CN101416893A - Operation needle gripping quick-changing device for micro-wound operation robot - Google Patents
Operation needle gripping quick-changing device for micro-wound operation robot Download PDFInfo
- Publication number
- CN101416893A CN101416893A CNA2008102275234A CN200810227523A CN101416893A CN 101416893 A CN101416893 A CN 101416893A CN A2008102275234 A CNA2008102275234 A CN A2008102275234A CN 200810227523 A CN200810227523 A CN 200810227523A CN 101416893 A CN101416893 A CN 101416893A
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- China
- Prior art keywords
- operation needle
- quick change
- pressing board
- change head
- sleeve pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000006835 compression Effects 0.000 claims abstract description 15
- 238000007906 compression Methods 0.000 claims abstract description 15
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 4
- 238000005056 compaction Methods 0.000 abstract 1
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 239000000645 desinfectant Substances 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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Abstract
The invention discloses a device for clamping and fast shifting surgical needles, which is used for a robot for minimally invasive surgery, and pertains to the technical field of accessories for minimally invasive surgery. The device comprises a fast-shifting cap, a compression spring, a sliding shaft, a movable pressing board and a surgical needle sleeve, wherein, the fast-shifting cap is sheathed on a frame; a through hole, which is used for installing the compression spring and the sliding shaft and being passed through by the sliding shaft, is arranged at the top of the fast-shifting cap; the compression spring is installed between the sliding shaft and the fast-shifting cap; the sliding shaft is matched with a hole on the frame under the effect of compaction and the fast-shifting cap is fixedly connected with the frame; the movable pressing board is installed at one side face of the fast-shifting cap while a bayonet is arranged at the other side face of the cap; the surgical needle sleeve is placed at the middle part of the movable pressing board, one end of which is locked in the bayonet; and the surgical needle sleeve is tightly clamped by the flexible deformation of the movable pressing board. The device can assemble and disassemble the fast-shifting cap as well as clamp and remove surgical needles of different types conveniently.
Description
Technical field
The present invention relates to a kind of fast replacing device, belong to minimally invasive medical auxiliary facilities technical field, in particular for the operation needle clamping and the quick change of micro-wound operation robot.
Background technology
May need before art, carry out disinfection with the part that patient directly contacts in the Minimally Invasive Surgery equipment.Want disinfectant partly to need and to be connected and to throw off with apparatus body efficiently, therefore need fast replacing device.Because micro-wound operation robot is the equipment of positive location, rigidity requirement height to structure, and inartificial auxiliary controlling, its terminal structure is than existing surgical apparatus complexity, and therefore present existing fast replacing device all is difficult to be applied directly on the micro-wound operation robot.In addition, in the operation process, after robot navigates to assigned address with operation needle, need operation needle be broken away from from robot, the subsequent operation of being convenient to perform the operation for this reason, need design corresponding operation needle clamping device for the quick change head of micro-wound operation robot.Because the operation needle of using in the Minimally Invasive Surgery is of different sizes and model, therefore, need can adapt to the sleeve pipe of different size operation needle for the operation needle clamping device design of micro-wound operation robot.
Summary of the invention
First purpose of the present invention is the quick change problem that will solve the terminal sterilization section of micro-wound operation robot.
Second purpose of the present invention is to solve clamping and the dismounting problem of micro-wound operation robot to the different model operation needle.
The invention provides a kind of micro-wound operation robot operation needle gripping quick-changing device.Described fast replacing device is made up of quick change head, compression spring, movable axis, movable pressing board and operation needle sleeve pipe; Described quick change headgear is on frame, described quick change head is provided with the through hole that is used to install compression spring and movable axis, described movable axis passes the through hole on the described quick change head, described compression spring is installed between movable axis and the quick change head, by pressuring action described movable axis is cooperated with hole on the frame, described quick change head and frame are connected; Described movable pressing board is installed in a side of described quick change head, another opposite flank of described quick change head is provided with bayonet socket, described operation needle sleeve pipe is placed on the middle part of described movable pressing board, one end of described movable pressing board buckles into bayonet socket, and the strain by described movable pressing board clamps described operation needle sleeve pipe.
As a kind of improvement of the present invention, the operation needle sleeve pipe of described fast replacing device is provided with clamp, and described clamp is located the operation needle sleeve pipe with respect to described quick change head.
As a kind of improvement of the present invention, described operation needle sleeve pipe has the open slot structure that is communicated with the telescopic central through hole of operation needle, is used to install operation needle.
Gripping quick-changing device of the present invention can load and unload the quick change head easily, is convenient to disinfect, and the operation needle of clamping easily simultaneously and dismounting different model is convenient to operation technique, has solved the end sterilization of micro-wound operation robot and has held the pin problem.
