CN215874928U - Interventional operation robot and trolley thereof - Google Patents
Interventional operation robot and trolley thereof Download PDFInfo
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- CN215874928U CN215874928U CN202122075147.5U CN202122075147U CN215874928U CN 215874928 U CN215874928 U CN 215874928U CN 202122075147 U CN202122075147 U CN 202122075147U CN 215874928 U CN215874928 U CN 215874928U
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- 230000007704 transition Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model provides an intervene surgical robot and platform truck thereof, intervene surgical robot includes the follow end robot that is used for centre gripping, delivers, rotates pipe and/or seal wire, is used for controlling the follow end robot lets pipe and/or seal wire motion master end control the platform and is used for placing follow end robot's platform truck, the platform truck includes the base, is fixed in the vertical stand of base and follow the stand level extends and can be relative the stand is at the horizontal state and the vertical state between the change over place the platform, follow end robot detachably fixed in place the platform truck. Therefore, the doctor can conveniently move and install the slave end robot, and when the operation is finished, the trolley is also utilized to conveniently move the slave end robot and place the slave end robot at a proper position, so that the good protection can be realized, and the cleanness and tidiness of the working environment of the doctor are kept.
Description
Technical Field
The utility model relates to the field of medical robots, in particular to an interventional operation robot and a trolley thereof.
Background
Interventional therapy is a minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital image technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, the incision (puncture point) of the digital image technology is only the size of rice grains, and the digital image technology can treat a plurality of diseases which are treated by the prior surgical operation or internal medicine and have poor curative effect or even can not be treated, such as tumors, hemangioma, various kinds of bleeding and the like, without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, in order to avoid the dilemma that a doctor directly operates a catheter and a guide wire in a catheter room and is exposed to X-rays for a long time, a master-slave blood vessel interventional operation robot which is operated remotely is developed. Therefore, the catheter and the guide wire can be remotely controlled by a doctor outside a radiation environment, and a safe working environment is provided for the doctor.
In a general catheter chamber, various medical devices are more. Particularly, the catheter bed needs to be subjected to various operations, and the slave robot fixed on the catheter bed needs to be detached and placed in the catheter chamber independently after the vascular intervention operation is completed. Therefore, there is a need for a conveniently movable trolley for placing an interventional surgical robot.
SUMMERY OF THE UTILITY MODEL
Based on this, there is a need for an interventional surgical robot with a trolley.
An interventional surgical robot, comprising: the robot comprises a slave end robot, a master end control platform and a trolley, wherein the slave end robot is used for clamping, delivering and rotating a conduit and/or a guide wire, the master end control platform is used for controlling the slave end robot to move the conduit and/or the guide wire, the trolley comprises a base, a vertical upright post fixed on the base, and a placing platform horizontally extending from the upright post and capable of switching between a horizontal state and a vertical state relative to the upright post, and the slave end robot is detachably fixed on the placing platform.
Further, the slave end robot is accommodated in the upright post.
Further, the placing table and the upright post are integrated into a whole.
Further, a first pulley is arranged on the base.
Furthermore, the interventional operation robot also comprises a mechanical arm which is arranged on the operating table and used for supporting and adjusting the position of the slave end robot in multiple degrees of freedom.
Further, the interventional surgical robot further comprises a protective screen for isolating X-rays and placing the console.
Furthermore, a second pulley is arranged at the bottom of the protective screen.
In another aspect, the present invention further provides an interventional surgical robotic trolley including a base, a vertical column secured to the base, and a placement table extending horizontally from the column and convertible between a horizontal position and a vertical position relative to the column.
Further, the surgical robot is accommodated in the upright post.
Further, the placing table and the upright post are integrated into a whole.
In conclusion, the interventional operation robot provided by the utility model utilizes the trolley, so that a doctor can conveniently move and install the slave-end robot, and when the operation is finished, the slave-end robot, the protection screen and the master-end control table move together and are placed at a proper position, so that the interventional operation robot not only can be well protected, but also can not cause messy working environment of the doctor due to excessive equipment, and keeps the working environment clean.
Drawings
FIG. 1 is a schematic view of the interventional surgical robot of the present invention;
fig. 2 is a schematic structural view of the interventional operation robot trolley of the utility model.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
In a first embodiment of the present invention, an interventional surgical robotic device, as shown in fig. 1 and 2, includes:
a slave end robot 10 for gripping, delivering, rotating a catheter and/or guidewire;
a master console 20, which the surgeon may manipulate to manipulate the motion of the catheter and/or guidewire from a distal end by manipulating the master console 10;
the robot arm 30 is slidably mounted to an operation table 80 of a patient 70 to be operated, and supports and adjusts the position of the slave robot 10 with multiple degrees of freedom.
A protective screen 40 for shielding X-rays and placing the primary console 10, and allowing the doctor to operate the primary console 10 in the protective screen.
When the operation is completed, the slave robot 10 is detached from the robot arm 30, placed on the cart 50, and moved to an appropriate position by the doctor.
