RU2589622C1 - Functional structure of preliminary longitudinal displacement and turning devices electromagnetic retainers medical instrument in the toroidal surgical robot system with extension lid (russian logic - version 3) - Google Patents

Functional structure of preliminary longitudinal displacement and turning devices electromagnetic retainers medical instrument in the toroidal surgical robot system with extension lid (russian logic - version 3) Download PDF

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Publication number
RU2589622C1
RU2589622C1 RU2015117881/12A RU2015117881A RU2589622C1 RU 2589622 C1 RU2589622 C1 RU 2589622C1 RU 2015117881/12 A RU2015117881/12 A RU 2015117881/12A RU 2015117881 A RU2015117881 A RU 2015117881A RU 2589622 C1 RU2589622 C1 RU 2589622C1
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fixed
part
housing
turn
common
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RU2015117881/12A
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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: medicine.
SUBSTANCE: functional structure of preliminary longitudinal displacement and turning devices electromagnetic retainers medical instrument in the toroidal surgical robot system with extension lid, in common housing robot system comprises several pairs of bent rods, which are arranged regularly in circle in the lower part of the common housing, and their lower parts are fixed on a common or individual plate with the possibility of reciprocating turn inside toroidal common body robot system, and the upper part of the bent rods are fixed to each other by means of a fixed axial rod preliminary turn with fixed on the first gear position is located inside the first part of the first shell extension elements and functionally connected to the first drive with reduction gear for rotation of housings of extension elements is fixed on one side of the fixed axis preliminary turn on one half of the first part of the first shell extension elements, on the other side of a fixed axis preliminary turn in the first part of the first shell extension elements is fixed by an additional drive with reduction gear, on the rotor of which a rod with thread, which position is located in the hole with thread, which is aligned with one side of the second part of the first shell extension elements, also fixed second drive with reduction gear, pinion of which is functionally connected with the second gear is fixed on the axis for reciprocating turn of next housings of extension elements.
EFFECT: invention can be used in various medical procedures.
1 cl, 4 dwg

Description

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

The functional structure of the sliding element (device) of the clamp of a multifunctional diagnostic and surgical robotic system with the possibility of computer-based information management (see UA Patent No. 72500) is known, which includes a clamping device for operating elements with the possibility of two turns and connected by a first drive that performs the function of a hinge, with an intermediate reversal device, which includes a second drive, which also performs the function of a hinge connected to additional devices m of the axial rotation of the clamp, a linear drive is introduced, the housing of which is fixed in the spherical housing of the robotic system, and a drive with a gearbox is fixed on the sliding part of the linear drive with two straps, in which the outer part of the gearbox is fixed with one strap, and the stator part of the gear the gearbox with the help of an axial rod is rotatably connected to the second bar, while the stator housing is connected to an additional axial clamp reversal device (prototype).

The known prototype has technological capabilities, which are that the functional structure of the retractable clamping device (clamp) of the medical instrument of the multifunctional diagnostic and surgical robotic system with other retractable clamping devices are located in one common housing and are made with the possibility of turning, shifting and holding various instruments over medical table.

A disadvantage of the known functional structure of the retractable device of the clamp of the medical instrument is the limited accuracy of the rotation of the retractable element of the clamp, since two successive elements in the clamping device are directly functionally connected to the stator and to the rotor of the common drive with the gearbox, so the error of their mutual rotation is not minimized.

The technical result of the proposed invention is the improvement of the known functional structure of the preliminary longitudinal displacement and rotation of the devices of the electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable lid.

