TWI572325B - Retractable medical instrument control mechannism - Google Patents
Retractable medical instrument control mechannism Download PDFInfo
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- TWI572325B TWI572325B TW104144376A TW104144376A TWI572325B TW I572325 B TWI572325 B TW I572325B TW 104144376 A TW104144376 A TW 104144376A TW 104144376 A TW104144376 A TW 104144376A TW I572325 B TWI572325 B TW I572325B
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- 238000003780 insertion Methods 0.000 claims description 22
- 230000037431 insertion Effects 0.000 claims description 22
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- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
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- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
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本發明係與控制醫療器械作動的控制機構有關,特別是指一種具可伸縮性的醫療器械控制機構。 The present invention relates to a control mechanism for controlling the actuation of a medical device, and more particularly to a medical device control mechanism that is scalable.
由於微創手術對病患而言具有傷口小、流血少、傷口恢復快、縮短住院時間等優點,因此,被廣泛的應用在外科手術中。而為使微創手術順利的進行,通常都藉由一控制機構來帶動醫療器械(例如內視鏡),使該醫療器械得以多軸向且穩定的移動。 Because minimally invasive surgery has the advantages of small wound, less bleeding, faster wound recovery, and shorter hospital stay, it is widely used in surgery. In order to facilitate the minimally invasive surgery, a medical device (such as an endoscope) is usually driven by a control mechanism to enable the medical device to move in multiple axial directions and stably.
參閱圖1,顯示美國專利US 5397323號之中心運動的遙控手術機器人的其中一圖式,其主要係由平行調節伸縮連桿11和12被連接到平行連桿13A、13B、13C,並連接各樞軸接頭14,同時搭配各種致動器15A、15B,使醫療器械16可以進行多軸向的運動,以進行檢查或治療,然而,其於實際使用情形仍具有下述需立即改善的缺陷。 Referring to Fig. 1, there is shown a diagram of a remotely operated surgical robot of the central motion of U.S. Patent No. 5,397,323, which is mainly connected to parallel links 13A, 13B, 13C by parallel adjustment telescopic links 11 and 12, and connected to each The pivot joint 14, together with the various actuators 15A, 15B, allows the medical device 16 to be multi-axially moved for examination or treatment, however, it still has the following immediate improvement in practical use.
由於控制該醫療器械16相對於病患17進行伸入與伸出的機構主要係由線性製動器15A來達成,而該線性製動器15A是連接設置在平行調節伸縮連桿11和12的外側部分11A、12A因而靠近該醫療器械16,也靠近了病患17插入點P,如此,使得操作空間受限,造成醫師在操作上的不便,不利於微創手術的進行。 Since the mechanism for controlling the extension and extension of the medical device 16 with respect to the patient 17 is mainly achieved by the linear brake 15A which is connected to the parallel adjustment telescopic links 11 and 12, The outer portions 11A, 12A are thus close to the medical device 16, and also close to the insertion point P of the patient 17, thus limiting the operating space, causing inconvenience to the physician, which is detrimental to the minimally invasive surgery.
是以,如何開發出一種醫療器械的控制機構,其可解決上述的缺陷即為本發明研發的動機。 Therefore, how to develop a control mechanism for a medical device that can solve the above-mentioned defects is the motivation for the research and development of the present invention.
本發明的目的在於提供一種具可伸縮性的醫療器械控制機構,其主要使醫療器械以及病患插入點附近並無致動器的設置,即可控制醫療器械進行伸縮動作,以增加病患插入點附近的操作空間,提升醫師進行微創手術時的便利性。 It is an object of the present invention to provide a retractable medical device control mechanism that can control a medical device to perform a telescopic movement to increase patient insertion by mainly providing a medical device and a patient insertion point without an actuator arrangement. The operating space near the point enhances the convenience of the physician for minimally invasive surgery.
