RU2563733C1 - Functional structure of reciprocating rotation of diagnostic and surgical elements of instrument device of toroidal robotic system with sliding cover (russian logic version - version 3) - Google Patents

Functional structure of reciprocating rotation of diagnostic and surgical elements of instrument device of toroidal robotic system with sliding cover (russian logic version - version 3) Download PDF

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RU2563733C1
RU2563733C1 RU2014137758/12A RU2014137758A RU2563733C1 RU 2563733 C1 RU2563733 C1 RU 2563733C1 RU 2014137758/12 A RU2014137758/12 A RU 2014137758/12A RU 2014137758 A RU2014137758 A RU 2014137758A RU 2563733 C1 RU2563733 C1 RU 2563733C1
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fixed
lower
diagnostic
vertical
part
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RU2014137758/12A
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Russian (ru)
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Лев Петрович Петренко
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Лев Петрович Петренко
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Abstract

FIELD: mechanics.
SUBSTANCE: functional structure of reciprocating rotation of diagnostic and surgical elements of the instrument device of the toroidal robotic system with sliding cover which comprises the vertical cylindrical case with a possibility of rotation by means of the gear which is fixed or integrated with the back-up washer in which the lower part is also designed as cylindrical and is located coaxially in the vertical cylindrical case with a possibility of rotation and functionally connected with a drive gear with reducer which is fixed on the lower middle intermediate washer which is functionally connected with the vertical rods which are evenly arranged along the circle located in the vertical cylindrical case and also includes the lower washer with axial hole, which is fixed in the lower part of the cylindrical case functionally connected with the linear drive with non-sliding cylindrical part and sliding cylindrical part, while the linear drive is also functionally connected with the upper washer with axial hole, and also comprises bearings and devices of holding of diagnostic and surgical elements.
EFFECT: design improvement.
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Description

The invention relates to medical equipment and can be used when performing various medical procedures.

The functional structure of the turn of the diagnostic and surgical elements of the multifunctional diagnostic and surgical robotic system of the operating table with the possibility of information-computer control (see, Patent UA No. 72485 Yu.I. Rusanova) is known, which includes a vertical body with the ability to change the height, which is positionally located on the base which is fixed on a fixed surface and made in the form of a cylinder with external stiffeners, inside of which the lower part of the vert steel casing, made in the form of two coaxial cylinders: external and internal, with the possibility of rotary-translational shift of the internal cylinder of the housing relative to the external cylinder of the housing, between which are guides in the form of two consecutive rings with semicircular grooves in which longitudinal guides are mounted, fixed from the inner the surface of the outer cylinder and the outer surface of the inner cylinder, while at the bottom of the outer cylinder and at a distance from the top of the inner the upper and lower insertion washers are fixed on the opposite sides of which round grooves are made, and between them there is a linear drive rotary for translational movement of the inner cylinder relative to the external stationary cylinder, while on the upper insertion disk there is fixed a drive with a gearbox, the outer gear of which is functionally connected to the inner the gear of the cover of the vertical housing, while the cover is made in the lower part with the possibility of turning inside the inner cylinder CA with a reciprocating shift, and the upper part of the cover is made larger than the diameter of the outer cylinder of the fixed part of the body and located above the upper part of the inner cylinder of the body with the possibility of reciprocating rotation, to which three devices of individual lifting of the cases with a spherical are fixed at an angle of 120 ° external surface with diagnostic elements and surgical elements (prototype).

The known prototype has technical capabilities, which are the possibility of a turn of diagnostic and surgical elements relative to the medical table.

A disadvantage of the known technical solution is the limitation of functionality, which consists in the fact that the medical table and the functional structure of the turn of the diagnostic and surgical elements are not combined in a single robotic system.

The technical result of the proposed invention is the expansion of functionality by means of a functionally complete robotic system.

The specified technical result is achieved by the following functional structure.

