross beam 1.4 through a fastener, the large rotation 1.3 is connected with the top end of the movable cylinder 1.2.2 and can manually realize rotation and locking around the axis I1-1, the structure of the mechanical arm has the advantages of large locking torque and small gap, and the position precision of the mechanical arm in the operation process can be effectively ensured. Large autorotation 1.3 is the joint action.
The beam 1.4 comprises a beam fixed end 1.4.1 and a beam sliding end 1.4.2, wherein the beam fixed end 1.4.1 is fixedly connected with the large rotation 1.3 and can rotate around the axis 1-1 along with the large rotation. The beam fixing end 1.4.1 mainly comprises three parts, namely a beam weldment 1.4.1.1, a linear module 1.4.1.2 and a beam moving motor 1.4.1.3, wherein the beam weldment 1.4.1.1 is fixedly connected with the linear module and the autorotation 3 through fasteners, and the beam moving motor 1.4.1.3 is connected with a lead screw of the linear module 1.4.1.2 and can drive a sliding block of the linear module 1.4.1.2 to reciprocate along the direction of an axis 2-1. The sliding end 1.4.2 of the beam is connected with the slide block of the linear module 1.4.1.2 through a fastener and can reciprocate along the axis 2-1 together with the slide block of the linear module under the drive of the beam moving motor 1.4.1.3, so that the size adjustment of the mechanical arm of the patient operating table and the size adjustment of the proximal passive adjusting device in the horizontal direction can be realized.
The far-end passive adjusting device consisting of the base 1.1, the lifting upright column 1.2, the large rotation 1.3 and the cross beam 1.4 has the advantages of high structural strength, flexible adjustment and large range. The device not only can realize the large-scale movement of the mechanical arm and the near-end passive adjusting device in an operating room, but also can minimize the volume of the equipment by adjusting the positions of all joints, and the center of gravity is reduced to the lowest so as to be convenient for the transportation stability of the equipment.
The proximal end passive adjusting device 2 is also composed of a series of moving and rotating joints, and the whole structure of the proximal end passive adjusting device comprises a small rotation 1.5, a terminal lifting device 1.6, a left side instrument driven arm 1.7, a right side instrument driven arm 1.8 and an image driven arm 1.9, wherein the small rotation 1.5 is fixedly connected with a cross beam sliding end 1.4.2 through a fastener, the terminal lifting device 1.6 is connected with the small rotation 1.5, and the small rotation 1.5 can reciprocate along the axis 2-1 direction along with the cross beam sliding end 1.4.2. The proximal passive adjustment device 2 as a whole can rotate around the axis three 3-1 within a limited angular range and is locked by a small rotation 1.5.
The tail end lifting device 1.6 is formed by connecting three groups of mutually independent lifting devices with a gravity balance function in parallel, namely a left side lifting device 1.6.1, a right side instrument driven arm 1.8 and a middle lifting device 1.6.3, wherein the left side instrument driven arm 1.7 is fixedly connected with a spline shaft of the left side lifting device 1.6.1, the right side instrument driven arm 1.8 is fixedly connected with a spline shaft of the right side lifting device 1.6.2, and an image is fixedly connected with the spline shaft of the middle lifting device 1.6.3 by the movable arm 1.9, so that mutually independent lifting movement perpendicular to the xoy plane of the mechanical arm is realized, and the position of an immobile point is adjusted in the height direction. The three groups of lifting devices, namely the left lifting device 1.6.1, the right instrument driven arm 1.8 and the middle lifting device 1.6.3, have the same structure, the specific structure of each group of lifting devices is shown in fig. 5, and the band-type brake 1.6.12 is fixedly installed with the lifting bracket 1.6.4 through fasteners; spline 1.6.5 includes spline shaft 1.6.5.1 and spline seat 1.6.5.2, spline seat 1.6.5.2 is fixed with lifting bracket 1.6.4 through fasteners, spline shaft 1.6.5.1 can reciprocate along axis four 3-2; the ball screw 1.6.7 includes lead screw nut 1.6.7.1 and screw lever 1.6.7.2, and screw lever 1.6.7.2 is installed with lift support 1.6.4 through angular contact ball bearing 1.6.9 and bearing gland 1.6.10 to be connected with the band-type brake through band-type brake piece 1.6.11, in order to realize rotation and braking function. The lead screw nut 1.6.7.1 is connected with the spline shaft 1.6.5.1 through the connecting seat 1.6.6, and can move on the lead screw rod along with the movement of the spline shaft, so that the rotation of the lead screw rod is realized. Air spring 1.6.8 is installed at the other end of connecting seat 1.6.6, carries out gravity balance to elevating gear, and the output of air spring 1.6.8 is connected with lift support 1.6.4.
