CN103356294B - Auxiliary mechanical arm for soft lens operation - Google Patents
Auxiliary mechanical arm for soft lens operation Download PDFInfo
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- CN103356294B CN103356294B CN201310342739.6A CN201310342739A CN103356294B CN 103356294 B CN103356294 B CN 103356294B CN 201310342739 A CN201310342739 A CN 201310342739A CN 103356294 B CN103356294 B CN 103356294B
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Abstract
The invention discloses an auxiliary mechanical arm for a soft lens operation. The auxiliary mechanical arm comprises a base, a vertical up-and-down mechanical arm, a horizontal left-and-right mechanical arm, a front-and-back telescopic mechanical arm, a soft lens clamping device, an up-and-down dimension drive motor, a left-and-right dimension drive motor, a front-and-back dimension drive motor, a rotary shaft dimension drive motor and a soft lens shifting disc drive motor. The invention further discloses a method for achieving the auxiliary mechanical arm for the soft lens operation. The auxiliary mechanical arm solves the problems that in the prior art, multi-directional manipulation of a flexible instrument cannot be achieved, complex operation conditions cannot be handled, the matching effect of an existing mechanical arm and the flexible instrument is poor, and the hands of a doctor tremble when the doctor conducts an operation. The auxiliary mechanical arm has the advantages of being simple in structure, low in manufacturing cost, and suitable for the soft lens operation, capable of being used for handling the complex operation conditions, capable of achieving five-dimension motion of a soft lens, good in using effect and the like.
Description
Technical field
The present invention relates to medical device technology, a kind of for soft lens operation auxiliary manipulator and its implementation specifically.
Background technology
Along with soft lens technological progress, Flexible ureteroscope operation becomes the chief surgical of intracavity Urology Surgery gradually, compared with traditional ureterscopy, Flexible ureteroscope has the bendable mirror body of high suppleness, bend freely, dexterous convenient, urinary bladder channel ureteric orifice can be entered into from human body natural's passage urethra and go directly renal pelvis and each renal calices to ureter.Owing to having perfusion and service aisle, Flexible ureteroscope can process the various disease of kidney aggregation system, as calculus, and tumor.Not only comparatively safe, and therapeutic effect is remarkable, relative to underwent percutaneous renal-scope treatment method, have safer, damage little, recover the advantage such as fast.In the tumor of renal pelvis being difficult to make a definite diagnosis at Diagnosis and Treat, renal calculus, proximal ureteral calculus, there is the advantage that other equipment are incomparable and replace.Specific as follows:
1) non-blind area is checked: this is also the most outstanding advantage of soft lens.Because mirror body is soft, and mirror body head end can upwards be bent downwardly very wide-angle, accomplishes not fail to pinpoint a disease in diagnosis, the blind area can seeing hard mirror to can't see.
2) damage little: due to mirror body softness (similar to catheter), caliber thin (< 6Fr), under anesthesia, direct-view is gently inserted and substantially can not be caused damage to urethra, bladder, ureter etc.Relative to hard mirror, soft lens is more easily by patient is accepted.
3) visual field is relatively clear: soft lens damage is little, can reduce damaging hematuria to greatest extent to the impact observed, thus ensures to get a clear view.In addition, soft lens belongs to electronic digital imaging, has high image resolution ratio, can the more early stage and small pathological changes of clear discovery, namely disease is effectively treated in early days, improves the curative effect of patient.Digitized image can also be reached computer by image capturing system by soft lens, and even online realizes synchronous remote medical consultation with specialists.
4) low to the requirement of position: patient can check in calculi position, dorsal position and lateral position, be particularly suitable for the patient (as lower limb malformation, severe arthritic and hemiplegic patient etc.) that can not put calculi position and internal organs clinostatism.
5) urethra, bladder can be checked, ureter, renal pelvis and the whole urinary tract system of each renal calices simultaneously: and hard mirror to accomplish.
But when doing Flexible ureteroscope operation, for safety enters mirror, find renal calices mouth, particularly during the operation of row kidney stone, need to rely on X-ray to irradiate location, it is larger that surgical doctor is subject to radiation amount, for this reason, how to reduce the radiation that doctor is subject to, realize soft lens accurately, stable position, avoiding doctor's prolonged operations tired and causing hand tremor dynamic is instant problem.
In recent years, both at home and abroad medical robot and mechanical hand invention and Application comparison many, comparative maturity have Leonardo da Vinci (DaVinci) system, Zeus system, Aesop (AESOP) 3000 medical surgery operating robot etc.
Leonardo da Vinci (DaVinci) system is primarily of surgeon console (Surgeon Console); Other mechanical arm tower (Patient Cart) of the bed that four mutual arms of 7 degree of freedom are housed and high-precision 3D HD visual system (Vision Cart) formation.By means of high technology equipments such as high definition three-dimensional imaging, multi-joint arm Automated condtrol and cable signal transmission, the advantages such as the three-dimensional high-definition visual area that made it possess, arm non-jitter, camera lens is fixed, range of activity is wide, apparatus degree of excursion is large, and change the traditional mode that patient stands in the other operation of operating-table, whole process of operation is completed before being sitting in control station by operator doctor, meet base of principle of human engineering, be more suitable for long-time complicated operation.This system is widely used in department of general surgery, Urology Surgery, gynecological laparoscopic operation.
