LU102393B1 - An ultrasonic visualization Da Vinci surgical robot arm - Google Patents
An ultrasonic visualization Da Vinci surgical robot arm Download PDFInfo
- Publication number
- LU102393B1 LU102393B1 LU102393A LU102393A LU102393B1 LU 102393 B1 LU102393 B1 LU 102393B1 LU 102393 A LU102393 A LU 102393A LU 102393 A LU102393 A LU 102393A LU 102393 B1 LU102393 B1 LU 102393B1
- Authority
- LU
- Luxembourg
- Prior art keywords
- side wall
- fixedly connected
- rod
- outer side
- block
- Prior art date
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Classifications
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
Abstract
The invention discloses an ultrasonic visualization Da Vinci surgical robot arm is composed of the base, several locking universal wheels are fixedly connected to the bottom of the base, the storage slot is set on the base, and the fixing shaft is fixedly connected to the inner side wall of the storage slot, the outer side wall of the fixing shaft is screwed with the driving rod, the base is connected with the limiting mechanism, the rotating rod is connected with the lifting rod through the lifting mechanism, the lifting rod is connected with the adjusting block through the rotating mechanism, and the outer side wall of the adjusting block is fixedly connected with the fixing rod, the end of the fixing rod far away from the adjusting block is fixedly connected with the connecting plate, the connecting plate is set with a cavity, The invention realizes the adjustment of the height of the mechanical arm body, so that the mechanical arm body can be applied to different heights and different angles, and the application range of the device is improved.
Description
An Ultrasonic Visualization Da Vinci Surgical Robot Arm I.
Technical Field The present invention relates to the technical field of surgical robot arm, in particular to an ultrasonic visualization Da Vinci surgical robot arm. Background Technology The reason why an intelligent robot is called intelligent robot is because it has a very well-developed "brain". All the instruments on the arm of the existing intelligent robot are able to visually touch the detection area with the human eye through the endoscopic, and perform the Doppler ultrasonic function, can detect the blood flow velocity, the blood flow direction, the 2D and 3D structure at the near area, and can distinguish the fascia, blood vessels and deep tissue structure; the ultrasonic display is added on the basis of the original imaging system, which can display the images detected by the ultrasonic sensor on the special instrument on the bedside robot surgical system, after modified by medical specialty video, this display is consistent with the size and color of the actual tissue. Combining with Al, it can automatically identify and mark the nature of the detected tissue, and automatically mark the corresponding quantitative parameters. When the video imaging system identifies the set dangerous tissue conditions such as blood vessels, it can automatically alarm and brake at the operating system of the doctor. After 1 repeated confirmation by the surgeon, the alarm and brake can be turned ah off manually.
The existing intelligent robot arm does not have the adjusting function and cannot perform targeted treatment for different patients, which has certain limitations. For this reason, an ultrasonic visualization Da Vinci surgical robot arm is proposed to solve the problem.
Content of the Present Invention The purpose of the present invention is to solve the problems existing in existent technology, and proposes an ultrasonic visualization Da Vinci surgical robot arm.
In order to achieve the above purpose, the present invention adopts the following technical solutions: An ultrasonic visualization Da Vinci surgical robot arm is composed of the base, several locking universal wheels are fixedly connected to the bottom of the base, the storage slot is set on the base, and the fixing shaft is fixedly connected to the inner side wall of the storage slot, the outer side wall of the fixing shaft is screwed with the driving rod, the base is connected with the limiting mechanism, the rotating rod is connected with the lifting rod through the lifting mechanism, the lifting rod is connected with the adjusting block through the rotating mechanism, and the outer side wall of the adjusting block is fixedly connected with the fixing rod, the end of the fixing rod far away from the adjusting block is 2 fixedly connected with the connecting plate, the connecting plate is set ah with a cavity, the bottom of the cavity is fixedly connected with the motor, and the output end of the motor is fixedly connected the output shaft, the output shaft is connected with two symmetrically arranged threaded rods through the transmission mechanism, the ends of the two threaded rods are screwed to the bottom of the cavity respectively, and the threaded rod penetrates the cavity and is connected with the threaded block, the threaded block is connected with the clamping plate through the transmission mechanism, and the mechanical arm body is fixedly connected between the two clamping plates.
Preferably, the lifting mechanism is composed of the rotary cylinder, the side wall of the rotary cylinder is set with the limiting slot, the top of the rotating rod is fixedly connected with the support plate, the inner side wall of the limiting slot is screwed with the outer side wall of the support plate, the bottom of the lifting rod is fixedly connected with the limiting plate, the outer side wall of the limiting plate is slidably connected with the inner side wall of the limiting slot, the top of the rotary cylinder is set with the rotation port, and the inner side wall of the rotation port is screwed with the outer side wall of the lifting rod.
Preferably, the limiting mechanism 1s composed of several semi-annular clamping slots opened at the bottom of the rotating rod, the base is provided with the pull port, the inner side wall of the pull port is 3 slidably connected with the pull rod, and the bottom of the pull rod is fixedly connected with the pull plate, the pull rod is adapted to several clamping slots, the outer side wall of the pull rod is sleeved with the return spring, and both ends of the return spring are fixedly connected with the outer side wall of the pull plate and the outer side wall of the base respectively.
Preferably, the rotating mechanism is composed of the adjusting shaft which is fixedly connected to the outer side wall of the adjusting block, the top of the lifting rod is set with the adjusting port, the inner side wall of the adjusting port is screwed with the outer side wall of the adjusting shaft, and the lifting rod is set with several jacks which are arranged in a ring shape, the adjusting block is set with corresponding ports that are adapted to the jacks, and the corresponding ports and the corresponding jacks are set with the same plunger.
Preferably, the transmission mechanism is composed of the first chain wheel which is fixedly connected to the outer side wall of the output shaft, the two outer side walls of the threaded rod in the cavity are fixedly connected to the second chain wheel, and the first chain wheel is respectively connected with two second chain wheels through chain drive.
Compared with the existent technology, the present invention has the following advantages: 4
The present invention realizes the height adjusting of the mechanical ah arm body through the use of the rotary cylinder, rotating rod, limiting mechanism, support plate, storage slot, limiting slot, rotating port, lifting rod, rotating mechanism and base, so that the mechanical arm body can be applied to different heights and different angles, which improves the application scope of the device.
Description of Figures Figure 1 is the schematic of the front connecting structure of an ultrasonic visualization Da Vinci surgical robot arm proposed by the present invention; Figure 2 is the enlarged view at Part A of an ultrasonic visualization Da Vinci surgical robot arm proposed by the present invention; Figure 3 is the enlarged view at Part B of an ultrasonic visualization Da Vinci surgical robot arm proposed by the present invention; Figure 4 is the schematic of the connecting structure of the adjusting block, the corresponding port, the adjusting shaft and the plunger in the ultrasonic visualization Da Vinci surgical robot arm proposed by the present invention.
In the figure: 1. Base; 2. Locking universal wheel; 3. Storage slot; 4. Pull port; 5. Fixing shaft; 6. Rotating rod; 7. Pull rod; 8. Pull plate; 9. Return spring; 10. Clamping slot; 11. Rotating cylinder; 12. Limiting slot;
13. Support plate; 14. Limiting plate; 15. Lifting rod; 16. Adjusting block;
17. Adjusting shaft; 18. Jack; 19. Corresponding port; 20. Plunger; 21. Fixing rod; 22. Connecting plate; 23. Cavity; 24. Motor; 25. Output shaft;
26. Threaded rod; 27. Chain; 28. Threaded block; 29. Clamping plate; 30. Driving rod. Embodiment of the Present Invention Referring to Figures 1-4, an ultrasonic visualization Da Vinci surgical robot arm is composed of the base 1, several locking universal wheels 2 are fixedly connected to the bottom of the base 1, and the storage slot 3 is set on the base 1, the storage of the rotary cylinder 11 is realized by the storage slot 3, which can avoid the space occupation by the rotary cylinder 11; The inner side wall of the storage slot 3 is fixedly connected with the fixing shaft 5, the outer side wall of the fixing shaft 5 is screwed with the rotating rod 6, and the base 1 is connected with the limiting mechanism. The limiting mechanism is composed of several clamping slot 10 which are semi-circularly set at the bottom of the rotating rod 6, the base 1 is set with the pull port 4, the inner wall of the pull port 4 is slidably connected with the pull rod 7, and the bottom of the pull rod 7 is fixedly connected with the pull plate 8. Due to the different injury conditions of the patient, the patient may have different posture changes. The device can be used with the fixing shaft 5 and the rotating rod 6 through rotation, adjust the 6 angle of the rotating rod 6, thereby adjusting the angle of the mechanical ah arm body.
After adjusting the angle, release the hand, under the action of the return spring 9, the pull rod 7 can be clamped in the corresponding clamping slot 10, thus fixing the angle of the rotating rod 6;
The pull rod 7 is adapted to several clamping slots 10, the outer side wall of the pull rod 7 is sleeved with the return spring 9. The two ends of the return spring 9 are fixedly connected with the outer side wall of the pull plate 8 and the outer side wall of the base 1 respectively, and the rotating rod 6 is connected with the lifting rod 15 through lifting mechanism, the lifting mechanism is composed of the rotary cylinder 11, the side wall of the rotary cylinder 11 is set with the limiting slot 12, the top of the rotating rod 6 is fixedly connected with the support plate 13, and the inner side wall of the limiting slot 12 is screwed with the outer side wall of the support plate 13, the support for the rotary cylinder 11 is realized through the rotary connection of the support plate 13 and the inner side wall of the limiting slot 12;
The bottom of the lifting rod 15 is fixedly connected to the limiting plate 14, the outer side wall of the limiting plate 14 is slidably connected with the inner side wall of the limiting slot 12, the top of the rotary cylinder 11 is set with the rotating port, and the inner side wall of the rotating port is screwed with the outer side wall of the lifting rod 15, the lifting rod 15 is connected with an adjusting block 16 through the rotating
7 mechanism, the rotating mechanism is composed of the adjusting shaft 17 ah fixedly connected to the outer side wall of the adjusting block 16, the top of the lifting rod 15 is set with the adjusting port, and the inner side wall of the adjusting port is rotationally sleeved with the outer side wall of the adjusting shaft 17;
The lifting rod 15 is set with several jacks 18 which are arranged in a ring shape, and the adjusting block 16 is provided with the corresponding port 19 that is adapted to the jack 18, and the corresponding port 19 and the corresponding jack 18 are set with the same plunger 20, the fixing rod 21 1s fixedly connected to the outer side wall of the adjusting block 16;
The end of the fixing rod 21 away from the adjusting block 16 is fixedly connected with the connecting plate 22, the connecting plate 22 is set with the cavity 23, the inner bottom of the cavity 23 is fixedly connected with the motor 24. The output end of the motor 24 is fixedly connected with the output shaft 25, the output shaft 25 is connected with two symmetrically arranged threaded rods 26 through the transmission mechanism, the transmission mechanism is composed of the first chain wheel which is fixedly connected to the outer side wall of the output shaft 25, and the second chain wheel which is fixedly connected to the outer side walls of the two threaded rods 26 in the cavity 23, the first chain wheel is respectively connected to the two second chain wheel through the chain 27, the ends of the two threaded rods 26 are rotationally
8 connected to the inner bottom of the cavity 23 respectively, the threaded ah rod 26 penetrates the cavity 23 and is connected with the threaded block
28, the outer side wall of the threaded rod 26 is set with an external thread,
the threaded block 28 is set with threaded port, the inner wall of the threaded port is set with internal thread that matches the external thread,
and the inner side wall of the threaded port is screwed with the threaded rod 26;
The threaded block 28 is connected to the clamping plate 29 through the transmission mechanism.
The transmission mechanism is composed of the first driving block fixedly connected to the outer side wall of the clamping plate 29, the outer side wall of the threaded block 28 is fixedly connected with the second driving block, the two driving blocks are connected by the driving rod 30, the outer side walls of the first driving block and the second driving block are fixedly connected with pin shafts, both ends of the driving rod 30 are set with pin ports adapted to the pin shafts, and the two pin shafts are respectively sleeved with the corresponding pin shafts;
The mechanical arm body is fixedly connected between the two clamping plates 29, wherein the mechanical arm body is the existent technology, and is equipped with the laparoscopic ultrasonic microscope with ultrasonic sensor, visualization ultrasonic knife, visualization electrocoagulation hook, and ultrasonic microscope with attracting
9 function, on the basis of the original imaging system, the ultrasonic display screen is added and the medical specialty imaging transformation is carried out, secondly, the imaging system is combined with AI to automatically identify the surgical field of vision and detect the tissue, and mark the actual quantitative indicators. Install an acoustic automatic alarm device and an automatic brake device at the operating system of the doctor to reduce the error rate of the surgeon during surgery through the operation of the mechanical arm body, improve the surgery accuracy, reduce the surgery difficulty, and retain certain objective imaging data for the surgery.
The specific working principle of the present invention is as follows: In the initial state, when the working height of the mechanical arm body needs to be adjusted, only the rotary cylinder 11 needs to be rotated. The rotating port on the top of the rotary cylinder 11 is screwed with the outer wall of the lifting rod 15, when the rotary cylinder 11 rotates, the lifting rod 15 is lifted or descended, and then driving the mechanical arm body to adjust the height; Wherein, through the use of the limiting slot 12 and the limiting plate 14, the lifting rod 15 can only move in a straight line at vertical direction, which can avoid the lifting rod 15 rotating with the rotary cylinder 11 and improve the stability of the device; When the angle of the mechanical arm body shall be adjusted, it only needs to rotate the adjusting block 16, the use of the adjusting shaft ah 17 on the adjusting block 16 realizes the deflection of the angle of the adjusting block 16 and realizes the adjusting of the mechanical arm body.
After adjusting the angle, it only needs to insert the plunger 20 into the jack 18 and the corresponding port 19; Wherein, the starting motor 24 and the motor 24 are of the existent technology, which is not described in detail here. The working of the motor 24 drives the output shaft 25 to rotate, and the rotation of the output shaft 25 drives the first chain wheel to rotate. With the use of the first chain wheel and the second chain wheel as well as the chat 27, it realizes the rotation of the two threaded rods 26; While the two threaded rods 26 are rotating, under the threaded connection between the threaded rod 26 and the threaded block 28, the rotation of the threaded rod 26 drives the threaded block 28 to move, the threaded block 28 moves to realize the relative movement of two clamping plates 29 by driving the rod 30, that is, the approach and separation of the two clamping plates 29, thus fixing and relaxing the mechanical arm body, that is, it realizes the fixation and removal of the mechanical arm body, when it won't be used, the mechanical arm body can be removed and stored.
11
Claims (7)
- CLAIMS LU102393I.An ultrasonic visualization Da Vinci surgical robot arm, composing of the base (1), is characterized in that several locking universal wheels (2) are fixedly connected to the bottom of the base (1), and the base (1) is set with the storage slot (3), the inner side wall of the storage slot (3) is fixedly connected with the fixing shaft (5), the rotary sleeve on the outer side wall of the fixing shaft (5) is connected with the rotating rod (6), and the base ( 1) is connected with the limiting mechanism, the rotating rod (6) is connected with the lifting rod (15) through a lifting mechanism, the lifting rod (15) is connected with the adjusting block (16) through the rotating mechanism, the outer side wall of the adjusting block (16) is fixedly connected to the fixing rod (21), and the end of the fixing rod (21) away from the adjusting block (16) is fixedly connected to the connecting plate (22), and the inner bottom of the cavity (23) is fixedly connected with the motor (24), the output end of the motor (24) is fixedly connected with the output shaft (25), and the output shaft (25) is set with two symmetrical threaded rods (26) through the connecting mechanism, the ends of two threaded rods (26) are screwed with the inner bottom of the cavity (23) respectively, the threaded rods (26) penetrate the cavity (23) and are connected with the threaded block ( 28), the threaded block (28) is connected with the clamping plate (29) through a transmission mechanism, and the mechanical arm body is fixedly connected between the two clamping12 plates (29).
- 2. The ultrasonic visualization Da Vinci surgical robot arm according to Claim 1 is characterized in that the lifting mechanism comprises the rotary cylinder (11), and the side wall of the rotary cylinder (11) is set with the limiting slot (12), the top of the rotating rod (6) is fixedly connected with the support plate (13), the inner side wall of the limiting slot (12) is screwed with the outer side wall of the support plate (13), and the bottom of the lifting rod (15) is fixedly connected with the limiting plate (14), the outer side wall of the limiting plate (14) is slidably connected with the inner side wall of the limiting slot (12), the top of the rotary cylinder (11) is set with a rotating port, and the inner side wall of the rotating port is threaded with the outer wall of the lifting rod (15).