Description of drawings
Fig. 1 is the front view of the embodiment of the invention.
Fig. 2 is the vertical view of the embodiment of the invention.
Fig. 3 is the telescopic vertical view of operation needle in the embodiment of the invention.
The specific embodiment
Below in conjunction with embodiment the operation needle gripping quick-changing device that is used for micro-wound operation robot of the present invention is illustrated, but be not used for limiting the present invention.
As Fig. 1, Fig. 2, shown in Figure 3, the described operation needle gripping quick-changing device of the embodiment of the invention is made up of quick change head 1, compression spring 2, movable axis 3, movable pressing board 5 and operation needle sleeve pipe 6.Described quick change head 1 is enclosed within on the frame 4, described quick change head 1 top is provided with the through hole that is used to install compression spring 2 and movable axis 3, described movable axis 3 passes the through hole on the described quick change head, described compression spring 2 is installed between movable axis 3 and the quick change head 1, in the middle of the described movable axis 3 step is arranged, one end is by quick change head 1 and compression spring 2 location, and the pressuring action of the other end by compression spring 2 makes described movable axis 3 cooperate with hole on the frame 4, and described quick change head 1 and frame 4 are connected.Movable axis 1 can be smoked by external force and be broken away from frame 4, thereby fast and convenient quick change head 1 is affixed on the frame 4 or with frame 4 break away from.
Described movable pressing board 5 is installed in a side of described quick change head 1, another opposite flank of described quick change head 1 is provided with bayonet socket, described operation needle sleeve pipe 6 is placed on the middle part of described movable pressing board 5, one end of described movable pressing board 5 buckles into bayonet socket, strain by described movable pressing board 5 clamps described operation needle sleeve pipe 6, and movable pressing board 5 also can be opened easily simultaneously.In the middle of the movable pressing board 5 curved groove is arranged, cooperate, be used for clamping operation needle sleeve pipe 6 with the arc groove of quick change head 1.Described operation needle sleeve pipe 6 is provided with clamp 8, and described clamp 8 is located operation needle sleeve pipe 6 with respect to described quick change head 1.Operation needle sleeve pipe 6 is pipes that overall dimensions is diameter 4mm, has the open slot structure that is communicated with the central through hole of operation needle sleeve pipe 6.The open slot of operation needle sleeve pipe 6 and central through hole have a series of different sizes, be used for installing the operation needle 7 of different size and purposes.After opening movable pressing board 5, operation needle sleeve pipe 6 breaks away from operating robot together with operation needle 7, can operation needle sleeve pipe 6 be taken off from operation needle 7 by open slot then.
Operation needle sleeve pipe 6 materials are engineering plastics ABS, and other parts comprise that quick change head 1, compression spring 2, movable axis 3, frame 4, movable pressing board 5, middleware, connector material are magnetism-free stainless steel 1Cr18Ni9TiA.
Above-mentioned embodiment has just exemplified exemplary embodiments of the present invention; can only think explanation of the present invention rather than restriction the present invention; those skilled in the art can do corresponding changes and improvements under the prompting of description, but should think in claims protection domain of the present invention.
Claims (3)
1, be used for the operation needle gripping quick-changing device of micro-wound operation robot, it is characterized in that: described fast replacing device is made up of quick change head, compression spring, movable axis, movable pressing board and operation needle sleeve pipe; Described quick change headgear is on frame, described quick change head is provided with the through hole that is used to install compression spring and movable axis, described movable axis passes the through hole on the described quick change head, described compression spring is installed between movable axis and the quick change head, by pressuring action described movable axis is cooperated with hole on the frame, described quick change head and frame are connected; Described movable pressing board is installed in a side of described quick change head, another opposite flank of described quick change head is provided with bayonet socket, described operation needle sleeve pipe is placed on the middle part of described movable pressing board, one end of described movable pressing board buckles into bayonet socket, and the strain by described movable pressing board clamps described operation needle sleeve pipe.
2, the operation needle gripping quick-changing device that is used for micro-wound operation robot according to claim 1 is characterized in that: the operation needle sleeve pipe of described fast replacing device is provided with clamp, and described clamp is located the operation needle sleeve pipe with respect to described quick change head.