The left and right instrument passive arms 1.7, 1.8 may be conventional structures of the prior art, such as the structure disclosed in the utility model with patent number 201922030990.4 entitled translational mechanical arm.
The left instrument driving arm 1.10 and the right instrument driving arm 1.12 are respectively connected with the left instrument driven arm 1.7 and the right instrument driven arm 1.8, so that the mutually independent translational motion of the instrument driving arms parallel to the xoy plane is realized, and the position of the motionless point of the instrument driving arms is further adjusted in the horizontal direction.
The image driven arm 1.9 is positioned in the middle of the left instrument driven arm and the right instrument driven arm and is connected with the image driving arm 1.11. In order to adapt to the narrow space of the minimally invasive surgery operation area and avoid mutual collision of the mechanical arms in the surgery process as much as possible, the image driven arm 1.9 and the spline shaft of the middle lifting device 1.6.3 are fixedly arranged, and only the lifting motion perpendicular to the xoy plane can be realized, but the translation motion parallel to the xoy plane cannot be realized. The overall structure of the image driven arm 1.9 is as shown in fig. 6, the connecting rod 1.9.1 is mounted together with the connecting seat 1.9.2 through fasteners, the connecting seat 1.9.2 is connected with the image driving arm 1.11, the end of the connecting rod 1.9.1 is connected with the spline shaft 1.6.5.1 of the middle lifting device, the direction switch 1.9.3 and the button switch 1.9.4 are mounted on the upper portion and the side face of the connecting rod 1.9.1, wherein the button switch can simultaneously control the brake of the middle lifting device with large rotation 1.3 and 1.6.3 and the electric push rod of the small rotation joint with 1.5, so as to realize the movement and locking of the large rotation joint around the axis line one 1-1, the image driven arm along the axis line four 3-2 and the small rotation joint around the axis line three 3-1. The direction switch controls the forward and reverse rotation of the beam moving motor 1.4.1.3 to realize the reciprocating motion of the sliding end 1.4.2 of the beam along the axis 2-1.
The image driving arm 1.11 is integrally arranged in an inclined mode, and an included angle smaller than 90 degrees is formed between the image driving arm and the image driven arm 1.9. Correspondingly, the left instrument driving arm 1.10 is also arranged obliquely, and an included angle of less than 90 degrees exists between the left instrument driving arm 1.10 and the plane of the left instrument driven arm 1.7. Correspondingly, the right instrument driving arm 1.12 is also obliquely arranged, and an included angle of less than 90 degrees exists between the right instrument driving arm 1.12 and the plane of the right instrument driven arm 1.8.
In the actual use process, in order to avoid the false touch, an operator needs to control the button switch 1.9.4 and the direction switch 1.9.3 at the same time, and assist the manual operation, firstly the motionless point position of the image driving arm 1.11 coincides with the incision position of the patient, and then the motionless point position of the left-side instrument driving arm 1.10 and the motionless point position of the right-side instrument driving arm 1.12 coincide with other incision positions of the patient by manually adjusting the left-side lifting device 1.6.1, the right-side lifting device 1.6.2, the left-side instrument driven arm 1.7 and the right-side instrument driven arm 1.8, so that the spatial positioning of the mechanical arm is rapidly and effectively realized.