And a control box 60 for signal transmission between the slave end robot 10 and the master end console 20.
The trolley 50 includes a base 52, a vertical column 54 fixed to the base 52, a placement table 56 horizontally extending from the column 54, a first pulley 58 mounted on the base 52, and a push handle 59 mounted on the column 54. When the operation is finished, the slave end robot 10 is detached from the robot arm 30, placed on the placing table 56, and detachably fixed to the placing table 56, thereby allowing the placing table 56 and the slave end robot 10 to be converted from the horizontal state to the vertical state together. In the embodiment shown, the placing table 56 is rotatably mounted on the upright 54, so that the placing table 56 and the slave end robot 10 rotate together relative to the upright 54, and the placing table 56 rotates from a horizontal state to a vertical state. Further, the column 54 is a vertically long hollow body, and when the placement table 56 is rotated from a horizontal state to a vertical state, the slave robot 10 is housed in the column 54, and the placement table 56 and the column 54 are integrated.
The bottom of the protective screen 40 is provided with a second pulley 42.
Thus, the physician can push the trolley 50 by the push handle 59, and can conveniently push the trolley 50 to a proper position, such as the corner of the ductwork room together with the protective screen 40 and the main console 20, by the movement of the pulley 58 of the trolley 50.
When surgery is required, the surgeon then pushes the trolley 50 back to the side of the operating bed 50. The placing table 56 is rotated from the vertical state to the horizontal state, the slave end robot 10 is detached from the placing table 56 and moved and fixed to the robot arm 30, and the slave end robot 10 is adjusted to a proper position by the robot arm 30, so that a catheter and/or a guide wire can be loaded by a doctor and a surgery can be started.
In another embodiment, the placing table 56 can be lifted and lowered to be flush with the robot arm 30 when being rotated from the vertical state to the horizontal state, so as to facilitate the movement and fixing of the slave end robot 10.
In other embodiments, the slave end robot 10 may be directly vertically enclosed within the mast 54 via a lift mechanism, and an opening and closing door may be provided to close the mast 54.
In further embodiments, the robotic arm 30 may be detached from the surgical bed 80 and placed on the placement table 56 together with the slave end robot 10, securing them to the placement table 56 with the robotic arm 30 or another securing structure.
In summary, the interventional operation robot of the present invention utilizes the trolley 50 to allow a doctor to conveniently move and install the slave end robot 10, and when the operation is finished, the slave end robot, the protection screen 40 and the master end console 20 are moved together and placed at a suitable position, so that not only can the doctor be well protected, but also the working environment of the doctor is not messy due to excessive equipment, and the working environment is kept clean.
The above-described embodiments only represent one embodiment of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the spirit of the utility model, and these are within the scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.
Claims (10)
1. An interventional surgical robot, comprising: the robot comprises a slave end robot, a master end control platform and a trolley, wherein the slave end robot is used for clamping, delivering and rotating a conduit and/or a guide wire, the master end control platform is used for controlling the slave end robot to move the conduit and/or the guide wire, the trolley comprises a base, a vertical upright post fixed on the base, and a placing platform horizontally extending from the upright post and capable of switching between a horizontal state and a vertical state relative to the upright post, and the slave end robot is detachably fixed on the placing platform.
2. An interventional surgical robot of claim 1, wherein: the slave end robot is accommodated in the upright post.
3. An interventional surgical robot as recited in claim 2, wherein: the placing table and the upright post are integrated into a whole.
4. An interventional surgical robot of claim 1, wherein: a first pulley is arranged on the base.
5. An interventional surgical robot of claim 1, wherein: the robot further comprises a mechanical arm which is arranged on the operating table and used for supporting and adjusting the position of the slave end robot in multiple degrees of freedom.
6. An interventional surgical robot of claim 1, wherein: and the protective screen is used for isolating X-rays and placing the console.
7. An interventional surgical robot of claim 6, wherein: the bottom of the protective screen is provided with a second pulley.
8. The utility model provides an intervene operation robot trolley which characterized in that, intervene operation robot trolley includes the base, is fixed in the vertical stand of base and follow stand level extension and can be relative the stand is at the platform of placing of transition between horizontality and vertical state.
9. An interventional surgical robotic trolley as claimed in claim 8, wherein: the surgical robot is accommodated in the upright post.
10. An interventional surgical robotic trolley as defined in claim 9, wherein: the placing table and the upright post are integrated into a whole.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021213002477 | 2021-06-10 | ||
| CN202121300247 | 2021-06-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215874928U true CN215874928U (en) | 2022-02-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122075147.5U Active CN215874928U (en) | 2021-06-10 | 2021-08-31 | Interventional operation robot and trolley thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215874928U (en) |
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2021
- 2021-08-31 CN CN202122075147.5U patent/CN215874928U/en active Active
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| Date | Code | Title | Description |
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| CP03 | Change of name, title or address |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |