CN220860150U - Duplex robot for laparoscopic surgery and orthopedic surgery - Google Patents
Duplex robot for laparoscopic surgery and orthopedic surgery Download PDFInfo
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- CN220860150U CN220860150U CN202322068600.9U CN202322068600U CN220860150U CN 220860150 U CN220860150 U CN 220860150U CN 202322068600 U CN202322068600 U CN 202322068600U CN 220860150 U CN220860150 U CN 220860150U
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- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 60
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 34
- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 25
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 12
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000002307 prostate Anatomy 0.000 description 2
- 208000025978 Athletic injury Diseases 0.000 description 1
- 208000027205 Congenital disease Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000020307 Spinal disease Diseases 0.000 description 1
- 206010066902 Surgical failure Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000000577 adipose tissue Anatomy 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 208000017445 musculoskeletal system disease Diseases 0.000 description 1
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- 210000000056 organ Anatomy 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
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Abstract
The utility model provides a duplex robot for laparoscopic surgery and orthopedic surgery, and relates to the technical field of surgical robots. The double-station robot for laparoscopic surgery and orthopedic surgery comprises a supporting component, a laparoscopic surgery component and an orthopedic surgery component; the support assembly comprises a movable base, the movable base is provided with a stand column, one side of the stand column is provided with a first mechanical arm, a second mechanical arm and a third mechanical arm, the first mechanical arm is provided with an endoscope, and the other side of the stand column is vertically and slidably provided with a six-axis mechanical arm; the laparoscopic surgery component comprises a main control console which is cooperatively matched with the first mechanical arm, the second mechanical arm and the third mechanical arm, wherein the main control console is provided with two manipulators; the orthopedic operation assembly comprises a C-shaped X-ray machine externally connected with a computer, an image processor and an optical tracker. The utility model not only improves the positioning precision of the orthopedic operation robot, but also can realize the synchronous work of laparoscopic minimally invasive surgery and orthopedic surgery.
Description
Technical Field
The utility model relates to the field of surgical robots, in particular to a duplex robot for laparoscopic surgery and orthopedic surgery.
Background
Orthopedic surgery, a surgical branch involving musculoskeletal system diseases; orthopedics doctors use surgical and non-surgical means to treat musculoskeletal trauma, spinal disease, sports injuries, degenerative diseases, infections, tumors, and congenital diseases. One of the main problems faced by the current orthopedic surgery is how to accurately mark the surgical access and the surgical depth, and the experience and the technical dependence on a doctor can be reduced by means of an orthopedic surgery robot, so that the rapid planning of the surgical access and the accurate control of the surgical depth are realized, and the surgical failure rate is greatly reduced. The following disadvantages exist for the currently used orthopedic surgical robots:
The first and the orthopedic operation robots adopt the self-connected localizer to carry out the locating operation, and the locating accuracy of the intramedullary nail is lower due to the connecting error between the localizer and the orthopedic operation robot.
Second, orthopedics robot can only carry out the orthopedic operation, has the problem of function singleness.
In summary, we propose a duplex robot for laparoscopic surgery and orthopedic surgery to solve the above technical problems.
Disclosure of utility model
The utility model aims to provide a duplex robot for laparoscopic surgery and orthopedic surgery, which not only improves the positioning precision of the orthopedic surgery robot, but also realizes synchronous work of laparoscopic minimally invasive surgery and orthopedic surgery.
In order to solve the technical problems, the utility model adopts the following technical scheme:
A duplex robot for laparoscopic surgery and orthopedic surgery comprises a supporting component, a laparoscopic surgery component and an orthopedic surgery component;
The support assembly comprises a movable base, wherein the movable base is provided with a stand column, one side of the stand column is provided with a first mechanical arm, a second mechanical arm and a third mechanical arm which are mutually matched, the first mechanical arm is provided with an endoscope, the second mechanical arm and the third mechanical arm are used for mounting laparoscopic surgical instruments, the other side of the stand column vertically slides and is provided with a six-axis mechanical arm, and the free end of the six-axis mechanical arm is used for mounting orthopedic surgical instruments;
The laparoscopic surgery assembly comprises a main control console which is cooperatively matched with the first mechanical arm, the second mechanical arm and the third mechanical arm, wherein the main control console is provided with two manipulators;
the orthopedic operation component comprises a C-shaped X-ray machine externally connected with a computer, an image processor and an optical tracker.
In some embodiments of the present utility model, the six-axis mechanical arm includes a first adjusting arm, a second adjusting arm, and a third adjusting arm that are sequentially rotatably connected, wherein the first adjusting arm is slidably disposed on the upright, and an end of the third adjusting arm, which is far away from the second adjusting arm, is used for mounting an orthopedic surgical instrument.
In some embodiments of the present utility model, the upright on the same side as the first mechanical arm is further provided with a fourth mechanical arm, and a free end of the fourth mechanical arm is used for installing a laparoscopic surgical instrument.
In some embodiments of the present utility model, the first mechanical arm, the second mechanical arm, the third mechanical arm, and the fourth mechanical arm are each independently slidably disposed on the upright.
In some embodiments of the present utility model, the fixed end of the fourth mechanical arm is sequentially connected with a plurality of connecting arms, adjacent connecting arms are in running fit, and the connecting arm at the most distal end of the fourth mechanical arm is connected to the upright;
And a bearing, an angle sensor and a brake are arranged at the rotating position of the adjacent connecting arms.
In some embodiments of the present utility model, the free ends of the second mechanical arm, the third mechanical arm, and the fourth mechanical arm are each provided with an RCM mechanism.
In some embodiments of the present utility model, the free end of the six-axis mechanical arm is provided with a fully automatic clamp for clamping an orthopedic surgical instrument.
Compared with the prior art, the technical scheme of the utility model has at least the following advantages or beneficial effects:
(1) According to the utility model, on one hand, through the cooperation of the computer, the six-axis mechanical arm, the C-shaped X-ray machine, the image processor and the optical tracker, the orthopedic operation of a patient can be performed, the C-shaped X-ray machine is adopted to achieve the purpose of acquiring the internal structure of the patient, and the six-axis mechanical arm can be accurately guided to the operation position based on the motion path of the computer planning, so that the precision is greatly improved compared with the traditional positioning mode of the positioner.
(2) On the other hand, through the cooperation of the first mechanical arm, the second mechanical arm, the third mechanical arm and the main control desk, laparoscopic minimally invasive surgery of a patient can be performed, and master-slave surgery of laparoscopic minimally invasive surgery can be realized based on two manipulators of the main control desk, so that the intelligent degree is higher; and the laparoscopic minimally invasive surgery and the orthopedic surgery can be synchronously performed. The utility model not only improves the positioning precision of the orthopedic operation robot, but also can realize the synchronous work of laparoscopic minimally invasive surgery and orthopedic surgery.
(3) The fourth mechanical arm is used for clamping the surgical instrument, 1-2 more auxiliary holes are needed to be added when more complicated operations (such as prostate) are performed, and at the moment, the fourth mechanical arm can be used for installing the surgical instrument to perform robotically operation, so that the surgical effect is better, and the practicability is higher.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an isometric view of a duplex robot for laparoscopic surgery and orthopedic surgery according to an embodiment of the present utility model;
FIG. 2 is a schematic structural view of a duplex robot for laparoscopic surgery and orthopedic surgery according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of a duplex robot for laparoscopic surgery and orthopedic surgery according to an embodiment of the present utility model;
FIG. 4 is a partial schematic view of a support assembly according to an embodiment of the present utility model;
FIG. 5 is a schematic illustration of a partial cross-section of a connection between a post and a six-axis mechanical arm in accordance with an embodiment of the present utility model;
Fig. 6 is a top view of a support assembly according to an embodiment of the utility model.
Icon: the device comprises a 1-image processor, a 2-C-shaped X-ray machine, a 3-optical tracker, a 4-full-automatic clamp, a 5-six-axis mechanical arm, a 6-upright post, a 7-main control console, an 8-laparoscopic surgical instrument cabinet, a 9-movable base, a 10-positive four-wheel travelling mechanism, a 11-first mechanical arm, a 12-second mechanical arm, a 13-third mechanical arm, a 14-fourth mechanical arm, a 15-regulating groove, a 16-linear motor and a 17-connecting arm.
Detailed Description
Examples
Referring to fig. 1-6, a duplex robot for laparoscopic surgery and orthopedic surgery includes a support assembly, a laparoscopic surgery assembly and an orthopedic surgery assembly;
The supporting component comprises a movable base 9, the movable base 9 comprises a bearing seat, and a positive four-wheel travelling mechanism 10 is arranged at the bottom of the bearing seat, so that the supporting component can be conveniently moved; the top of the movable base 9 is provided with a stand column 6, the stand column 6 is perpendicular to the movable base 9, the stand column 6 is ensured to be in a vertical direction, one side of the stand column 6 is provided with a first mechanical arm 11, a second mechanical arm 12 and a third mechanical arm 13 which are mutually matched, the first mechanical arm 11 is provided with an endoscope, the second mechanical arm 12 and the third mechanical arm 13 are used for installing a laparoscopic surgical instrument, and the first mechanical arm 11 is arranged between the second mechanical arm 12 and the third mechanical arm 13, so that the second mechanical arm 12 and the third mechanical arm 13 are symmetrically arranged about the first mechanical arm 11; the first mechanical arm 11, the second mechanical arm 12 and the third mechanical arm 13 can all rotate in a universal mode, so that the multi-directional adjustment of the endoscope at the front end of the first mechanical arm 11 and the multi-directional adjustment of the surgical instruments at the front ends of the second mechanical arm 12 and the third mechanical arm 13 are achieved, and the flexibility and the functionality are stronger when laparoscopic minimally invasive surgery is performed based on the endoscope and the surgical instruments.
The other side of the upright post 6 is vertically provided with a six-axis mechanical arm 5 in a sliding manner, and the free end of the six-axis mechanical arm 5 is used for installing an orthopedic operation instrument.
The laparoscopic surgery assembly comprises a main control console 7 which is cooperatively matched with the first mechanical arm 11, the second mechanical arm 12 and the third mechanical arm 13, wherein the main control console 7 is provided with two manipulators;
The orthopedic operation assembly comprises a C-shaped X-ray machine 2 externally connected with a computer, an image processor 1 and an optical tracker 3.
In the utility model, on one hand, the orthopedic operation of a patient can be performed through the cooperation of a computer, a six-axis mechanical arm 5, a C-shaped X-ray machine 2, an image processor 1 and an optical tracker 3; in the orthopedic operation process, a C-shaped X-ray machine 2 is opposite to a patient, an optical tracker 3 is aligned to the operation area of the patient and the free end of a six-axis mechanical arm, the C-shaped X-ray machine 2 acquires an internal image (bones, organs and adipose tissues) of the patient, the optical tracker 3 acquires an external structural image of the patient, image information acquired based on the C-shaped X-ray machine 2 and the optical tracker 3 is transmitted to an image processor 1, the image processor 1 processes the image to construct a complete three-dimensional model of a human body (comprising an appearance and an internal structure), a computer acquires the three-dimensional model of the human body, a treatment scheme is formulated based on the three-dimensional model of the human body, and the six-axis mechanical arm 5 performs bone operation of the patient under the control of the computer. The C-shaped X-ray machine 2 is adopted to achieve the purpose of acquiring the internal structure of a patient, and the motion path of the six-axis mechanical arm 5 is planned based on a computer, so that the six-axis mechanical arm 5 can be accurately guided to an operation position, and compared with the traditional positioning mode of a positioner, the precision is greatly improved.
On the other hand, through the cooperation of the first mechanical arm 11, the second mechanical arm 12, the third mechanical arm 13 and the main control desk, laparoscopic minimally invasive surgery of a patient can be performed, and master-slave type surgery of laparoscopic minimally invasive surgery can be realized based on two manipulators of the main control desk, so that the intelligent degree is higher; and the laparoscopic minimally invasive surgery and the orthopedic surgery can be synchronously performed. The utility model not only improves the positioning precision of the orthopedic operation robot, but also can realize the synchronous work of laparoscopic minimally invasive surgery and orthopedic surgery.
The laparoscopic surgical assembly further comprises a laparoscopic surgical instrument cabinet 8, and laparoscopic surgical instruments to be used are placed in the laparoscopic surgical instrument cabinet 8 and are replaced by the second mechanical arm 12 and the free end surgical instruments of the second mechanical arm 12.
