CN216702652U

CN216702652U - Mechanical auxiliary device for operation

Info

Publication number: CN216702652U
Application number: CN202122641674.8U
Authority: CN
Inventors: 孟李艾俐; 李洪向
Original assignee: Yuanhua Intelligent Technology Shenzhen Co ltd
Current assignee: Yuanhua Intelligent Technology Shenzhen Co ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-06-10
Anticipated expiration: 2031-10-29

Abstract

The utility model relates to the technical field of medical instruments, and provides a mechanical auxiliary device for surgery. The first connecting rod assembly and the second connecting rod assembly are hinged and swing on the same plane, and the surgical equipment is rotatably connected to the second rotating joint. The fixing seat is fixed on the workbench to form a fixed pivot, so that the whole device is ensured to be in a cantilever beam structure. The first rotating joint can rotate around the axis of the fixed seat, so that the degree of freedom of rotation in a plane is obtained; the first and second linkage assemblies extend or contract in a plane about a hinge point to provide in-plane freedom of movement, and finally the surgical device is rotationally coupled to the second rotational joint to further provide in-plane freedom of rotation. The surgical mechanical auxiliary device can achieve the rotation freedom degree and the movement freedom degree of surgical equipment in a plane.

Description

Mechanical auxiliary device for operation

Technical Field

The utility model relates to the technical field of medical instruments, and particularly provides a mechanical auxiliary device for an operation.

Background

With the advancement of science and technology, many auxiliary devices are added to the surgical operation to assist and assist the medical personnel in performing the surgical operation.

However, the current auxiliary device has a problem that the degree of freedom is limited in the actual operation process, that is, the use of the operator is easily limited, thereby affecting the operation progress.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a mechanical auxiliary device for operation, and aims to solve the problem that the degree of freedom of the conventional auxiliary device is limited.

In order to achieve the purpose, the utility model adopts the technical scheme that: the utility model provides a mechanical auxiliary device is used in operation, includes the fixing base, wind in the axis of fixing base rotate connect in first revolute joint, one end articulate in first link assembly, one end of first revolute joint connect in the second link assembly of the other end of first link assembly and articulate in the second revolute joint of second link assembly, first link assembly with second link assembly articulates the swing in the coplanar, surgical equipment rotate connect in on the second revolute joint.

The utility model has the beneficial effects that: the utility model provides a mechanical auxiliary device for operation, which comprises the following use processes: the fixing seat is fixed on the workbench to form a fixed pivot, so that the whole device is ensured to be in a cantilever beam structure. The first rotating joint can rotate around the axis of the fixed seat, so that the degree of freedom of rotation in a plane is obtained; the first and second linkage assemblies extend or contract in a plane about a hinge point to provide in-plane freedom of movement, and finally the surgical device is rotationally coupled to the second rotational joint to further provide in-plane freedom of rotation. To sum up, the mechanical auxiliary device for operation of this application can realize that surgical equipment obtains rotational degree of freedom and removal degree of freedom in the plane to improve surgical equipment's availability factor.

In one embodiment, the first rotary joint comprises a sleeve member and a first hinge plate arranged on the sleeve member, the sleeve member is sleeved on the fixed seat, and one end of the first link member is hinged to the first hinge plate.

In one embodiment, the mechanical surgical aid further comprises a first drive motor fixed to the first hinge plate, and an output end of the first drive motor is connected to the first link assembly.

In one embodiment, the first link assembly includes a first main rod, a first sub-rod and a first switching piece, the first rotating joint further includes a second hinge plate disposed on the sleeve piece, one end of the first main rod is hinged to the output end of the first driving motor, and the other end of the first main rod is hinged to the first switching piece, one end of the first sub-rod is hinged to the second hinge plate, and the other end of the first sub-rod is hinged to the first switching piece, and the first main rod, the first sub-rod, the first switching piece, the first hinge plate, the sleeve piece and the second hinge plate enclose to form a quadrilateral structure.

In one embodiment, the second link assembly includes a second main rod, a second sub-rod and a second adapter, one end of the second main rod is hinged to the first main rod, and the other end of the second main rod is hinged to the second rotating joint, one end of the second sub-rod is hinged to the second adapter, and the other end of the second sub-rod is hinged to the second rotating joint, the second adapter is connected to the first adapter, and the second main rod, the second sub-rod, the second adapter and the second adapter enclose to form a quadrilateral structure.

In one embodiment, the mechanical surgical aid further includes a second driving motor fixed to the second main rod, and an output end of the second driving motor is connected to the first main rod.