Functional structure of the reciprocating turn of the diagnostic and surgical elements of the instrumental device of the toroidal robotic system with a retractable cover, including a vertical cylindrical body with a cover and with the possibility of a turn by means of a gear, which is fixed or is part of a supporting washer, in which the lower part is also made of a cylindrical shape and is located coaxially inside a vertical cylindrical body with the possibility of joint reversal and functional о is connected with a gear of a drive with a reducer, which is fixed on the lower middle intermediate washer, evenly spaced by vertical rods, and also includes a lower washer with an axial hole, which is fixed in the lower part of the cylindrical body functionally connected to a linear drive with a non-extendable cylindrical part and a retractable a cylindrical part, while the linear actuator is also functionally connected with the cover of the vertical cylindrical body with an axial hole, and also includes a Ipniks and devices for holding diagnostic and surgical elements, while the linear actuator is fixed on the upper surface of the cover of the vertical cylindrical housing with an axial hole, in which the non-sliding part of the linear actuator is coaxially located, and a bearing is fixed at the end of the sliding cylindrical part of the linear actuator, which is fixed in the axial hole the lower washer, which is fixed inside the lower cylindrical housing of the retention of diagnostic and surgical elements, and the retention device The diagnostic and surgical elements are made electromagnetic, on which the cases of diagnostic and surgical elements are held in two electromagnetic grippers, and the electromagnetic devices for holding diagnostic and surgical elements with equal steps and are sequentially fixed on the outer surface of the lower cylindrical body with the possibility of reciprocating rotation and vertical displacement , in the inner part of which there are made radial plates, the lower level of which is located wives at the level of the upper surface of the lower washer with an axial hole, and their upper level is located with the possibility of vertical reciprocating displacement in radial grooves, which are made in the lower part of the vertical cylindrical body, while the sliding part of the linear actuator is also located with the possibility of vertical reciprocating displacements in the axial hole of the round base plate, while bearings are mounted in the lower cylindrical part of the base washer that can rotate These are located on the extreme upper surface of the circular support plate with an axial hole, in which the lower ends of the vertical rods are fixed at regular intervals around the circle, and their middle parts are located and fixed, like in the similar holes in the lower middle intermediate washer, where the drive with the gearbox is fixed, and in similar holes in the upper intermediate washer, on which centering bearings are fixed, the outer rotating surface of which is functionally connected with the inner surface of the vertical a cylindrical body, and the upper ends of the vertical rods in a similar circle are fixed to the caps of the cylindrical body with an axial hole, which is coaxially fixed in the lower part of the sliding cover of the toroidal robotic system.

In FIG. 1 shows the functional structure of the reciprocating turn of the diagnostic and surgical elements of the instrumental device of the toroidal robotic system with a retractable lid. In FIG. 2 shows a toroidal robotic system with a retractable lid and executive retractable elements for performing various medical procedures. In FIG. 3 depicts an outdoor version of a toroidal robotic system with a retractable lid.

The functional structure of the reciprocating turn of the diagnostic and surgical elements of the instrumental device of the toroidal robotic system with a retractable cover includes a vertical cylindrical body 1 with a cover 2 and with the possibility of a turn by means of a gear (turn gear) 3, which is fixed or is part of a supporting washer 4, in which the lower part is also made of cylindrical shape and is located coaxially inside the vertical cylindrical body with the possibility of joint rotation and functionally connected to the gear of the drive with the gear 5, which is fixed on the lower middle intermediate washer 6, vertical rods 7 evenly spaced around the circumference, and also includes a lower washer with an axial hole 8, which is fixed in the lower cylindrical body 9 functionally connected with a linear drive 10 with a retractable cylindrical part 11, while the linear actuator 10 is also functionally connected with the cover with the axial hole 2 of the vertical cylindrical housing 1, and also includes bearings and devices for holding 12 diagnostic and surgical elements 13. In this case, the linear actuator 10 is fixed on the upper surface of the cover with an axial hole 2 of the vertical cylindrical body 1, in which not the sliding part 14 of the linear actuator 10 is coaxially located, but at the end of the sliding cylindrical part 11 of the linear actuator 10, a bearing 15 is fixed, which is fixed in the axial hole of the lower washer 8, which is fixed inside the lower cylindrical body 9 of the holding device 12 of the diagnostic and surgical elements 13. And the holding devices 12 of the diagnostic and surgical elements 13 are made electromagnetic, on which the bodies of the diagnostic and surgical elements are held in two electromagnetic grippers 16. In this case, the electromagnetic holding devices 12 of the diagnostic and surgical elements 13 with equal increments and are sequentially fixed on the outer surface of the lower a cylindrical body 9 with the possibility of reciprocating rotation and vertical displacement, in the inner part of which are made radially 17th plates, the lower level of which is located at the level of the upper surface of the lower washer with an axial hole 8, and their upper level is located with the possibility of vertical reciprocating displacement in the radial grooves 18, which are made in the lower part of the vertical cylindrical body 1. In this case, the sliding part 11 of the linear actuator 10 is also arranged with the possibility of vertical reciprocating displacement in the axial hole of the circular support plate 8. Moreover, in the lower cylindrical part of the support washer 4 thrust bearings 19 are fixed, which are rotatably located on the extreme upper surface of a circular support plate with an axial bore 20, in which the lower ends of the vertical rods 7 are fixed at regular intervals around the circle, and their middle parts are located and fixed as in similar holes in the lower middle intermediate washers 6, where the drive with the gearbox 5 is fixed, and in similar holes in the upper intermediate washer 21, on which the centering bearings 22 are fixed, external rotating over which are functionally connected with the inner surface of the vertical cylindrical housing 1, and the upper ends of the vertical rods 7 are fixed in a similar circle to the covers with an axial hole 2 of the vertical cylindrical housing 1, which is coaxially fixed in the lower part of the sliding cover 23 (Fig. 2) a toroidal robotic system 24 with executive retractable elements 25 to perform various medical procedures. In FIG. 3 depicts a floor-mounted version of a toroidal robotic system 24 with a retractable lid 23, which, by means of two pairs of rods 25, is arranged for longitudinal reciprocating displacement on the longitudinally stationary part of the medical table 26, on which the longitudinally moving part of the medical table 27 is also located. While stationary in the longitudinal direction of the medical table 26 is located on the device reciprocating vertical displacement 28, by means of a drive with red Ktorov 29.