3, the operation needle gripping quick-changing device that is used for micro-wound operation robot according to claim 1 and 2 is characterized in that: described operation needle sleeve pipe has the open slot structure that is communicated with the telescopic central through hole of operation needle, is used to install operation needle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102275234A CN101416893B (en) | 2008-11-27 | 2008-11-27 | Operation needle gripping quick-changing device for micro-wound operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102275234A CN101416893B (en) | 2008-11-27 | 2008-11-27 | Operation needle gripping quick-changing device for micro-wound operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101416893A true CN101416893A (en) | 2009-04-29 |
| CN101416893B CN101416893B (en) | 2010-06-23 |
Family
ID=40628020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102275234A Expired - Fee Related CN101416893B (en) | 2008-11-27 | 2008-11-27 | Operation needle gripping quick-changing device for micro-wound operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101416893B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101904771A (en) * | 2010-07-08 | 2010-12-08 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN101933837A (en) * | 2010-07-08 | 2011-01-05 | 中国科学院自动化研究所 | Minimally invasive vascular interventional surgical robot tube feeding device |
| CN105150237A (en) * | 2015-07-10 | 2015-12-16 | 中国核电工程有限公司 | Connecting device |
| CN106214274A (en) * | 2016-09-25 | 2016-12-14 | 东莞市联洲知识产权运营管理有限公司 | A kind of fixing device of surgical needles head |
| CN106344161A (en) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | End-of-arm tooling quick replacing mechanism for minimally-invasive spine surgery robot |
| CN106551723A (en) * | 2016-11-22 | 2017-04-05 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanisms |
| CN106551724A (en) * | 2016-11-22 | 2017-04-05 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot abrasive drilling clamping device |
| CN111700685A (en) * | 2020-05-29 | 2020-09-25 | 武汉联影智融医疗科技有限公司 | End device and surgical robot |
| CN113727659A (en) * | 2019-02-22 | 2021-11-30 | 爱惜康股份有限公司 | Systems, devices, and methods for storing suture needles and delivering selected suture needles through trocars using a robot |
| CN113974843A (en) * | 2021-10-12 | 2022-01-28 | 浙江理工大学 | Active three-freedom-degree surgical instrument |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299883C (en) * | 2004-12-03 | 2007-02-14 | 天津大学 | Micro mechanical band for microsurgery |
| CN201153955Y (en) * | 2008-01-09 | 2008-11-26 | 北京航空航天大学 | Executor end quick switching unit |
-
2008
- 2008-11-27 CN CN2008102275234A patent/CN101416893B/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101904771A (en) * | 2010-07-08 | 2010-12-08 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN101933837A (en) * | 2010-07-08 | 2011-01-05 | 中国科学院自动化研究所 | Minimally invasive vascular interventional surgical robot tube feeding device |
| CN101904771B (en) * | 2010-07-08 | 2012-04-25 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN105150237A (en) * | 2015-07-10 | 2015-12-16 | 中国核电工程有限公司 | Connecting device |
| CN105150237B (en) * | 2015-07-10 | 2021-03-19 | 中国核电工程有限公司 | Connecting device |
| CN106214274A (en) * | 2016-09-25 | 2016-12-14 | 东莞市联洲知识产权运营管理有限公司 | A kind of fixing device of surgical needles head |
| CN106214274B (en) * | 2016-09-25 | 2018-07-17 | 青岛市妇女儿童医院 | A kind of fixing device of surgical needles head |
| CN106344161B (en) * | 2016-11-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot end-of-arm tooling quick-changing mechanism |
| CN106551724A (en) * | 2016-11-22 | 2017-04-05 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot abrasive drilling clamping device |
| CN106551723A (en) * | 2016-11-22 | 2017-04-05 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanisms |
| CN106551723B (en) * | 2016-11-22 | 2018-12-11 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism |
| CN106551724B (en) * | 2016-11-22 | 2018-12-11 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot abrasive drilling clamping device |
| CN106344161A (en) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | End-of-arm tooling quick replacing mechanism for minimally-invasive spine surgery robot |
| CN113727659A (en) * | 2019-02-22 | 2021-11-30 | 爱惜康股份有限公司 | Systems, devices, and methods for storing suture needles and delivering selected suture needles through trocars using a robot |
| CN111700685A (en) * | 2020-05-29 | 2020-09-25 | 武汉联影智融医疗科技有限公司 | End device and surgical robot |
| CN111700685B (en) * | 2020-05-29 | 2021-08-31 | 武汉联影智融医疗科技有限公司 | End device and surgical robot |
| CN113974843A (en) * | 2021-10-12 | 2022-01-28 | 浙江理工大学 | Active three-freedom-degree surgical instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101416893B (en) | 2010-06-23 |
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| C10 | Entry into substantive examination | ||
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Granted publication date: 20100623 Termination date: 20191127 |
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| CF01 | Termination of patent right due to non-payment of annual fee |