In one embodiment, the first adapter is integrally formed with the second adapter.

In one embodiment, the central axis of the first adapter piece and the central axis of the second adapter piece form an included angle.

In one embodiment, the surgical mechanical assistance device includes a first arcuate link pivotally coupled to the second revolute joint, and the surgical apparatus is coupled to the second revolute joint through the first arcuate link.

In one embodiment, the surgical mechanical assistance device includes a second arcuate link pivotally coupled to the first arcuate link, and the surgical apparatus is coupled to the second revolute joint through the first arcuate link and the second arcuate link.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a surgical mechanical assistance device according to an embodiment of the present invention;

FIG. 2 is another structural schematic view of the surgical mechanical assistance device according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a first rotary joint of the mechanical surgical assistant device according to the embodiment of the present invention;

FIG. 4 is a schematic structural view of a first rotational joint and a first link assembly of the mechanical surgical aid according to the embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first rotational joint, a first link assembly and a second link assembly of the mechanical surgical aid according to the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. a fixed seat; 20. a first revolute joint; 30. a second revolute joint; 40. a first link assembly; 50. a second linkage assembly; 21. a sleeve member; 22. a first hinge plate; 23. a second hinge plate; 61. a first drive motor; 41. a first main bar; 42. a first sub-lever; 43. a first transfer member; 51. a second main bar; 52. a second sub-bar; 53. a second adaptor; 62. a second drive motor; 71. a first arc-shaped connecting rod; 72. a second arc link.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 3, the surgical mechanical assistance device of the present application includes a fixing base 10, a first rotational joint 20, a first link assembly 40, a second link assembly 50, and a second rotational joint 30. Wherein, the fixing base 10 plays the fixed and supporting role, is used for fixing on the workstation. The first rotary joint 20 is rotatably connected to the fixing base 10 around the axis of the fixing base 10. Thereby obtaining a rotational degree of freedom in a plane, and one end of the first link assembly 40 is hinged to the first rotational joint 20, one end of the second link assembly 50 is connected to the other end of the first link assembly 40, and the first link assembly 40 and the second link assembly 50 are hinged and swung in the same plane, thereby achieving a linear telescopic movement in a plane, and finally, the surgical equipment is rotatably connected to the second rotational joint 30, thereby achieving a rotational degree of freedom in a plane.

Illustratively, the first revolute joint 20 obtains rotational freedom in the X-plane, the first link assembly 40 and the second link assembly 50 obtain translational freedom in the Z-plane, and the surgical device also obtains rotational freedom in the X-plane. Therefore, the operation of the surgical equipment is convenient for medical staff.

The utility model provides a mechanical auxiliary device for operation, which comprises the following use processes: the fixing seat 10 is fixed on the workbench to form a fixed pivot, so that the whole device is ensured to be in a cantilever beam structure. The first rotary joint 20 can rotate around the axis of the fixed seat 10, so that the in-plane rotational freedom degree is obtained; the first link assembly 40 and the second link assembly 50 extend or contract in a plane about a hinge point to gain freedom of movement in the plane, and finally, the surgical device is rotationally coupled to the second rotational joint 30 to further gain freedom of rotation in the plane. To sum up, the mechanical auxiliary device for operation of this application can realize that surgical equipment obtains rotational degree of freedom and removal degree of freedom in the plane to improve surgical equipment's availability factor.

Referring to fig. 1 to 3, in an embodiment, the first rotating joint 20 includes a sleeve member 21 and a first hinge plate 22 disposed on the sleeve member 21, the sleeve member 21 is sleeved on the fixing base 10, and one end of the first link assembly 40 is hinged to the first hinge plate 22. It can be understood that fixing base 10 is the axle structure, and sleeve piece 21 is the hole axle cooperation with fixing base 10, and sleeve piece 21 then can rotate around the axis in fixing base 10 to obtain the rotational degree of freedom in the plane, simultaneously, be equipped with first articulated slab 22 on sleeve piece 21, first link assembly 40 carries out articulated connection with first articulated slab 22, carries out flexible removal outwards with this articulated slab promptly, so as to obtain the flexible degree of freedom that moves in the plane.

Illustratively, the fixing base 10 includes a base fixedly connected to the working platform and a shaft portion disposed on the base, and the sleeve member is sleeved on the shaft portion and can rotate around a shaft relative to the shaft portion. Meanwhile, the position of the shaft portion may be adjusted according to actual use requirements, for example, the axial direction of the shaft portion is consistent with the direction of the telescopic movement of the first link assembly 40 and the second link assembly 50.