緣是,為了達成前述目的,依據本發明所提供一種具可伸縮性的醫療器械控制機構,適用於供一醫療器械設置,該醫療器械具有一伸縮軸向,且該伸縮軸向與一病患相交形成一插入點,該控制機構包含:一基座;一第一旋轉模組,組設在該基座上,並具有一通過該插入點的第一軸向,以帶動該基座繞該第一軸向旋轉;一第二旋轉模組,組設在該基座上,並具有一樞設在該基座的第二樞軸,該第二樞軸具有一與該第一軸向垂直的第二軸向;一連桿模組,包括相互組設的一近端連桿組和一遠端連桿組,該近端連桿組組設在該第二旋轉模組的第二樞軸,並平行該伸縮軸向,該遠端連桿組具有一能夠位移地設在該近端連桿組的第一遠端桿部、及一供該醫療器械設置的第二遠端桿部;一伸縮帶動模組,組設在該近端連桿組,並連接帶動該遠端連桿組在該近端連桿組上往復位移,使該醫療器械沿該伸縮軸向往復位移。 In order to achieve the foregoing object, a scalable medical device control mechanism according to the present invention is suitable for use in a medical device having a telescopic axial axis and the telescopic axial direction and a patient Intersecting to form an insertion point, the control mechanism comprises: a base; a first rotating module is disposed on the base and has a first axial direction passing through the insertion point to drive the base to surround the a first axial rotation; a second rotation module is disposed on the base and has a second pivot pivoted on the base, the second pivot having a first axis perpendicular to the first axis a second axial direction; a link module comprising a proximal link set and a distal link set, the proximal link set being disposed on the second pivot of the second rotary module a shaft parallel to the telescopic axial direction, the distal link set having a first distal stem portion removably disposed on the proximal end link set, and a second distal stem portion disposed for the medical instrument a telescopic drive module disposed on the proximal link set and coupled to drive the distal link set at the proximal end Group displaceable reciprocally on the rod, so that the medical instrument along the axially reciprocating telescopic displacement.
較佳地,該第一旋轉模組包括一第一馬達、一第一減速機、及一第一皮帶,該第一馬達固設在該基座,並具有一第一轉軸,該第一減速機固設在該基座,並具有一第一輸入軸及一與該第一輸入軸動力連接的第一輸出軸,該第一輸出軸的軸向重疊該第一軸向,該第一皮帶動力連接該第一轉軸與該第一輸入軸之間。 Preferably, the first rotating module includes a first motor, a first speed reducer, and a first belt. The first motor is fixed on the base and has a first rotating shaft, and the first speed is reduced. The machine is fixed on the base and has a first input shaft and a first output shaft coupled to the first input shaft, the first output shaft axially overlapping the first axial direction, the first belt Power is connected between the first rotating shaft and the first input shaft.
較佳地,第一減速機構的輸出軸樞設一基架。 Preferably, the output shaft of the first speed reduction mechanism is pivotally provided with a base frame.
較佳地,該第二旋轉模組包括一第二馬達、一第二減速機、及一第二皮帶,該第二馬達固設在該基座,並具有一第二轉軸,該第二減速機固設在該基座,並具有一第二輸入軸及一與該第二輸入軸動力連接的該第二樞軸,該第二皮帶動力連接該第二轉軸與該第二輸入軸之間,作動該第二馬達使得該第二樞軸原地樞轉,以帶動該連桿模組、伸縮帶動模組及該醫療器械繞著該第二軸向往復轉動。Preferably, the second rotating module includes a second motor, a second reducer, and a second belt. The second motor is fixed to the base and has a second rotating shaft. The second rotating speed is reduced. The machine is fixed on the base and has a second input shaft and a second pivot shaft coupled to the second input shaft, the second belt is dynamically connected between the second shaft and the second input shaft Actuating the second motor causes the second pivot to pivot in place to drive the link module, the telescopic drive module, and the medical device to reciprocate about the second axis.
較佳地,該連桿模組的近端連桿組包括一第一近端滑軌、一平行於該第一近端滑軌的第二近端滑軌、一連接該第一、二近端滑軌一端的連桿、一滑設在該第一近端滑軌的第一滑塊、及一滑設在該第二近端滑軌的第二滑塊,該第一近端滑軌具有一固設在該第二樞軸的第一近端端部,該第二近端滑軌具有一固設在該基座的第二近端端部;該伸縮帶動模組包括一平行設置於該第二近端滑軌的螺桿、一螺設在該螺桿且固設在該第二滑塊的螺帽、及一帶動該螺桿原地轉動的第三馬達;該連桿模組的遠端連桿組的第一遠端桿部是同時固設在該第一滑塊及螺帽。Preferably, the proximal link set of the link module includes a first proximal slide rail, a second proximal slide rail parallel to the first proximal slide rail, and a first and second near connection. a connecting rod at one end of the end rail, a first sliding block disposed on the first proximal sliding rail, and a second sliding sliding portion disposed on the second proximal sliding rail, the first proximal sliding rail Having a first proximal end fixed to the second pivot, the second proximal slide has a second proximal end fixed to the base; the telescopic drive module includes a parallel arrangement a screw on the second proximal slide rail, a nut screwed on the screw and fixed on the second slider, and a third motor driving the screw to rotate in place; the far end of the link module The first distal rod portion of the end link set is simultaneously fixed to the first slider and the nut.
