RU2564218C1 - Functional structure of reciprocal lift and turn of diagnostics and surgical tool elements of toroidal robotics system with sliding mechanism of their electromagnetic retention (russian logic version - version 1) - Google Patents

Functional structure of reciprocal lift and turn of diagnostics and surgical tool elements of toroidal robotics system with sliding mechanism of their electromagnetic retention (russian logic version - version 1) Download PDF

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RU2564218C1
RU2564218C1 RU2014150295/12A RU2014150295A RU2564218C1 RU 2564218 C1 RU2564218 C1 RU 2564218C1 RU 2014150295/12 A RU2014150295/12 A RU 2014150295/12A RU 2014150295 A RU2014150295 A RU 2014150295A RU 2564218 C1 RU2564218 C1 RU 2564218C1
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electromagnetic
electromagnets
ferromagnetic
end
version
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RU2014150295/12A
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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: claimed structure comprises first and second electromagnets with outer cylindrical ferromagnetic U-like bodies and inner ferromagnetic core with coil turns. One end of said core is coaxially fixed inside cylindrical ferromagnetic body while its second end with unclosed part of U-like cylindrical ferromagnetic body make the electromagnetic part of the first and second electromagnets. Note here that additionally introduced is the common case of electromagnetic gripper composed of two halves to be secured together. Said gripper case has two holes to accommodated said first and second electromagnets. Electromagnetic part of the latter is fitted in appropriate holes of electromagnetic gripper common case from its outer side. Ferromagnetic core with coil turns features the increased length. Second electromagnetic end features conical or spherical shape. Note here that rod with coaxial threaded hole is locked inside common case perpendicular to said first and second electromagnets. Axial core with gear engaged with the drive of extending system is locked thereat to turn the electromagnetic gripper.
EFFECT: perfected design.
5 dwg

Description

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

The functional structure of the electromagnetic tool holding device is known (see Gripping devices and tools of industrial robots Kozyrev Yu.G. M. 2011, pp. 93-96, Fig. 3.36), turning off two electromagnetic holders that are offset from each other with coil turns, which are located on the inner core (prototype).

The known prototype has technical capabilities, which include the fact that the capture and retention of various ferromagnetic housings of various devices is carried out by means of electromagnetic holders with coil turns that are located on the inner core.

A disadvantage of the known functional structure is the lack of technical capabilities of the indicative reception and subsequent retention of various diagnostic and surgical buildings.

The technical result of the proposed invention is to improve the well-known functional structure of the electromagnetic tool holding device.

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

Functional structure of a retractable device for electromagnetic capture and retention of diagnostic and surgical housings of a toroidal surgical robotic system with a retractable cover, including the first and second electromagnets with external U-shaped cylindrical ferromagnetic housings and with an internal ferromagnetic rod with coil turns, one end of which is coaxially fixed inside the cylindrical a ferromagnetic body, and the second end with an open part of a cylindrical ferromagnetic body U-shaped whiskers are the electromagnetic part of the first and second electromagnets, and a common electromagnetic capture housing is introduced, made of two halves with the possibility of joint fastening, in which two consecutive holes are made, where the first and second electromagnets are mounted, respectively, the electromagnetic part which are located in the corresponding holes on the outside of the common housing of the electromagnetic capture, and the ferromagnetic rod with coil turns increased length, in which the second electromagnetic end is conical or spherical in shape, while a rod with a coaxial threaded hole is fixed sequentially and orthogonally to the first and second electromagnets inside the common housing, where an axial rod with a gear is fixed, which is functionally connected to the drive of the sliding system for turning electromagnetic capture devices.

In FIG. 1 shows the functional structure of an electromagnetic capture device with two electromagnets for fixing and holding diagnostic and surgical cases. In FIG. 2 shows the functional structure of a retractable device of a toroidal surgical robotic system with a retractable lid, which includes three retractable elements with a “Coplanar spread” and two elements with an “Orthogonal spread”. In FIG. 3 shows the functional structure of a toroidal surgical robotic system with a retractable lid. In FIG. 4 depicts the positional position of two electromagnetic capture devices in the "Medical Procedure Execution Area". In FIG. 5 depicts an outdoor version of the functional structure of a toroidal surgical robotic system with a retractable lid.