Referring to fig. 1 to 3, in one embodiment, the mechanical assist device for surgery further includes a first driving motor 61, the first driving motor 61 is fixed on the first hinge plate 22, and an output end of the first driving motor 61 is connected to the first link assembly 40. It is understood that the first driving motor 61 provides a driving force to rotate the first link assembly 40 relative to the first hinge plate 22 around the hinge point, i.e. the first link assembly 40 can obtain an active driving force.

For example, the first driving motor 61 may be programmed, i.e., capable of controlling the rotational speed and rotational angle of the first driving motor 61, thereby precisely controlling the angle and speed at which the first link assembly 40 rotates about the hinge point.

Referring to fig. 1 to 4, in one embodiment, the first link assembly 40 includes a first main link 41, a first sub-link 42, and a first hinge joint 43, the first rotary joint 20 further includes a second hinge plate 23 disposed on the sleeve member 21, one end of the first main link 41 is hinged to the output end of the first driving motor 61, and the other end is hinged to the first hinge joint 43, one end of the first sub-link 42 is hinged to the second hinge plate 23, and the other end is hinged to the first hinge joint 43, and the first main link 41, the first sub-link 42, the first hinge joint 43, the first hinge plate 22, the sleeve member 21, and the second hinge plate 23 enclose to form a quadrilateral structure. It will be appreciated that the quadrilateral configuration defines and constrains the first link assembly 40 to be a stable structural member and only provides telescopic movement in a plane.

Illustratively, a lightening hole structure is opened on the first main lever 41, thereby reducing the weight of the first main lever 41. For example, the first main rod 41 is a plate-shaped structural member, and the lightening hole structure is a triangular through hole formed in the plate-shaped structural member.

Referring to fig. 1 to 5, in an embodiment, the second link assembly 50 includes a second main rod 51, a second sub-rod 52 and a second adaptor 53, one end of the second main rod 51 is hinged to the first main rod 41, and the other end of the second main rod is hinged to the second rotating joint 30, one end of the second sub-rod 52 is hinged to the second adaptor 53, and the other end of the second sub-rod 52 is hinged to the second rotating joint 30, the second adaptor 53 is connected to the first adaptor 43, and the second main rod 51, the second sub-rod 52, the second adaptor 53 and the second adaptor 53 form a quadrilateral structure in a surrounding manner. Similarly, the quadrilateral configuration defines and constrains the second link assembly 50 to be a stable structural member and to move telescopically only in a plane, such that the second revolute joint 30 does not pivot when the first link assembly 40 and the second link assembly 50 move telescopically in a plane.

Illustratively, a lightening hole structure is opened on the second main lever 51, thereby reducing the weight of the second main lever 51. For example, the second main lever 51 is a plate-shaped structural member, and the lightening hole structure is a circular through hole formed in the plate-shaped structural member.

Referring to fig. 1 and 2, in one embodiment, the surgical mechanical assist device further includes a second driving motor 62, the second driving motor 62 is fixed on the second main rod 51, and an output end of the second driving motor 62 is connected to the first main rod 41. It can be understood that the second driving motor 62 provides a driving force to drive the second main lever 51 to rotate around the hinge point relative to the first main lever 41, i.e. the second main lever 51 can obtain an active rotating force.

For example, the second drive motor 62 may be programmed, i.e., capable of controlling the rotational speed and rotational angle of the second drive motor 62, thereby precisely controlling the angle and speed at which the second linkage assembly 50 rotates about the hinge point. Finally, it is achieved that the first link assembly 40 and the second link assembly 50 can stably hover at the specified positions in the plane, and thus, it is achieved that the second rotary joint 30 can stably hover at the specified positions.

Referring to fig. 1 and 2, in one embodiment, the first adaptor 43 is integrally formed with the second adaptor 53. It will be appreciated that in this embodiment the first and

second adaptors

43, 53 are formed as a single unit or, in use, the first and

second adaptors

43, 53 are used as a unit. That is, the connection point of the first adaptor 43 and the second adaptor 53 is hinged to the first main board or the second main board.

Specifically, the central axis of the first adapter 43 forms an angle with the central axis of the second adapter 53. It can be understood that the included angle between the first adapter 43 and the second adapter 53 can adaptively change the deformation degree of the quadrangle formed by the enclosure of the first link assembly 40 and the quadrangle formed by the enclosure of the second link assembly 50, thereby improving the anti-rotation capability of the second revolute joint 30 during the moving process.