有關本發明為達成上述目的,所採用之技術、手段及其他之功效,茲舉一較佳可行實施例並配合圖式詳細說明如後。The present invention has been described in connection with the preferred embodiments of the present invention in accordance with the accompanying drawings.
參閱圖2至圖5所示 ,本發明實施例所提供的一種具可伸縮性的醫療器械控制機構,適用於供一醫療器械91設置,該醫療器械91具有一伸縮軸向911,且該伸縮軸向911與一病患92相交形成一插入點P,該控制機構主要係由一基座20、一第一旋轉模組30、一第二旋轉模組40、一連桿模組50、及一伸縮帶動模組60所組成,其中:Referring to FIG. 2 to FIG. 5, a scalable medical device control mechanism according to an embodiment of the present invention is provided for use in a medical device 91 having a telescopic axis 911 and the telescopic device. The axial 911 intersects with a patient 92 to form an insertion point P. The control mechanism is mainly composed of a base 20, a first rotating module 30, a second rotating module 40, a connecting rod module 50, and A telescopic driving module 60 is composed of:
該第一旋轉模組30,組設在該基座20上,並具有一通過該插入點P的第一軸向31,以帶動該基座20繞該第一軸向31旋轉;本實施例中,該第一旋轉模組30包括一第一馬達32、一第一減速機33、及一第一皮帶34,該第一馬達32固設在該基座20,並具有一第一轉軸321,該第一減速機33固設在該基座20,並具有一第一輸入軸331及一與該第一輸入軸331動力連接的第一輸出軸332,該第一輸出軸332的軸向重疊該第一軸向31,該第一皮帶34動力連接該第一轉軸321與該第一輸入軸331之間;另外,該第一減速機33的第一輸出軸332樞設在一基架96。The first rotating module 30 is disposed on the base 20 and has a first axial direction 31 passing through the insertion point P to drive the base 20 to rotate about the first axial direction 31. This embodiment The first rotating module 30 includes a first motor 32, a first speed reducer 33, and a first belt 34. The first motor 32 is fixed to the base 20 and has a first rotating shaft 321 The first reducer 33 is fixed to the base 20 and has a first input shaft 331 and a first output shaft 332 that is mechanically coupled to the first input shaft 331. The axial direction of the first output shaft 332 The first axial direction is overlapped, and the first belt 34 is electrically connected between the first shaft 321 and the first input shaft 331. In addition, the first output shaft 332 of the first speed reducer 33 is pivoted to a base frame. 96.
該第二旋轉模組40,組設在該基座20上,並具有一樞設在該基座20的第二樞軸432,該第二樞軸432具有一與該第一軸向31垂直的第二軸向41;本實施例中,該第二旋轉模組40包括一第二馬達42、一第二減速機43、及一第二皮帶44,該第二馬達42固設在該基座20,並具有一第二轉軸421,該第二減速機43固設在該基座20,並具有一第二輸入軸431及與該第二輸入軸431動力連接的該第二樞軸432,該第二皮帶44動力連接該第二轉軸421與該第二輸入軸431之間,作動該第二馬達42最終使得該第二樞軸432原地樞轉,以帶動該連桿模組50、伸縮帶動模組60及該醫療器械91繞著該第二軸向41往復轉動。The second rotating module 40 is disposed on the base 20 and has a second pivot 432 pivotally mounted on the base 20. The second pivot 432 has a vertical axis 31 In the embodiment, the second rotating module 40 includes a second motor 42 , a second reducer 43 , and a second belt 44 . The second motor 42 is fixed on the base. The base 20 has a second rotating shaft 421 fixed to the base 20 and has a second input shaft 431 and the second pivot 432 electrically connected to the second input shaft 431. The second belt 44 is electrically connected between the second rotating shaft 421 and the second input shaft 431. Actuating the second motor 42 finally causes the second pivot 432 to pivot in place to drive the connecting rod module 50. The telescopic drive module 60 and the medical device 91 reciprocate about the second axial direction 41.