Fig. 7 is a schematic view showing a state in which the patient table is used for a surgical operation. Before the operation is started, puncture outfits respectively attached to the left instrument driving arm 1.10, the image driving arm 1.11 and the right instrument driving arm 1.12 are overlapped with the incision part of a patient through manual operation of the far-end passive adjusting device 1 and the near-end passive adjusting device 2, so that the space position of the immobile point of each mechanical arm is determined. In the actual operation process, a certain included angle alpha and a certain included angle gamma are naturally formed between the driving arm of the left/right instrument and the driving arm of the image, so that the requirement of a doctor on operating the mechanical arm to perform minimally invasive operation on a patient is met. Therefore, before the operation is started, the operator needs to adjust the relative positions of all joints of the mechanical arm and determine the initial posture of the mechanical arm, so that the direction of the puncture outfit penetrating into the incision of the patient is at a reasonable angle, and the operation of a doctor is facilitated.
Because the structure of the mechanical arm is limited, the rotation angle of each joint can be limited within a certain range, and in order to meet the requirement of a movement space of a surgical instrument relative to the position (the position of an immobile point) of a surgical incision of a patient in the surgical process, when an operator adjusts the initial posture of the mechanical arm, the locking position of each joint is in the middle position of the rotation range as far as possible. In order to meet the requirement as far as possible, an included angle theta is arranged between the image driving arm and the image driven arm, so that the position of the motionless point of the image driving arm is raised and extends forwards, and included angles theta and beta are also arranged between the left/right instrument driving arm and the image driven arm, so that the position of the motionless point of the instrument driving arm is raised and extends forwards and is close to the motionless point of the image driving arm. Through the design, when each joint of the mechanical arm is in the middle position of the rotation range, the posture and the mutual position of each mechanical arm basically meet the requirements of an operator, so that the joint adjustment amount is reduced, and the aim of expanding the movement range of the mechanical arm relative to the position of the surgical incision of the patient is fulfilled.
As shown in fig. 8-12, the small rotation 1.5 is mounted on the beam sliding end 1.4.2 through four screws 5; the brake component 3 is arranged on the sliding end 1.4.2 of the cross beam through a screw, and the electric push rod component 4 is arranged on the sliding end 1.4.2 of the cross beam through a screw 7. The small rotation 1.5 comprises a supporting seat 8, a rotating shaft 9, a bearing gasket 10, a locking nut 11, a bearing gland 12, a deep groove ball bearing 14 and two tapered roller bearings 13 which are installed in pairs. The supporting seat 8 is fixedly connected with the sliding end 1.4.2 of the cross beam through a screw 5. The deep groove ball bearing 14 is connected with the lower part of the rotating shaft 9, and the outer ring of the deep groove ball bearing 14 is matched with the sliding end 1.4.2 of the cross beam. The two tapered roller bearings 13 are sleeved on the upper portion of the rotating shaft 9, the bearing gasket 10 is located between the two tapered roller bearings 13, and the outer rings of the tapered roller bearings 13 are matched with the inner wall of the supporting seat 8. The bearing gland 12 is fixedly connected with the top of the supporting seat 8 through a screw, and the lower end of the bearing gland 12 presses the outer ring of the tapered roller bearing 13 downwards. The lock nut 11 is connected to the upper end of the rotary shaft 9. The tapered roller bearing outer ring installed inside is axially positioned by the bearing gland 12 and the bearing gasket 10. The rotating shaft 9 is matched with inner rings of a tapered roller bearing 13 and a deep groove ball bearing 14, and is axially positioned through a locking nut 11. Therefore, when the rotating shaft assembly is installed at the sliding end 1.4.2 of the cross beam, the rotating shaft 9 in the rotating shaft assembly can rotate around the axis. The brake assembly 3 includes a base 15, a left brake pad 16, a right brake pad 17, a left push rod 18, a right push rod 19, and a cylindrical pin 20. The left brake piece 16 and the right brake piece 17 are fixedly connected with the base 15 through cylindrical pins. The left push rod 18 is rotatably connected with the left brake block 16 through a cylindrical pin, and the right push rod 19 is rotatably connected with the right brake block 17 through a cylindrical pin 20. The