RU2564220C1 - Functional structure of reciprocal lift and turn of diagnostics and surgical tool elements of toroidal robotics system with sliding mechanism of their electromagnetic retention (version of russian logic - version 1) - Google Patents

Abstract

FIELD: mechanics.

SUBSTANCE: claimed structure comprises top and bottom parts of common body with the round side hole with spherical cover. Opposite said cover, from the body outer side, located are in circle the housings of linear drives with extending elements with drives for turn to "Tool intake zone" and to "Operation execute zone" and with retainers of said diagnostics and surgical devices. Note here that common body bottom and top parts feature toroidal shape. Round side hole is made from common toroidal body inner side. Toroidal cover is arranged opposite said hole and aligned therewith (at initial position) for cover to be lifted. Spherical cover is aligned and fixed and can be lifted there above. Lower part of said common toroidal body is flat. Medium part of said lower part has vertical ledge directed upward. Perpendicular housings of linear drives are locked at the ledge mid part, their extending part being directed vertically upward.

EFFECT: perfected design.

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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 retractable clamping elements (holding) and their positional location inside the spherical body of a multifunctional diagnostic and surgical robotic system with the possibility of information-computer control (see Patent UA No. 72484), which includes a housing and retractable clamping elements, which include an operating clamp device elements (tools) with the possibility of two turns and an intermediate turn connected to the device with the help of the first occasion performing the function hinge, which with the help of the second drive, which also performs the function of a hinge, is connected to an additional device of axial rotation of the clamp, which is connected to the housing by the rotor part of the drive, mounted on the sliding part of the linear drive. In this case, the housing of the robotic system is made with an external spherical surface and with a round circular hole, opposite which on the inner side of the spherical body there are sequentially arranged and fixed five cases of linear occasion of the retractable clamp elements, one of them is located in the upper part of the spherical body and its retractable the clamp elements are located in the vertical plane of the spherical body in the area of the round hole, on both sides of the vertical plane of the spherical body d, two linear halves are arranged one above the other, with the retractable clamping elements located in the area of the round hole of the spherical body, the retractable clamping elements of the upper linear halves positionally oriented to the vertical plane of the spherical body, and the retractable clamping elements of the lower linear halves positionally oriented from the vertical the plane of the spherical body (prototype).

The known prototype has technical capabilities, which include the fact that the retractable retention elements of the diagnostic and surgical elements with linear drives in the initial position are in the closed housing of the robotic system.

The disadvantage of the known functional structure of the retractable clamping (holding) elements of the diagnostic and surgical cases (devices) with fixed linear drives in the common case is the functional incompleteness of the robotic system, since it does not include the functional structure of the tool table in its uniform design, where diagnostic and surgical cases (devices).

The technical result of the proposed invention is to improve the well-known functional structure of the reciprocating lifting and turning of the elements in the retractable retention mechanism of the housings of diagnostic and surgical devices.

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

The functional structure of the reciprocating lifting and turning of the elements in the sliding mechanism of the electromagnetic holding of the housings for diagnostic and surgical devices in a toroidal surgical robotic system with a sliding cover includes the lower and upper parts of the common housing with a round circular opening with a spherical shape, opposite which is on the inside of the housing sequentially in a circle are housings of linear motions with retractable elements with reversal drives in the “Zone p Instrument Reception ”and in the“ Zone of Medical Procedure Execution, ”with a device for holding diagnostic and surgical devices, while the lower and upper parts of the common body are made in a toroidal shape, and the side hole is round in shape made on the inside of the toroidal common body, opposite which is aligned with it a toroidal lid is located (in the initial position) with the possibility of lifting, over which a spherical lid is also coaxially fixed with the possibility of lifting, with a common support a circular plate with an inner hole or several successive plates in the form of sectors in which or in which the inner and outer edges are fixed inside the lower part of the toroidal common housing, and in the middle part of the base plate are fixed orthogonally oriented linear actuator housings 6, the sliding part of which is oriented vertically up.

In FIG. 1 depicts a common circular support plate with successively fixed orthogonally oriented linear actuator housings, the sliding part of which is oriented vertically upward. In FIG. 2 shows several consecutive plates in the form of sectors with corresponding linear actuators and sliding elements positionally located in the lower part of the common toroidal housing. In FIG. 3 shows a toroidal surgical robotic system with a retractable lid. In FIG. 4 shows the positional position of the retractable mechanisms of electromagnetic retention of the housings of diagnostic and surgical devices in the "Zone of the medical procedure.