該連桿模組50,包括相互組設的一近端連桿組51和一遠端連桿組52,該近端連桿組51組設在該第二旋轉模組40的第二樞軸432,並平行該伸縮軸向911,該遠端連桿組52具有一能夠位移地設在該近端連桿組51的第一遠端桿部521、及一供該醫療器械91設置的第二遠端桿部522。The link module 50 includes a proximal link set 51 and a distal link set 52 that are assembled with each other. The proximal link set 51 is disposed on the second pivot of the second rotary module 40. 432, and parallel to the telescopic axial direction 911, the distal link set 52 has a first distal rod portion 521 displacably disposed on the proximal rod set 51, and a first set for the medical device 91 Two distal rod portions 522.
該伸縮帶動模組60,組設在該近端連桿組51,並連接帶動該遠端連桿組52在該近端連桿組51上往復位移,使該醫療器械91沿該伸縮軸向911往復位移。The telescopic drive module 60 is disposed on the proximal link set 51 and coupled to drive the distal link set 52 to reciprocally displace on the proximal link set 51 such that the medical device 91 is along the telescopic axis. 911 reciprocating displacement.
本實施例中,該連桿模組50的近端連桿組51包括一第一近端滑軌511、一平行於該第一近端滑軌511的第二近端滑軌512、一連接該第一、二近端滑軌511、512一端的連桿513、一滑設在該第一近端滑軌511的第一滑塊514、及一滑設在該第二近端滑軌512的第二滑塊515,該第一近端滑軌511具有一固設在該第二樞軸432的第一近端端部511A,該第二近端滑軌512具有一固設在該基座20的第二近端端部512A;該遠端連桿組52係由二桿件所組成;該伸縮帶動模組60包括一平行設置於該第二近端滑軌512的螺桿61、一螺設在該螺桿61且固設在該第二滑塊515的螺帽62、及一帶動該螺桿61原地轉動的第三馬達63;該連桿模組50的遠端連桿組52的第一遠端桿部521是同時固設在該第一滑塊514及螺帽62,使該伸縮帶動模組60得以連接帶動該遠端連桿組52在該近端連桿組51上往復位移,讓該醫療器械91沿該伸縮軸向911往復位移,也就是參閱圖2、3、6所示,當控制該第三馬達63作動時,即控制該螺桿61原地轉動,進而使該螺帽62沿著該螺桿61方向(同伸縮軸向911)往復位移,讓直接或間接固設在該螺帽62的遠端連桿組52和醫療器械91沿著該伸縮軸向911往復位移。In this embodiment, the proximal link set 51 of the link module 50 includes a first proximal slide rail 511, a second proximal slide rail 512 parallel to the first proximal slide rail 511, and a connection. a connecting rod 513 at one end of the first and second proximal sliding rails 511, 512, a first sliding block 514 slidingly disposed on the first proximal sliding rail 511, and a sliding portion 512 disposed on the second proximal sliding rail 512 a second slider 515 having a first proximal end 511A fixed to the second pivot 432, the second proximal rail 512 having a fixed base The second proximal end portion 512A of the seat 20; the distal link group 52 is composed of two rod members; the telescopic driving module 60 includes a screw 61 disposed parallel to the second proximal end rail 512, and a a screw 62 disposed on the screw 61 and fixed to the second slider 515, and a third motor 63 that drives the screw 61 to rotate in place; the distal link set 52 of the link module 50 The first distal rod portion 521 is simultaneously fixed to the first slider 514 and the nut 62, so that the telescopic driving module 60 is connected to drive the distal link group 52 to reciprocate on the proximal link group 51. Displacement, let the medical device 91 along the The retracting displacement of the retracting axis 911, that is, as shown in Figs. 2, 3, and 6, when the third motor 63 is controlled to operate, the screw 61 is controlled to rotate in place, thereby causing the nut 62 to follow the direction of the screw 61. The reciprocating displacement (with the telescopic axial direction 911) reciprocally displaces the distal link group 52 and the medical instrument 91 fixed directly or indirectly to the nut 62 along the telescopic axial direction 911.