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

Functional structure of preliminary longitudinal displacement and rotation of the devices of electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable cover, including several successive cases of retractable elements, which are made with the possibility of relative rotation by means of an appropriate drive with a reducer and in the initial position are positioned in the common case of the robotic system while the overall housing of the robotic system in it is full of a toroidal shape with an internal retractable part with a spherical lid with the possibility of lifting, coaxially in the lower part of which is fixed an instrument table with the possibility of a reciprocating turn and with electromagnetic devices for holding medical instruments, while several pairs of curved rods are introduced into the common case of the robotic system, which are arranged evenly in a circle in the lower part of the common housing, and their lower parts are fixed on a common or individual plate with possibly the reciprocating rotation inside the toroidal common housing of the robotic system, and the upper parts of the curved rods are fixed to each other by means of a fixed axial preliminary rotation rod with a first gear fixed on it, which is positionally located inside the first part of the first housing of the sliding elements and is functionally connected to the first drive with a gearbox, which is mounted on one side of the fixed axis of the preliminary a reversal on one of the halves of the first part of the first housing of the retractable elements, on the other side of the fixed axial shaft of the preliminary reversal in the first part of the first housing of the retractable elements, an additional drive with a reducer is fixed, on the rotor of which a threaded rod is fixed, which is positionally located in the threaded hole, which made coaxially on one side of the second part of the first housing of the retractable elements, where the second drive with a gearbox is also fixed, the gear of which is functionally connected nene with a second gear, which is mounted on an axial shaft for reciprocating rotation of the subsequent housing of the sliding elements, while on top of opposite ends of the first part of the first housing of the sliding elements and on the second part of the first housing of the sliding elements is a tube which is made of two longitudinal halves which are fixed on the first part of the first housing of the sliding elements and on the second part of the first housing of the sliding elements, respectively, for the longitudinal reciprocating progressive sliding and excluding axial rotation of the second part of the first housing of the sliding elements when it is reciprocating.

In FIG. 1 shows the functional structure of the first and second parts of the first housing of the sliding elements with the possibility of longitudinal displacement of the second part of the first housing of the sliding elements. In FIG. 2 shows two curved rods that are evenly spaced around in the lower part, the common body and their lower parts are fixed on a common or individual plate with the possibility of a reciprocating turn inside the toroidal common body of the robotic system, and the upper parts of the curved rods are fixed to each other by means of a fixed the axis of the preliminary turn with the first gear fixed on it, which is positionally located inside the first part of the first housing of the retractable elements . In FIG. 3 shows a robotic system of a toroidal shape with an internal retractable part with a spherical cover with the possibility of lifting, coaxially with which a medical table with the possibility of a reciprocating turn and with electromagnetic devices for holding medical instruments is fixed in its lower part. In FIG. 4 shows the positional position of the retractable electromagnetic devices for holding the housings of the medical instrument over the upper part of the medical table.

The functional structure of the preliminary longitudinal displacement and rotation of the devices of electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable cover, including several sequential cases of retractable elements 1 (Fig. 3), which are made with the possibility of relative rotation by means of an appropriate drive with a reducer and in the initial position located in a common housing of the robotic system, while the common housing 2 of a robotic system The system is made of a toroidal shape with an internal sliding part 3 with a spherical cover 4 with the possibility of lifting, coaxially in the lower part of which the instrument table 5 is fixed with the possibility of a reciprocating turn and with electromagnetic devices 6 for holding medical instruments 7, while in the common housing 2 is a robotic the system introduced several pairs of curved rods 8, 9, which are evenly spaced around in the lower part of the common housing 2, and their lower parts are fixed on a common or individual Lastin 10 with the possibility of reciprocating rotation within a common housing two toroidal robotic system, and the upper part of curved bars 8 and 9 are fixed to each other (FIG. 1 and 2) by means of the fixed axis of the preliminary reversal 11 with the first gear 12 fixed on it, which is positionally located inside the first part 13 of the first housing of the retractable elements and is functionally connected to the first drive with a reducer 14, which is fixed on one side of the stationary to rotate the housings of the retractable elements the axial rod 11 of the preliminary turn on one of the halves of the first part 13 of the first housing of the retractable elements, on the other side of the fixed axis 11 of the preliminary turn in the first h 13 of the first housing of the sliding elements, an additional drive with a gear 15 is fixed, on the rotor of which a rod with a thread 16 is fixed, which is positionally located in the hole with a thread 17, which is made coaxially on one side of the second part 18 of the first housing of the sliding elements, where the second drive is also fixed with a gearbox 19, the gear of which is functionally connected to the second gear 20, which is mounted on the axial shaft 21 for reciprocating rotation of the subsequent bodies of the sliding elements 1, pr this at the opposite ends of the first part 13 of the first housing of the sliding elements and on the second part 18 of the first housing of the sliding elements coaxially located tube, which is made of two longitudinal halves 22 and 23, which are fixed on the first part 13 of the first housing of the sliding elements and on the second part 18 of the first the housing of the sliding elements, respectively, for longitudinal reciprocating sliding and excluding axial rotation of the second part 18 of the first housing of the sliding elements when it is reciprocating lion. In FIG. 3 shows the positional position of the common housing 2 of the toroidal surgical robotic system with retractable elements 1 and with electromagnetic devices 24 for holding the housings 7 of the surgical and diagnostic devices in the "Instrument receiving" zone and the positional position of the retractable elements 1 of the electromagnetic holding of the housings 7 for surgical and diagnostic devices in the "Zone the medical procedure "above the upper movable part of the medical table 25. In this case, the removable upper part of the retractable cover 4 is coaxial is located on the inner sliding part 3 of the housing 2 of the toroidal surgical robotic system, which is connected to the first ends of the three cables 26 at the bottom, and their second ends are fixed on the winding device of the drive 27 for lifting the sliding cover 4 and the tool table 5.