left push rod 18 and the right push rod 19 can rotate freely around the axes 16-1 and 17-1 respectively. The left brake block 16 and the right brake block 17 are made of elastic wear-resistant materials and can be elastically deformed after being subjected to external force, and the external force is removed to restore the original position. The base 15 is provided with a threaded hole and is assembled with the sliding end 1.4.2 of the cross beam through a screw 6. The left and right brake pads 16 and 17 surround the rotating shaft 9. The electric push rod assembly 4 comprises a left electric push rod 21 and a right electric push rod 22, the left electric push rod 21 is over against the left push rod 18, and the right electric push rod 22 is over against the right push rod 19. The rotating shaft 9 is fixedly connected with the lifting bracket 1.6.4, when the rotating shaft 9 needs to be braked, the left electric push rod 21 and the right electric push rod 22 extend out simultaneously to push the rear parts of the left push rod 18 and the right push rod 19 of the brake assembly 3, so that the left brake pad 16 and the right brake pad 17 are elastically deformed and tightly hold the rotating shaft 9, and the rotating shaft 9 is locked (no relative motion exists between the rotating shaft 9 and the two brake pads). The electric push rod has small telescopic stroke and short complete extending time, so that the effective braking of the rotating shaft can be realized in a short time. When the brake needs to be released, the left electric push rod 21 and the right electric push rod 22 are controlled to be retracted simultaneously, the left brake pad 16 and the right brake pad 17 are separated from the rotating shaft under the action of the elasticity of the left brake pad and the right brake pad, and the rotating shaft 9 can rotate freely.
Taking the left instrument driving arm 1.10 as an example, a specific implementation structure of the instrument driving arm is described: as shown in fig. 13-18, the left instrument driving arm 1.10 comprises a supporting arm a3, an L-shaped rod 4, a first connecting rod 5, a second connecting rod 6, an instrument lifting seat 7, a quick-change device 8, a poking card 9 and a puncture outfit 10. The first connecting rod 5 is connected with the lower end of the L-shaped rod 4 through a rotary joint, the second connecting rod 6 is connected with the first connecting rod 5 through a rotary joint, and the instrument lifting seat 7 is connected with the second connecting rod 6 through a rotary joint. The instrument lifting seat 7 is provided with a stop button 7-11 and an indicator light 7-12, the stop button can control the motor brake at each joint, and the position of each joint can be manually moved by pressing the stop button. The indicator lights 7-12 are indicator lights capable of displaying different colors, and an operator can judge the state of the mechanical arm through the indicator lights with different colors. The supporting arm A3 comprises a rotating base A3-1, a rotating driving motor 3-2, a rotating shaft 3-3, a first bevel gear 3-4 and a second bevel gear 3-5, wherein the rotating driving motor 3-2 is fixedly installed on the rotating base A3-1, the rotating shaft 3-3 is rotatably connected with the rotating base A3-1 through a bearing, the first bevel gear 3-4 is fixedly connected with the rotating shaft 3-3, the second bevel gear 3-5 is fixedly connected with an output shaft of the rotating driving motor 3-2, and the second bevel gear 3-5 is meshed with the first bevel gear 3-4. The rotary drive motor 3-2 is operative to drive the rotary shaft 3-3 in rotation about an axis-3-6 direction. The L-shaped rod 4 is fixedly connected with the rotating shaft 3-3. A connecting rod driving motor 4-1 is fixed on the L-shaped rod, a driving wheel 4-2 is fixed on a driving wheel shaft 4-3 through a screw (the driving wheel shaft 4-3 is fixedly connected with an output shaft of the connecting rod driving motor 4-1), a steel wire 4-4 bypasses the driving wheel 4-2 and a driven wheel 4-5, the driven wheel 4-5 is fixed on a driven wheel shaft of a joint through a set screw, and the driven wheel is also fixed at the other end of the driven wheel shaft, so that the connecting rod driving motor 4-1 can drive a first connecting rod 5 to rotate around a shaft axis II 4-6. The second connecting rod 6 is connected with the first connecting rod 5 through the steel wire rope transmission mechanism, and the second connecting rod 6 can rotate around the axis three 5-3. The instrument lifting seat 7 is connected with the second connecting rod 6 through the steel wire rope transmission mechanism, and the instrument lifting seat 7 can rotate around an axis line IV 6-4. The link driving motor 4-1 is operated to rotate the first link 5 around the axis two 4-6, simultaneously rotate the second link 6 around the axis three 5-3, simultaneously rotate the instrument lifting seat 7 around the axis four 6-4 through a transmission