以上所述即為本發明實施例各主要構件的結構及其組態說明。藉由該第一旋轉模組30、第二旋轉模組40、及伸縮帶動模組60並搭配連桿模組50的結構設計,使該醫療器械91除了保持在該插入點P上進行圍繞該第一軸向31與第二軸向41旋轉運動之外,更得以通過該插入點P進行伸縮軸向911的往復位移,讓該醫療器械91作為深淺的檢查或治療。The above description is the structure and configuration description of each main component of the embodiment of the present invention. The first rotating module 30, the second rotating module 40, and the telescopic driving module 60 are combined with the structural design of the connecting rod module 50, so that the medical device 91 is kept at the insertion point P to surround the In addition to the rotational movement of the first axial direction 31 and the second axial direction 41, the reciprocating displacement of the telescopic axial direction 911 is further performed by the insertion point P, allowing the medical device 91 to be examined or treated as a shallow depth.
此外,藉由該連桿模組50的近端連桿組51和遠端連桿組52的結構設計並搭配該伸縮帶動模組60的帶動設計,使該醫療器械91除了可以通過該插入點P進行伸縮軸向911的往復位移之外,由於該伸縮帶動模組60是組設在該近端連桿組51,而該遠端連桿組52的第一遠端桿部521是能夠位移地設在該近端連桿組51,該遠端連桿組52的第二遠端桿部522是供該醫療器械91設置,因此,用以帶動該醫療器械91沿該伸縮軸向911往復位移的伸縮帶動模組60是設置在遠離該醫療器械91之處,同時也遠離了病患92的插入點P,如此,本發明的控制機構在醫療器械91以及病患92插入點P附近並無致動器的設置,即可控制醫療器械91進行伸縮動作,以增加病患92插入點P附近的操作空間,提升醫師進行微創手術時的便利性。In addition, the structural design of the proximal link set 51 and the distal link set 52 of the link module 50 and the driving design of the telescopic drive module 60 enable the medical device 91 to pass through the insertion point. In addition to the reciprocating displacement of the telescopic axial direction 911, the telescopically driven module 60 is assembled to the proximal link set 51, and the first distal rod portion 521 of the distal link set 52 is displaceable. The second distal rod portion 522 of the distal link group 52 is disposed for the medical device 91, and thus is configured to drive the medical device 91 to reciprocate along the telescopic axis 911. The displacement telescopic drive module 60 is disposed away from the medical device 91 while also being away from the insertion point P of the patient 92. Thus, the control mechanism of the present invention is adjacent to the insertion point P of the medical device 91 and the patient 92 and Without the arrangement of the actuator, the medical device 91 can be controlled to perform the telescopic movement to increase the operation space near the insertion point P of the patient 92, thereby improving the convenience of the physician in performing minimally invasive surgery.
得說明的是,該醫療器械91以該插入點P為樞點進行第一軸向與第二軸向旋轉運動的說明如下。It should be noted that the first axial direction and the second axial rotational movement of the medical device 91 with the insertion point P as a pivot point are as follows.
第一軸向運動:參閱圖2、4、5、7所示,當控制該第一馬達32作動時,該第一馬達32會藉由該第一皮帶34而帶動該第一減速機33的第一輸入軸331轉動,進而讓第一輸出軸332減速轉動,此時,該基座20以及直接或間接組設在基座20上的第二旋轉模組40、連桿模組50、及伸縮帶動模組60則以該第一輸出軸332為軸心,而繞著該第一軸向31旋轉,由於該第一軸向31通過該插入點P,因此使得該醫療器械91以該插入點P為圓心而往復樞擺一角度,藉以讓該醫療器械91完成第一軸向運動。The first axial movement is as shown in FIGS. 2, 4, 5, and 7. When the first motor 32 is controlled to be actuated, the first motor 32 drives the first reducer 33 by the first belt 34. The first input shaft 331 rotates to further decelerate the first output shaft 332. At this time, the base 20 and the second rotation module 40, the link module 50, and the link module 50 directly or indirectly disposed on the base 20 The telescopically driven module 60 is pivoted about the first output shaft 332 and rotates about the first axial direction 31. Since the first axial direction 31 passes through the insertion point P, the medical device 91 is inserted. The point P is the center of the circle and pivots at an angle to allow the medical device 91 to complete the first axial movement.