The functional structure of the reciprocating lifting and turning of the elements in the sliding mechanism of the electromagnetic retention of the housings of diagnostic and surgical devices in a toroidal surgical robotic system with a sliding cover includes (Fig. 3) the lower 1 and upper 2 parts of the common housing with a round side opening 3 with a cover 4 spherical shape, opposite which on the inside of the case in series in a circle 5 (Fig. 2) are housings of linear motions 6 (Fig. 1-2) with sliding elements 7 with p reversal drives 8 to the "Instrument receiving area" and to the "Medical procedure execution zone" (Fig. 3), with a holding device 9 for diagnostic and surgical devices 10. The lower 1 (Fig. 3) and upper 2 parts of the common body are made toroidal forms, and the lateral round hole 3 is made on the inside of the toroidal common housing, opposite which the cap of the toroidal shape 11 is located coaxially with it (in the initial position), above which the cap 4 is also coaxially fixed spherical in shape, with the introduction of a common base plate 12 (Fig. 1) round in shape with an inner hole 13 or several consecutive plates 14 (Fig. 2) in the form of sectors in which or in which the inner 15 (Fig. 1) and the outer 16 edges are fixed inside the lower part 1 (Fig. 1) of the toroidal common housing, and in the middle part of the base plate 12 fixed orthogonally oriented housing linear actuators 6, the sliding part 17 of which is oriented vertically upward. In FIG. 3 shows a toroidal surgical robotic system with a retractable lid 4 of a spherical shape, inside of which and coaxially attached thereto, a cylindrical part 18 of the tool table with a coaxial rotation device of electromagnetic devices 19 for fixing diagnostic and surgical devices 10. FIG. 4 depicts one of the possible positional positions of the electromagnetic holding devices 9 of the retractable system 7 with surgical and diagnostic devices 10 in the “medical procedure execution area” above the movable part of the medical table 20, which is implemented with the possibility of reciprocating displacement relative to the toroidal robotic system (Fig. 3 )

The procedure for the reciprocating lifting and turning of the elements in the sliding mechanism of the electromagnetic retention of the housings of diagnostic and surgical devices in a toroidal surgical robotic system with a retractable lid is as follows.

Before starting medical procedures (in the initial position) in a toroidal surgical robotic system, a toroidal cap 11 with a spherical cap 4, which includes a coaxial reversal device of electromagnetic devices 19 for fixing diagnostic and surgical devices 10, is positioned opposite the circular lateral hole 3, which made on the inside of the lower 1 (Fig. 3) and upper 2 parts of the toroidal common housing, inside of which in the middle part of the supporting plate 12 zafi orthogonally oriented linear actuator housings 6 are cited, the sliding part 17 of which is oriented vertically upward. And at the end of the sliding part 17 in a “folded” state, four successive sliding elements with rotation drives 8 are rotatably fixed (Fig. 1). When performing the medical procedure, they lift (Fig. 3) the lid of the toroidal form 11 with the coaxial reversal device of the electromagnetic devices 19 for fixing the diagnostic and surgical devices 10 to form the “Tool receiving” zone and extend the sliding elements 7 previously to the “Tool receiving” zone to select the necessary surgical or diagnostic device 10 and by means of electromagnetic holding devices 9 of the retractable system 7 fix them, and then deploy the retractable elements 7 in ONU performing a medical procedure ", which can be moved over the movable part of the medical table 20 because it is capable of reciprocating movement relative to the toroidal surgical robotic system. In this case, the lateral displacement of the diagnostic and surgical devices 10 with respect to the movable part of the medical table 20 is performed by a corresponding turn of the sliding elements 7, and the vertical displacement of the diagnostic and surgical devices 10 is performed by means of a linear sliding part 17 of the drives 6.

Using the proposed technical solution allows to expand the procedural capabilities of the functional structure of the reciprocating lifting and turning of the elements in the sliding mechanism of the electromagnetic holding of the housings of diagnostic and surgical devices in a toroidal surgical robotic system with a retractable lid.

Claims (1)

Functional structure of the reciprocating lifting and turning of the elements in the sliding mechanism of the electromagnetic holding of the housings for diagnostic and surgical devices in a toroidal surgical robotic system with a retractable cover, including the lower and upper parts of the common body with a round side opening with a spherical shape, opposite to which is on the inside housings sequentially arranged in a circle are linear actuator housings with retractable elements with reversal drives in “Zo well, the instrument’s reception ”and in the“ Zone of the medical procedure ”, with a device for holding diagnostic and surgical devices, characterized in that the lower and upper parts of the common body are made in a toroidal shape, and the side hole is round in shape made on the inside of the toroidal common body, opposite which and it is coaxially disposed (in the initial position) with a lifting cap of a toroidal shape, above which a spherical shaped cap is also fixed coaxially with lifting ability, while and the common support plate is round in shape with an internal hole or several consecutive plates in the form of sectors in which or in which the internal and external edges are fixed inside the lower part of the toroidal common housing, and the orthogonally oriented linear actuator cases are fixed in the middle part of the base plate, the sliding part of which oriented vertically up.

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