mechanism, thereby realizing the extension or folding of the first link 5, the second link 6 and the instrument lifting seat 7, wherein the transmission mechanism can adopt a synchronous belt transmission mechanism shown in figure 17 in the utility model patent with the patent number of 201711314225.4. The structure of the instrument lifting seat 7 comprises a slide rail assembly 7-2, a base 7-1, a lead screw 7-3, a bearing, a lead screw nut 7-4, a lead screw 7-3, a support frame, a motor, a driving gear 7-5, a driven gear 7-6, a lead screw 7-3, a driving gear 7-5, a driven gear 7-6 and a quick-change device 8, wherein the slide rail assembly 7-2 is mounted on the base 7-1 through screws, two ends of the lead screw 7-3 are connected with the base 7-1 through the bearing, the lead screw nut 7-4 is connected with a slide block of the slide rail assembly 7-2 through the support frame, the bottom of the instrument lifting seat 7 is fixedly mounted with the motor, an output shaft of the motor is connected with the driving gear 7-5, the driven gear 7-6 is fixedly connected with the lead screw 7-3, the driving gear 7-5 is meshed with the driven gear 7-6, and the motor can drive the lead screw to rotate, so that the lead screw can move along the length direction of the quick-change device 8. The quick-change device 8 is fixedly connected with a screw nut 7-4 of the instrument lifting seat 7 through a support and is used for installing surgical instruments, instrument rods of the surgical instruments penetrate through the puncture outfit 10, the puncture outfit 9 is connected with the instrument lifting seat 7, and the puncture outfit 10 is installed on the puncture outfit 9. The quick-change device 8 can adopt a structure disclosed in a utility model patent with the patent number of 201922031305. X. This surgical instruments arm changes traditional full horizontal foldable design, and apparatus lift seat 7 is leading, and apparatus lift seat 7 is located the inboard of second connecting rod 6, has saved horizontal space, is independent of the quick change joint relatively the arm wholly for when changing surgical instruments in the art, the replacer has more sufficient space to operate, guarantees the convenience of operation, rapidity. Referring to fig. 15 and 16, when the first link 5, the second link 6 and the instrument lift seat 7 are folded, the L-shaped bar 4, the first link 5 and the second link 6 are located in the same plane, the instrument lift seat 7 is not located in the plane, and the instrument lift seat 7 is not parallel to the plane but has a certain angle with the plane. Referring to fig. 13, when the first link 5, the second link 6 and the instrument lift 7 are extended (moved in the lower right direction in fig. 13), the first link 5 rotates clockwise with respect to the L-shaped bar 4, the second link 6 rotates counterclockwise with respect to the first link 5, and the instrument lift 7 rotates clockwise with respect to the second link 6. Conversely, when the first link 5, the second link 6 and the instrument lift seat 7 are folded, the first link 5 rotates counterclockwise with respect to the L-shaped lever 4, the second link 6 rotates clockwise with respect to the first link 5, and the instrument lift seat 7 rotates counterclockwise with respect to the second link 6.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.
Claims (3)
1. A patient operating table for minimally invasive surgery is characterized by comprising a far-end passive adjusting device, a near-end passive adjusting device and a mechanical arm, wherein the far-end passive adjusting device comprises a base, a lifting upright post, a large rotation and a cross beam; the crossbeam comprises a crossbeam fixed end and a crossbeam sliding end, the crossbeam fixed end is connected with the big autorotation and can rotate along with the big autorotation, and the crossbeam sliding end is connected with the crossbeam fixed end through a linear module;
the near-end passive adjusting device comprises a small autorotation device, a tail-end lifting device, a left instrument passive arm and an image passive arm, wherein the small autorotation device is connected with the sliding end of the cross beam, and the tail-end lifting device is connected with the small autorotation device;
the tail end lifting device comprises a lifting support, and the lifting support is connected with a left lifting device and a middle lifting device;
the left instrument passive arm is connected with the left lifting device, and the image passive arm is connected with the middle lifting device;
the mechanical arm comprises a left instrument driving arm and an image driving arm, the left instrument driving arm is connected with a left instrument driven arm, and the image driving arm is connected with an image driven arm;
the left instrument driving arm is arranged obliquely relative to the left instrument passive arm, and the image driving arm is arranged obliquely relative to the image passive arm.