第二軸向運動:參閱圖2、3、4、8所示,該第二馬達42作動時,該第二馬達42會藉由該第二皮帶44而帶動該第二減速機43的第二輸入軸431轉動,進而讓第二樞軸432減速轉動,此時,直接或間接組設在第二樞軸432上的連桿模組50、及伸縮帶動模組60則以該第二樞軸432為軸心,而繞著該第二軸向41旋轉,由於該第二軸向41垂直於該第一軸向31,且該第一軸向31通過該插入點P,因此使得該醫療器械91以該插入點P為圓心而往復樞擺一角度,藉以讓該醫療器械91完成第二軸向41運動。The second axial movement is as shown in FIGS. 2, 3, 4 and 8. When the second motor 42 is actuated, the second motor 42 drives the second of the second reduction gear 43 by the second belt 44. The input shaft 431 is rotated to further reduce the rotation of the second pivot 432. At this time, the link module 50 directly and indirectly disposed on the second pivot 432 and the telescopic drive module 60 are the second pivot. 432 is an axis, and rotates about the second axial direction 41. Since the second axial direction 41 is perpendicular to the first axial direction 31, and the first axial direction 31 passes through the insertion point P, the medical device is made 91 pivots an angle with the insertion point P as a center, thereby allowing the medical device 91 to complete the second axial movement 41.
綜上所述,上述實施例及圖式僅為本發明之較佳實施例而已,當不能以之限定本發明實施之範圍,即大凡依本發明申請專利範圍所作之均等變化與修飾,皆應屬本發明專利涵蓋之範圍內。In the above, the above embodiments and drawings are only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equal changes and modifications made by the scope of the present invention should be It is within the scope of the patent of the present invention.
11、12‧‧‧調節伸縮連桿11, 12‧‧‧Adjust the telescopic link
11A、12A‧‧‧外側部分11A, 12A‧‧‧ outer part
13A、13B、13C‧‧‧平行連桿13A, 13B, 13C‧‧‧ parallel links
14‧‧‧樞軸接頭14‧‧‧Pivot joint
15A、15B‧‧‧致動器15A, 15B‧‧‧ actuator
16‧‧‧醫療器械16‧‧‧ medical equipment
17‧‧‧病患17‧‧‧ Patients
P‧‧‧插入點P‧‧‧ insertion point
20‧‧‧基座20‧‧‧ Pedestal
30‧‧‧第一旋轉模組30‧‧‧First Rotary Module
31‧‧‧第一軸向31‧‧‧First axial
32‧‧‧第一馬達32‧‧‧First motor
321‧‧‧第一轉軸321‧‧‧First shaft
33‧‧‧第一減速機33‧‧‧First reducer
331‧‧‧第一輸入軸331‧‧‧First input shaft
332‧‧‧第一輸出軸332‧‧‧First output shaft
34‧‧‧第一皮帶34‧‧‧First belt
40‧‧‧第二旋轉模組40‧‧‧Second Rotary Module
41‧‧‧第二軸向41‧‧‧second axial
42‧‧‧第二馬達42‧‧‧second motor
421‧‧‧第二轉軸421‧‧‧second shaft
43‧‧‧第二減速機43‧‧‧second reducer
431‧‧‧第二輸入軸431‧‧‧Second input shaft
432‧‧‧第二樞軸432‧‧‧second pivot
44‧‧‧第二皮帶44‧‧‧Second belt
50‧‧‧連桿模組50‧‧‧ linkage module
51‧‧‧近端連桿組51‧‧‧ Near-end link set
511‧‧‧第一近端滑軌511‧‧‧First proximal slide
511A‧‧‧第一近端端部511A‧‧‧First proximal end
512‧‧‧第二近端滑軌512‧‧‧Second proximal rail
512A‧‧‧第二近端端部512A‧‧‧second proximal end
513‧‧‧連桿513‧‧‧ linkage
514‧‧‧第一滑塊514‧‧‧First slider
515‧‧‧第二滑塊515‧‧‧second slider
52‧‧‧遠端連桿組52‧‧‧ distal link set
521‧‧‧第一遠端桿部521‧‧‧First distal rod
522‧‧‧第二遠端桿部522‧‧‧Second distal rod
60‧‧‧伸縮帶動模組60‧‧‧ Telescopic drive module
61‧‧‧螺桿61‧‧‧ screw
62‧‧‧螺帽62‧‧‧ nuts
63‧‧‧第三馬達63‧‧‧third motor
91‧‧‧醫療器械91‧‧‧ medical equipment
911‧‧‧伸縮軸向911‧‧‧ telescopic axial
92‧‧‧病患92‧‧‧ Patients
P‧‧‧插入點P‧‧‧ insertion point