- 3. An ultrasonic visualization Da Vinci surgical robot arm according to Claim 1 is characterized in that the limiting mechanism comprises several semi-circularly arranged clamping slots (10) set at the bottom of the rotating rod (6), the base (1) is set with the pull port (4), the inner side wall of the pull port (4) is slidably connected with the pull rod (7), and the bottom of the pull rod (7) is fixedly connected with a pull plate (8), the pull rod (7) is adapted to several clamping slots (10), the outer side wall sleeve of the pull rod (7) is set with the return spring (9), and both ends of the return spring (9) are fixedly connected to the pull plate (8) and the outer side wall of the base (1) respectively.13
- 4. The ultrasonic visualization Da Vinci surgical robot arm according to Claim 1 is characterized in that the rotating mechanism comprises the adjusting shaft (17) which is fixedly connected to the outer side wall of the adjusting block (16), and the top of the lifting rod (15) is set with an adjusting port, the inner side wall of the adjusting port is screwed with the outer side wall of the adjusting shaft (17), and the lifting rod (15) is set with several circular jacks (18), the adjusting block (16) is set with the corresponding port (19) which is adapted to the jack (18), and the corresponding port (19) and the corresponding jack (18) are inserted with the same plunger (20).
- 5. The ultrasonic visualization Da Vinci surgical robot arm according to Claim 1 is characterized in that the transmission mechanism is composed of the first chain fixedly connected to the outer side wall of the output shaft (25), the outer side walls of the two threaded rods (26) in the cavity (23) are fixedly connected with the second chain wheel, and the first chain wheel is respectively connected to two second chain wheels through the chain (27).
- 6. The ultrasonic visualization Da Vinci surgical robot arm according to Claim 1 is characterized in that the transmission mechanism comprises a first driving block fixedly connected to the outer side wall of the clamping plate (29), and the outer side wall of the threaded block (28) is fixedly connected with the second driving block, and the first driving 14 block and the second driving block are connected by the driving rod (30). ah
- 7. The ultrasonic visualization Da Vinci surgical robot arm according to Claim 6 is characterized in that the outer side walls of the first driving block and the second driving block are fixedly connected with the pin shaft, and both ends of the driving rod (30) are set with the ports adapted to the pin shafts, and the two pin shafts are respectively screwed to the corresponding pin shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU102393A LU102393B1 (en) | 2021-01-11 | 2021-01-11 | An ultrasonic visualization Da Vinci surgical robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU102393A LU102393B1 (en) | 2021-01-11 | 2021-01-11 | An ultrasonic visualization Da Vinci surgical robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU102393B1 true LU102393B1 (en) | 2022-07-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU102393A LU102393B1 (en) | 2021-01-11 | 2021-01-11 | An ultrasonic visualization Da Vinci surgical robot arm |
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| Country | Link |
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| LU (1) | LU102393B1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200129251A1 (en) * | 2018-10-31 | 2020-04-30 | Ss Innovations China Co., Ltd. | Omni-directional wheels for a robotic surgical cart |
| US20200352661A1 (en) * | 2018-01-05 | 2020-11-12 | Medrobotics Corporation | Robotic stand for robotic surgical system |
| CN112294441A (en) * | 2020-11-30 | 2021-02-02 | 福建医科大学附属协和医院 | Ultrasonic visual da vinci surgical robot arm |
| CN213851029U (en) * | 2020-11-30 | 2021-08-03 | 福建医科大学附属协和医院 | Ultrasonic visual da vinci surgical robot arm |
-
2021
- 2021-01-11 LU LU102393A patent/LU102393B1/en active IP Right Grant
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200352661A1 (en) * | 2018-01-05 | 2020-11-12 | Medrobotics Corporation | Robotic stand for robotic surgical system |
| US20200129251A1 (en) * | 2018-10-31 | 2020-04-30 | Ss Innovations China Co., Ltd. | Omni-directional wheels for a robotic surgical cart |
| CN112294441A (en) * | 2020-11-30 | 2021-02-02 | 福建医科大学附属协和医院 | Ultrasonic visual da vinci surgical robot arm |
| CN213851029U (en) * | 2020-11-30 | 2021-08-03 | 福建医科大学附属协和医院 | Ultrasonic visual da vinci surgical robot arm |
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| Date | Code | Title | Description |
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| FG | Patent granted |
Effective date: 20220711 |