2. The patient table for minimally invasive surgery of claim 1, further comprising a right instrument driving arm, wherein the distal lifting device further comprises a right lifting device, wherein the right instrument driven arm is connected with the right lifting device, and the right instrument driving arm is connected with the right instrument driven arm.
3. The patient table for minimally invasive surgery according to claim 1, wherein the left instrument driving arm comprises a supporting arm, an L-shaped rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick-change device, a poking card and a puncture outfit, the first connecting rod is connected with the lower end of the L-shaped rod through a rotary joint, the second connecting rod is connected with the first connecting rod through a rotary joint, and the instrument lifting seat is connected with the second connecting rod through a rotary joint; the instrument lifting seat is positioned on the inner side of the second connecting rod;
the supporting arm comprises a rotating base, a rotating driving motor, a rotating shaft, a first bevel gear and a second bevel gear, the rotating driving motor is fixedly connected to the rotating base, the rotating shaft is rotatably connected with the rotating base through a bearing, the first bevel gear is fixedly connected with the rotating shaft, the second bevel gear is fixedly connected with an output shaft of the rotating driving motor, and the second bevel gear is meshed with the first bevel gear;
the L-shaped rod is fixedly connected with the rotating shaft;
the L-shaped rod is connected with a connecting rod driving motor, and the connecting rod driving motor acts to extend or fold the first connecting rod, the second connecting rod and the instrument lifting seat through a transmission mechanism;
the quick-change device is connected with the instrument lifting seat, the stabbing card is connected with the instrument lifting seat, and the puncture outfit is connected with the stabbing card.
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| CN2020112595422 | 2020-11-12 | ||
| CN202011259542.2A CN112370175A (en) | 2020-11-12 | 2020-11-12 | Patient operating table for minimally invasive surgery |
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| CN202121868824.2U Active CN215778617U (en) | 2020-11-12 | 2021-08-11 | Patient operating table for minimally invasive surgery |
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| CN113768625B (en) * | 2021-08-03 | 2023-03-14 | 武汉联影智融医疗科技有限公司 | Mechanical arm configuration determining method, device and equipment of surgical robot system |
| CN114533269B (en) * | 2021-09-13 | 2023-10-31 | 广西大学 | RCM positioning mechanism of surgical robot |
| CN114533271B (en) * | 2021-09-13 | 2023-10-31 | 广西大学 | Single-hole minimally invasive surgery control system |
| CN113729954A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Initial adjustment mechanical arm of surgical robot |
| CN113729953A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Initial adjustment vertical arm of surgical robot |
| CN115005996B (en) * | 2022-08-04 | 2022-11-01 | 珠海康弘医疗科技有限公司 | General moving platform of surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN106037937B (en) * | 2016-07-08 | 2018-06-22 | 天津大学 | A kind of operating robot motion arm with adaptive ability |
| CN109091238B (en) * | 2017-06-21 | 2020-07-07 | 山东威高手术机器人有限公司 | Split type minimally invasive surgical instrument auxiliary system |
| CN112315585B (en) * | 2017-12-27 | 2022-04-08 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot terminal |
| CN110393588B (en) * | 2019-08-30 | 2024-05-03 | 山东威高手术机器人有限公司 | Doctor operation table for minimally invasive surgery |
| CN211534784U (en) * | 2019-11-20 | 2020-09-22 | 山东威高手术机器人有限公司 | Quick change device for minimally invasive surgical instrument |
| CN211433287U (en) * | 2019-11-20 | 2020-09-08 | 山东威高手术机器人有限公司 | Translation arm |
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