96‧‧‧基架96‧‧‧ pedestal
圖1係美國專利US 5397323號其中一圖式。 圖2係本發明實施例的立體圖。 圖3係本發明實施例的局部正視圖。 圖4係本發明實施例的局部後視圖。 圖5係本發明實施例的上視圖。 圖6係本發明實施例的作動示意圖,顯示醫療器械進行伸縮動作的狀態。 圖7係本發明實施例的作動示意圖,顯示本發明進行第一軸向運動的狀態。 圖8係本發明實施例的作動示意圖,顯示本發明進行第二軸向運動的狀態。Figure 1 is a drawing of one of U.S. Patent No. 5,397,323. Figure 2 is a perspective view of an embodiment of the present invention. Figure 3 is a partial front elevational view of an embodiment of the present invention. Figure 4 is a partial rear elevational view of an embodiment of the present invention. Figure 5 is a top view of an embodiment of the present invention. Fig. 6 is a schematic view showing the operation of the embodiment of the present invention, showing the state in which the medical device performs the telescopic movement. Fig. 7 is a schematic view showing the operation of the embodiment of the present invention, showing the state in which the first axial movement of the present invention is performed. Fig. 8 is a schematic view showing the operation of the embodiment of the present invention, showing the state in which the second axial movement of the present invention is performed.
20‧‧‧基座 20‧‧‧ Pedestal
31‧‧‧第一軸向 31‧‧‧First axial
32‧‧‧第一馬達 32‧‧‧First motor
332‧‧‧第一輸出軸 332‧‧‧First output shaft
41‧‧‧第二軸向 41‧‧‧second axial
42‧‧‧第二馬達 42‧‧‧second motor
432‧‧‧第二樞軸 432‧‧‧second pivot
50‧‧‧連桿模組 50‧‧‧ linkage module
51‧‧‧近端連桿組 51‧‧‧ Near-end link set
511‧‧‧第一近端滑軌 511‧‧‧First proximal slide
512‧‧‧第二近端滑軌 512‧‧‧Second proximal rail
514‧‧‧第一滑塊 514‧‧‧First slider
515‧‧‧第二滑塊 515‧‧‧second slider
52‧‧‧遠端連桿組 52‧‧‧ distal link set
521‧‧‧第一遠端桿部 521‧‧‧First distal rod
522‧‧‧第二遠端桿部 522‧‧‧Second distal rod
60‧‧‧伸縮帶動模組 60‧‧‧ Telescopic drive module
61‧‧‧螺桿 61‧‧‧ screw
62‧‧‧螺帽 62‧‧‧ nuts
63‧‧‧第三馬達 63‧‧‧third motor
91‧‧‧醫療器械 91‧‧‧ medical equipment
911‧‧‧伸縮軸向 911‧‧‧ telescopic axial
P‧‧‧插入點 P‧‧‧ insertion point
96‧‧‧基架 96‧‧‧ pedestal
Claims (5)
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TW104144376A TWI572325B (en) | 2015-12-30 | 2015-12-30 | Retractable medical instrument control mechannism |
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TW104144376A TWI572325B (en) | 2015-12-30 | 2015-12-30 | Retractable medical instrument control mechannism |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
TW201510569A (en) * | 2013-09-11 | 2015-03-16 | Ind Tech Res Inst | Virtual image display apparatus |
TWI511700B (en) * | 2013-11-19 | 2015-12-11 | Univ Nat Taiwan Science Tech | Surgical holder |
-
2015
- 2015-12-30 TW TW104144376A patent/TWI572325B/en not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
TW201510569A (en) * | 2013-09-11 | 2015-03-16 | Ind Tech Res Inst | Virtual image display apparatus |
TWI511700B (en) * | 2013-11-19 | 2015-12-11 | Univ Nat Taiwan Science Tech | Surgical holder |
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