The logical-dynamic process of the functional structure of the reciprocating turn of the diagnostic and surgical elements of the instrumental device of the toroidal robotic system with a retractable lid is as follows.

Since the retractable cover 23 of the toroidal robotic system 24 (Fig. 2) is also made with the possibility of vertical partial rise, then after such a lifting the installation or removal of two electromagnetic grippers 16 (Fig. 1) of the electromagnetic holding devices 12 of the diagnostic and surgical elements 13 is performed, after which the sliding cover 23 is returned to its original position and these actions are performed when all the sliding elements 25 (Fig. 2) are inside the toroidal robotic system 24, and the sliding cover 23 through three cables and three drives lowered. After the diagnostic and surgical elements 13 are installed, the sliding cover 23 is lifted and the sliding elements 25 are withdrawn from the toroidal robotic system 24 previously to the “Instrument receiving” zone for receiving diagnostic and surgical elements 13, and then the sliding elements 25 are deployed to the “Zone performing a medical procedure. " And when you consider that the diagnostic and surgical elements 13 of the electromagnetic retention devices 12 (Fig. 1) are located in a certain sequence, and the retractable elements 25 (Fig. 2) are in a specific position inside the toroidal robotic system 24, therefore (Fig. 1) before receiving diagnostic and surgical elements 13 by means of a drive with a gear 5 and a reversal gear 3 perform the corresponding reciprocating reversal of the vertical cylindrical body 1 and the stability of such a reversal the thrust bearings 19 and the centering bearings 22. - translational rotation of the vertical cylindrical body 1, a similar turn is performed by the lower cylindrical body 9 with electromagnetic holding devices 12 diagnostic and surgical elements 13. In this case, it should be noted that the lower cylindrical body 9 with the lower washer 8 with the axial hole essentially "hangs" on the bearings 15, which is mounted on the end of the sliding cylindrical part 11 of the linear actuator 10, therefore, the holding device 12 with diagnostic and surgical Elements 13 perform both a reciprocating corrective vertical displacement and a reciprocating reversal.

Using the proposed technical solution allows to expand the functionality of the functional structure of the reciprocating turn of the diagnostic and surgical elements of the instrumental device in a toroidal robotic system with a retractable lid.