The procedure for preliminary longitudinal displacement and rotation of the electromagnetic clamp devices of a medical instrument in a toroidal surgical robotic system with a retractable lid is as follows.

Before performing the medical procedure (Figs. 3 and 4), before lifting the sliding cover 4 and the sliding part 3 or after lifting them, the upper part 4 is removed together with the tool table 5 and into the electromagnetic devices 6 they are inserted into a circle 7 of the case 7 of the surgical and diagnostic devices, after which the retractable cover 4 is returned to its original position on the retractable part 3 for performing various medical procedures in the "Medical Procedure Execution Area", and for its implementation, the retractable cover 4 and the retractable part 3 instrumental table 5 and perform the reversal of successive cases of sliding elements 1 first into the zone "Reception of the tool", and then in the "Zone of the medical procedure" above the medical table 25 and when it is realized, there is a need for longitudinal displacement and rotation of the electromagnetic devices 24 holding the buildings 7 surgical and diagnostic tools. And this longitudinal displacement procedure is carried out by means of an additional drive with a reducer 15 (Fig. 1) and a threaded rod 16, which is fixed on the rotor of the additional drive with a reducer 15, and the corrective turn of the electromagnetic devices 24 for holding the cases 7 of surgical and diagnostic tools is performed by the first drive with the gearbox 14 and the first gear 12, as well as through the second drive with the gearbox 19 and the second gear 20, which is mounted on the axial shaft 21 and is functionally connected with leduyuschimi housings sliding elements 1.

Using the proposed technical solution allows to increase the accuracy of the mutual rotation of the elements of the retractable clamping device (clamp) of a medical instrument in a toroidal surgical robotic system with a retractable lid.

Claims (1)

  1. Functional structure of preliminary longitudinal displacement and rotation of the devices of electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable cover, including several successive cases of retractable elements, which are made with the possibility of relative rotation by means of an appropriate drive with a reducer and in the initial position are positioned in the common case of the robotic system characterized in that the common housing is robotic of the system is made of a toroidal shape with an internal retractable part with a spherical cover with the possibility of lifting, coaxially in the lower part of which is fixed an instrument table with the possibility of a reciprocating turn and with electromagnetic devices for holding medical instruments, while several pairs of curved are introduced into the general case of the robotic system rods that are evenly spaced around in the lower part of the common body, and their lower parts are fixed on a common or individual face not with the possibility of a reciprocating turn inside the toroidal common body of the robotic system, and the upper parts of the curved rods are fixed to each other by means of a fixed axial pre-turn rod with the first gear fixed on it, which is positionally located inside the first part of the first housing of the sliding elements and is functionally connected to the first a drive with a gearbox, which is mounted on a fixed axis for turning the bodies of the sliding elements on one side m pre-turn rod on one of the halves of the first part of the first drawer body, on the other side of the fixed axial preliminary turn bar in the first part of the first drawer case, an additional drive with a reducer is fixed, on the rotor of which a threaded rod is fixed, which is positionally located in the hole with thread, which is made coaxially on one side of the second part of the first housing of the retractable elements, where the second drive with the gearbox is also fixed, gear to which is functionally connected to a second gear, which is mounted on an axial shaft for reciprocating rotation of subsequent drawer housings, while a tube is made coaxially on top of opposite ends of the first part of the first drawer housing and on the second part of the first drawer housing longitudinal halves, which are fixed on the first part of the first housing of the sliding elements and on the second part of the first housing of the sliding elements, respectively A longitudinal reciprocating sliding exceptions axial rotation of the second part of the first housing sliding elements at its reciprocating displacement.
RU2015117881/12A 2015-05-12 2015-05-12 Functional structure of preliminary longitudinal displacement and turning devices electromagnetic retainers medical instrument in the toroidal surgical robot system with extension lid (russian logic - version 3) RU2589622C1 (en)

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Citations (3)

* 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
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 (3)

* 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
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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