For the positive four-wheel travelling mechanism 10 at the bottom side of the bearing seat, the universal wheels are selected for the two wheels at the front side of the bearing seat, the universal wheels can turn in the moving process, the control of the direction of the supporting component in the moving process is convenient, the electric wheels are selected for the two wheels at the rear side of the bearing seat, so that the supporting component can independently move, and the time and the labor are saved.
Optionally, the upright post 6 is vertically provided with an adjusting groove 15, the adjusting groove 15 is vertically provided with a linear motor 16, the base of the six-axis mechanical arm 5 is fixed on the sliding part of the linear motor 16, and the six-axis mechanical arm 5 can be driven to vertically move through the linear motor 16, so that the adjusting range of the six-axis mechanical arm 5 is wider when the orthopedic operation is performed. The numerical value of the up-and-down motion of the six-axis mechanical arm 5 is read by a precision encoder and is transmitted to the computer for data recording and reference, so that the precision and the fairing of the vertical motion are ensured.
In some embodiments of the present utility model, the six-axis mechanical arm 5 includes a first adjusting arm, a second adjusting arm, and a third adjusting arm, which are sequentially rotatably connected, the first adjusting arm is slidably disposed on the upright 6, and an end of the third adjusting arm, which is far away from the second adjusting arm, is used for installing an orthopedic surgical instrument.
In the above embodiment, the joints of the first adjusting arm, the second adjusting arm and the third adjusting arm are in running fit, and the joints are provided with the angle sensor and the motor, and the angle sensor is used for controlling the accurate rotation of the adjacent adjusting arms. The six-axis mechanical arm 5 is selected as the operation arm for the orthopedic operation, and has at least the following advantages:
Personification: six industrial mechanical arms combine the characteristics of mechanical arms and people. The six-axis industrial mechanical arm has the partial functions of walking, waist turning and the like similar to those of people in the structural design; the sensor thereof further improves the self-adaption capability to the surrounding environment.
Electromechanical integration: six-axis industrial robot is a combination of mechanics and microelectronics. The industrial mechanical arm has various sensors which can acquire external environment information, and also has artificial intelligence such as memory capacity, language understanding capacity, image recognition capacity, reasoning judging capacity and the like.
In some embodiments of the present utility model, the upright 6 on the same side as the first mechanical arm 11 is further provided with a fourth mechanical arm 14, and a free end of the fourth mechanical arm 14 is used for mounting a laparoscopic surgical instrument.
In the above embodiment, the fourth mechanical arm 14 is used to clamp the surgical instrument, and when a more complex operation (such as a prostate) is performed, 1-2 more auxiliary holes are needed, and at this time, the fourth mechanical arm can install the surgical instrument to perform robotically operation, so that the surgical effect is better and the practicability is higher.
In some embodiments of the present utility model, the first arm 11, the second arm 12, the third arm 13, and the fourth arm 14 are each independently slidably disposed on the column 6.
In the above embodiment, the sliding design of the first mechanical arm 11, the second mechanical arm 12, the third mechanical arm 13 and the fourth mechanical arm 14 with respect to the upright post 6 makes the movement range wider, and the limitation is smaller when performing the laparoscopic minimally invasive surgery.
In some embodiments of the present utility model, a plurality of connecting arms 17 are sequentially connected to the fixed end of the fourth mechanical arm 14, and the connecting arms 17 at the far end of the fourth mechanical arm 14 are connected to the upright 6 in a manner that the adjacent connecting arms 17 are in a rotation fit;
bearings, angle sensors and stoppers are provided adjacent to the rotation of the connecting arm 17.
In the above embodiment, the plurality of connecting arms 17 form the pretreatment adjusting member, which can achieve the adaptive adjustment of the extension distance of the fourth operating arm, so that the free end of the fourth operating arm is at a reasonable position, and the auxiliary operation is convenient.
The preprocessing adjusting piece is pushed manually, the friction force at the rotating position of the adjacent connecting arm 17 can be reduced through the design of the bearing, the rotating angle can be recorded through the angle sensor, and the positioning after the connecting arm 17 rotates can be adjusted through the brake.
In some embodiments of the present utility model, the free ends of the second arm 12, the third arm 13, and the fourth arm 14 are each provided with an RCM mechanism.