Claims (1)

  1. Functional structure of the reciprocating turn of the diagnostic and surgical elements of the instrumental device of the toroidal robotic system with a retractable cover, including a vertical cylindrical body with a cover and with the possibility of a turn by means of a gear, which is fixed or is part of a supporting washer, in which the lower part is also made of a cylindrical shape and is located coaxially inside a vertical cylindrical body with the possibility of joint reversal and functional о is connected with a gear of a drive with a reducer, which is fixed on the lower middle intermediate washer, evenly spaced by vertical rods, and also includes a lower washer with an axial hole, which is fixed in the lower part of the cylindrical body functionally connected to a linear drive with a non-extendable cylindrical part and a sliding cylindrical part, while the linear actuator is also functionally connected with the cover of the vertical cylindrical body with an axial hole, and also includes a bearings and holding devices for diagnostic and surgical elements, characterized in that the linear actuator is fixed on the upper surface of the cover of the vertical cylindrical body with an axial hole in which not the sliding part of the linear actuator is coaxially located, but a bearing is fixed at the end of the sliding cylindrical part of the linear actuator, which is fixed in the axial hole of the lower washer, which is fixed inside the lower cylindrical housing holding diagnostic and surgical elements, and The means for holding the diagnostic and surgical elements are made electromagnetic, on which the bodies of the diagnostic and surgical elements are held in two electromagnetic grips, and the electromagnetic devices for holding the diagnostic and surgical elements with equal increments and are sequentially fixed on the outer surface of the lower cylindrical body with the possibility of a reciprocating and vertical turn displacement, in the inner part of which are made radial plates, the lower level to which is located at the level of the upper surface of the lower washer with an axial hole, and their upper level is located with the possibility of vertical reciprocating displacement in radial grooves, which are made in the lower part of the vertical cylindrical body, while the sliding part of the linear actuator is also located with the possibility of vertical reciprocating translational displacement in the axial hole of the round support plate, while bearings are fixed in the lower cylindrical part of the support washer, which may With the help of a reversal, they are located on the extreme upper surface of a circular support plate with an axial hole, in which the lower ends of the vertical rods are fixed at regular intervals along the circumference, and their middle parts are located and fixed both in similar holes in the lower middle intermediate washer, where the drive with the gearbox is fixed, so and in similar holes in the upper intermediate washer on which centering bearings are mounted, the outer rotating surface of which is functionally connected to the inner surface the spine of the vertical cylindrical body, and the upper ends of the vertical rods in a similar circle are fixed to the caps of the cylindrical body with an axial hole, which is coaxially fixed in the lower part of the sliding cover of the toroidal robotic system.
RU2014137758/12A 2014-09-17 2014-09-17 Functional structure of reciprocating rotation of diagnostic and surgical elements of instrument device of toroidal robotic system with sliding cover (russian logic version - version 3) RU2563733C1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1306572A1 (en) * 1985-01-02 1987-04-30 Предприятие П/Я В-2877 Arrangement for stereotaxic operations
JP2010206495A (en) * 2009-03-03 2010-09-16 Olympus Medical Systems Corp Electronic image observation apparatus
UA72485U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Turning device of diagnostic and surgical elements of robotic system of surgical table with possibility of information and computer control of rusanov
UA72498U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Device for closing sliding elements of clamp of spherical body of multifunctional diagnostic and surgical robotic system with possibility of information and computer control of rusanov
UA72499U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Yu. RUSANOV APPLIANCE FOR INDIVIDUAL LIFTING OF DIAGNOSTIC AND SURGICAL ELEMENTS IN MULTIFUNCTIONAL DIAGNOSTIC-AND-SURGICAL ROBOTICAL SYSTEM OF SURGICAL TABLE SUITABLE FOR INFORMATION COMPUTERIZED CONTROL

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1306572A1 (en) * 1985-01-02 1987-04-30 Предприятие П/Я В-2877 Arrangement for stereotaxic operations
JP2010206495A (en) * 2009-03-03 2010-09-16 Olympus Medical Systems Corp Electronic image observation apparatus
UA72485U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Turning device of diagnostic and surgical elements of robotic system of surgical table with possibility of information and computer control of rusanov
UA72498U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Device for closing sliding elements of clamp of spherical body of multifunctional diagnostic and surgical robotic system with possibility of information and computer control of rusanov
UA72499U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Yu. RUSANOV APPLIANCE FOR INDIVIDUAL LIFTING OF DIAGNOSTIC AND SURGICAL ELEMENTS IN MULTIFUNCTIONAL DIAGNOSTIC-AND-SURGICAL ROBOTICAL SYSTEM OF SURGICAL TABLE SUITABLE FOR INFORMATION COMPUTERIZED CONTROL

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