Functional structure of a sliding device for electromagnetic capture and retention of diagnostic and surgical housings of a toroidal surgical robotic system with a retractable cover, including the first 1 and second 2 electromagnets with external cylindrical ferromagnetic U-shaped cases 3 and 4 and with an internal ferromagnetic rod 5 and 6 with coil turns 7, one end of which is coaxially fixed inside the cylindrical ferromagnetic body 3 and 4, and the second end 8 with the open part of the cylindrical ferro The U-shaped magnetic casing is the electromagnetic part of the first and second electromagnets. At the same time, a common housing 9 of electromagnetic capture is introduced, made of two halves 10 and 11 with the possibility of joint fastening, in which two consecutive holes 12 and 13 are made, where the first 1 and second 2 electromagnets, the electromagnetic part of which is located in the corresponding holes 12 and 13 on the outside of the common body 9 of electromagnetic capture, and the ferromagnetic rod 5 and 6 with the turns of the coil 7 is made of an increased length in which the second electromagnetic end 8 is ying conical or spherical shape. In this case, sequentially and orthogonally to the first 1 and second 2 electromagnets inside the common housing 9, a rod 14 is fixed with a coaxial hole 15 with a thread, where an axial rod 16 with a gear 17 is fixed, which is functionally connected to the drive 18 of the sliding system 19 for turning the electromagnetic pick-up device. In FIG. 1 also shows the housing 20 of the diagnostic device with ferromagnetic washers 21 and 22 with holes of a conical or spherical shape, which are coaxially located with the ferromagnetic rods 5 and 6 with the turns of the coil 7 for subsequent electromagnetic fixation. In FIG. 2 shows the functional structure of the retractable device 19 with the rotation drives 18, 23, 24, 25 and 26 of the toroidal surgical robotic system with a retractable lid, which includes three sliding elements with a “Coplanar spread” and two elements With an “Orthogonal spread”. In FIG. 3 shows the functional structure of a toroidal surgical robotic system 27 with a retractable cover 28, in the lower part of which a tool table 29 is fixed with the possibility of axial rotation and with electromagnetic holding devices 30 of the cases 20 of diagnostic and surgical devices. In this case, the retractable system 19 can be deployed both in the “Instrument Reception” zone and in the “Medical Procedure Execution Area", which is positionally located above the movable part of the medical table 31 (Fig. 4). In FIG. 5 depicts a floor-mounted version of the functional structure of a toroidal surgical robotic system 27 with a retractable lid 28, which, by means of two pairs of curved rods 32 and 33, with the possibility of reciprocating displacement, are located on the fixed part of the medical table 34, which is fixed on the lifting part 35 of the supporting body of the robotic system.

The procedure of electromagnetic capture with two electromagnets 1 and 2 of fixing and holding diagnostic and surgical buildings is as follows. Since the ferromagnetic second end 8 of the first and second electromagnets 1 and 2 is conical or spherical in shape, and they are coaxially located to the corresponding hole of a conical or spherical shape, corresponding to the ferromagnetic washer 21 and 22, with a parallel displacement of the common body 9 of the electromagnetic pickup in the zone "Tool reception "(Fig. 3) carry out electromagnetic reception and retention of the housings 20 of the diagnostic and surgical devices 20, after which the functional structure of the retractable device 19 is deployed in "The area of the medical procedure" (Fig. 4). It should be noted that the implementation of the second end 8 of the ferromagnetic rods 5 and 6 of the first and second electromagnets 1 and 2 of a conical or spherical shape allows you to perform oriented reception of the buildings 20 diagnostic and surgical devices.

Using the proposed technical solution allows you to perform oriented reception and retention of the cases of diagnostic and surgical devices in a toroidal surgical robotic system with a retractable lid.

Claims (1)

  1.  Functional structure of a retractable device for electromagnetic capture and retention of diagnostic and surgical housings of a toroidal surgical robotic system with a retractable cover, including the first and second electromagnets with external U-shaped cylindrical ferromagnetic housings and with an internal ferromagnetic rod with coil turns, one end of which is coaxially fixed inside the cylindrical a ferromagnetic body, and the second end with an open part of a cylindrical ferromagnetic body A U-shaped mustache is the electromagnetic part of the first and second electromagnets, characterized in that a common electromagnetic capture housing is made of two halves with the possibility of joint fastening, in which two consecutive openings are made, where the first and second electromagnets are respectively mounted, the electromagnetic part of which is located in the corresponding holes on the outside of the common housing of the electromagnetic capture, and the ferromagnetic rod with turns the shafts are made of increased length, in which the second electromagnetic end is conical or spherical in shape, while a rod with a coaxial threaded hole is fixed sequentially and orthogonally to the first and second electromagnets inside the common housing, where an axial rod with a gear is fixed, which is functionally connected to the drive of the sliding system to turn the electromagnetic capture device.
RU2014150295/12A 2014-12-11 2014-12-11 Functional structure of reciprocal lift and turn of diagnostics and surgical tool elements of toroidal robotics system with sliding mechanism of their electromagnetic retention (russian logic version - version 1) RU2564218C1 (en)

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RU2014150295/12A RU2564218C1 (en) 2014-12-11 2014-12-11 Functional structure of reciprocal lift and turn of diagnostics and surgical tool elements of toroidal robotics system with sliding mechanism of their electromagnetic retention (russian logic version - version 1)

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Citations (6)

* 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
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
UA72484U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Device of sliding elements of clamp and their positional arrangement inside spherical body of multifunctional diagnostic and surgical robotic system with possibility of information and computer control of rusanov
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

Patent Citations (6)

* 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
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
UA72484U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Device of sliding elements of clamp and their positional arrangement inside spherical body of multifunctional diagnostic and surgical robotic system with possibility of information and computer control of rusanov
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

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