In the above embodiment, RCM (Remote Center of Movement) mechanisms are used to implement the preoperative positioning function and the intra-operative movement space adjustment of the present utility model. The RCM mechanism can change the operation area in the operation process without the need of completely exiting the operation process to perform readjustment and positioning, thereby greatly saving the operation time, improving the variability and flexibility of the operation space, being beneficial to providing the operation quality, reducing the operation time and reducing the pain of patients.
In some embodiments of the present utility model, the free end of the six-axis mechanical arm 5 is provided with a fully automatic clamp 4 for clamping an orthopedic surgical instrument.
In the implementation, when the orthopedic operation is performed, different surgical instruments such as a drill bit, an electric saw and a clamp are required to be used, so that the drill bit, the electric saw and the clamp are correspondingly placed at preset positions, and when the replacement is required, the six-axis mechanical arm 5 rotates to the preset positions, and the clamp is automatically clamped through the full-automatic clamp 4, so that the orthopedic operation is more convenient and intelligent.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (7)
1. The double-station robot for laparoscopic surgery and orthopedic surgery is characterized by comprising a supporting component, a laparoscopic surgery component and an orthopedic surgery component;
The support assembly comprises a movable base, wherein a stand column is arranged on the movable base, a first mechanical arm, a second mechanical arm and a third mechanical arm which are matched with each other are arranged on one side of the stand column, an endoscope is arranged on the first mechanical arm, the second mechanical arm and the third mechanical arm are used for mounting laparoscopic surgical instruments, a six-axis mechanical arm is vertically arranged on the other side of the stand column in a sliding manner, and the free end of the six-axis mechanical arm is used for mounting orthopedic surgical instruments;
The laparoscopic surgery assembly comprises a main control console which is cooperatively matched with the first mechanical arm, the second mechanical arm and the third mechanical arm, wherein the main control console is provided with two manipulators;
the orthopedic operation assembly comprises a C-shaped X-ray machine externally connected with a computer, an image processor and an optical tracker.
2. The double-station robot for laparoscopic surgery and orthopedic surgery according to claim 1, wherein the six-axis mechanical arm comprises a first adjusting arm, a second adjusting arm and a third adjusting arm which are sequentially connected in a rotating mode, the first adjusting arm is slidably arranged on the upright post, and one end, far away from the second adjusting arm, of the third adjusting arm is used for installing an instrument for orthopedic surgery.
3. The double-duty robot of claim 1, wherein said upright on the same side of said first arm is further provided with a fourth arm, the free end of said fourth arm being used for mounting laparoscopic surgical instruments.
4. The double-sided robot of claim 3, wherein the first, second, third and fourth robotic arms are each independently slidably disposed on the upright.
5. The double-station robot for laparoscopic surgery and orthopedic surgery according to claim 4, wherein the fixed end of the fourth mechanical arm is sequentially connected with a plurality of connecting arms, adjacent connecting arms are in running fit, and the connecting arm at the most distal end of the fourth mechanical arm is connected with the upright post;
And a bearing, an angle sensor and a brake are arranged at the rotating position adjacent to the connecting arm.
6. The double-duty robot for laparoscopic surgery and orthopedic surgery according to claim 5, wherein the free ends of the second mechanical arm, the third mechanical arm and the fourth mechanical arm are provided with RCM mechanisms.
7. The double-station robot for laparoscopic surgery and orthopedic surgery according to claim 2, wherein the free end of the six-axis mechanical arm is provided with a full-automatic clamp for clamping the orthopedic surgical instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322068600.9U CN220860150U (en) | 2023-08-02 | 2023-08-02 | Duplex robot for laparoscopic surgery and orthopedic surgery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322068600.9U CN220860150U (en) | 2023-08-02 | 2023-08-02 | Duplex robot for laparoscopic surgery and orthopedic surgery |
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| Publication Number | Publication Date |
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| CN220860150U true CN220860150U (en) | 2024-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202322068600.9U Active CN220860150U (en) | 2023-08-02 | 2023-08-02 | Duplex robot for laparoscopic surgery and orthopedic surgery |
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| Country | Link |
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| CN (1) | CN220860150U (en) |
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2023
- 2023-08-02 CN CN202322068600.9U patent/CN220860150U/en active Active
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