Referring to fig. 1 and 2, in one embodiment, the surgical mechanical assistance device includes a first arc-shaped link 71 rotatably connected to the second revolute joint 30, and the surgical device is connected to the second revolute joint 30 through the first arc-shaped link 71. Specifically, the second rotary joint 30 is provided with a first convex column, and one end of the first arc-shaped connecting rod 71 is rotatably connected to the first convex column, so that the surgical device can obtain an arc-shaped motion track in a plane.

Referring to fig. 1 and 2, in one embodiment, the surgical robotic assistance device includes a second curved link 72 pivotally coupled to a first curved link 71, and the surgical device is coupled to the second revolute joint 30 by the first curved link 71 and the second curved link 72. Similarly, the end of the first arc-shaped connecting rod 71 away from the second rotating joint 30 is provided with a second convex column, and the end of the second arc-shaped connecting rod 72 is rotatably connected to the second convex column, so that the surgical device can obtain an arc-shaped motion track in a plane, and the degree of freedom of the surgical device can be further improved.

Illustratively, when the surgical device is a drill with a ball-type drill, the extension line of the central axis of the drill, the central axis of the connecting shaft of the first arc-shaped connecting rod 71 and the second arc-shaped connecting rod 72, and the central axis of the connecting shaft of the second rotary joint 30 and the first arc-shaped connecting rod 71 intersect at the center of the drill ball.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mechanical auxiliary device for operation is characterized in that: the surgical instrument comprises a fixing seat, a first rotating joint, a first connecting rod assembly, a second connecting rod assembly and a second rotating joint, wherein the first rotating joint is connected to the fixing seat in a rotating mode around the axis of the fixing seat, one end of the first connecting rod assembly is hinged to the first rotating joint, one end of the second connecting rod assembly is connected to the other end of the first connecting rod assembly, the second rotating joint is hinged to the second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly swing in a hinged mode on the same plane, and surgical equipment is connected to the second rotating joint in a rotating mode.

2. The mechanical surgical aid of claim 1, wherein: the first rotating joint comprises a sleeve piece and a first hinged plate arranged on the sleeve piece, the sleeve piece is sleeved on the fixed seat, and one end of the first connecting rod component is hinged to the first hinged plate.

3. The mechanical surgical aid of claim 2, wherein: the mechanical auxiliary device for the operation further comprises a first driving motor, the first driving motor is fixed on the first hinged plate, and the output end of the first driving motor is connected to the first connecting rod assembly.

4. The mechanical surgical aid of claim 3, wherein: first link assembly includes first mobile jib, first auxiliary rod and first adaptor, first rotary joint is still including locating second articulated slab on the sleeve spare, the one end of first mobile jib articulate in first driving motor's output and the other end articulate in first adaptor, the one end of first auxiliary rod articulate in second articulated slab and the other end articulate in first adaptor, first mobile jib, first auxiliary rod first adaptor first articulated slab the sleeve spare and the second articulated slab encloses and closes and form quadrilateral structure.

5. The mechanical surgical aid of claim 4, wherein: the second connecting rod component comprises a second main rod, a second auxiliary rod and a second adapter, one end of the second main rod is hinged to the first main rod and the other end of the second main rod is hinged to the second rotating joint, one end of the second auxiliary rod is hinged to the second adapter and the other end of the second adapter is hinged to the second rotating joint, the second adapter is connected to the first adapter, and the second main rod, the second auxiliary rod, the second adapter and the second adapter are enclosed to form a quadrilateral structure.

6. The mechanical surgical aid of claim 5, wherein: the surgical mechanical assist device further comprises a second driving motor, the second driving motor is fixed on the second main rod, and the output end of the second driving motor is connected to the first main rod.

7. The mechanical surgical aid of claim 5, wherein: the first adapter is integrally formed with the second adapter.

8. The mechanical surgical aid of claim 5, wherein: the central axis of the first adapter is in an included angle with the central axis of the second adapter.

9. The mechanical surgical aid of claim 1, wherein: the mechanical auxiliary device for the operation comprises a first arc-shaped connecting rod which is rotatably connected to the second rotating joint, and the operation equipment is connected to the second rotating joint through the first arc-shaped connecting rod.

10. The mechanical surgical aid of claim 9, wherein: the mechanical auxiliary device for the operation comprises a second arc-shaped connecting rod which is rotatably connected to the first arc-shaped connecting rod, and the operation equipment is connected to the second rotating joint through the first arc-shaped connecting rod and the second arc-shaped connecting rod.