ZEUS robotic surgical system is made by Computer Motion company, can use in Europe, ZEUS system and Leonardesque device similar, it has a computer workstation, video display units, a joystick (surgical unit installed on mobile operating-table).ZEUS system is only approved for medical treatment test in the U.S. at present, and German doctor has used this system to carry out coronary heart disease bypass surgery.
Aesop (AESOP) 3000 robot system is issued in 1994 by Computer Motion company, and AESOP is that the First that FDA approval uses may be used for the robot of operating room assisting operation.AESOP than Leonardo da Vinci system and ZEUS system simply too much, an AESOP just mechanical arm substantially, locate endoscope for doctor---a kind of surgery photographing unit inserted in patient body.Pedal or sound software are used for doctor's position cameras, and this proceeds operation with regard to allowing the hands of doctor be available.AESOP provides several endoscopies control form, comprises Voice command, artificial location and Non-follow control.
Following technical problem is there is in prior art:
(1), existing mechanical hand is generally used for rigid apparatus manipulation, at manipulation flexible instrument, as soft lens aspect exists certain limitation;
(2), the motion mode of existing machinery hands and method of clamping easily cause the damage of flexible instrument;
(3), existing mechanical hand cannot realize the accurate multi-faceted manipulation of flexible instrument;
(4) if, operation manual operation, the hands of doctor has shake.
Summary of the invention
The object of the invention is to overcome the deficiency that above prior art exists, provide that a kind of structure is simple, low cost, be applicable to soft lens operation, surgery situation tackle complexity, soft lens realize five maintenance and operations and to move and result of use is good to perform the operation auxiliary manipulator for soft lens.
Another object of the present invention is to provide a kind of implementation method for soft lens operation auxiliary manipulator.
In order to achieve the above object, the present invention is by the following technical solutions: be a kind ofly used for soft lens operation auxiliary manipulator, comprise base, vertically up and down mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, wherein, vertically mechanical arm is provided with the first leading screw and the first feed screw nut up and down, first feed screw nut is connected with the first slide block, tieing up drive motors up and down drives the first leading screw to rotate, drive the first skid, the second leading screw and the second feed screw nut is provided with in the mechanical arm of level left and right, second feed screw nut is connected with the second slide block, left and right dimension drive motors drives the second leading screw to drive the second skid, vertically the first slide block of mechanical arm is connected with the second slide block of vertical mechanical arm up and down up and down, elastic mechanical arm is provided with the 3rd leading screw and the 3rd feed screw nut, 3rd feed screw nut is connected with the 3rd slide block, front and back dimension drive motors drives the 3rd leading screw to drive the 3rd skid, 3rd slide block of elastic mechanical arm is connected with vertical mechanical arm one end up and down, elastic mechanical arm end surface affixed rotating shaft dimension drive motors, rotating shaft dimension drive motors and soft lens slewing equipment one end are rotationally connected, the soft lens slewing equipment other end connects soft lens clamper, soft lens clamper and soft lens driver plate are tieed up drive motors and are connected, tie up drive motors up and down, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors are connected with controller respectively.
Preferably, described soft lens slewing equipment is " L " shape turning cylinder.
Preferably, described drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and the soft lens driver plate dimension drive motors tieed up up and down is motor or servomotor.
Preferably, described soft lens clamper comprises soft lens clamp body, soft lens clamping movable block, the fixing card of soft lens driver plate, the first adjustment screw and the second adjustment screw; Wherein, soft lens driver plate dimension drive motors passes soft lens clamp body and is fixed on soft lens clamp body, the axle of soft lens driver plate dimension drive motors and soft lens driver plate are fixed card and are rotationally connected, and soft lens clamping movable block is provided with the first adjustment screw, and the fixing card of soft lens driver plate is provided with the second adjustment screw.
For the ease of mobile and fixing operation, described base is travelling carriage, travelling carriage inside is provided with some installation positions, travelling carriage side plate offers cable through hole, more than 1 brake block caster is provided with bottom travelling carriage, be equipped with jack device or height adjustable fixed feet bottom travelling carriage, in operation process, castor risen, ensure that travelling carriage is fixed.
For an implementation method for soft lens operation auxiliary manipulator, comprise the following steps:
(1), when mechanical hand need do vertically move up and down time, controller controls to tie up drive motors up and down, tieing up drive motors up and down drives the first leading screw on vertical mechanical arm up and down to rotate, first leading screw drives the first skid, and the motion of the first slide block makes soft lens clamper do vertically to move up and down;
(2), when mechanical hand needs to do horizontal side-to-side movement, controller controls left and right dimension drive motors, left and right dimension drive motors drives the second leading screw on the mechanical arm of level left and right to rotate, second leading screw drives the second skid, and the motion of the second slide block makes soft lens clamper do horizontal side-to-side movement;
(3), when mechanical hand needs to do elastic motion, dimension drive motors before and after controller controls, front and back dimension drive motors drives the 3rd leading screw on elastic mechanical arm to rotate, 3rd leading screw drives the 3rd skid, and the motion of the 3rd slide block makes soft lens clamper do elastic motion;
(4), when mechanical hand needs to do pivot, controller controls rotating shaft dimension drive motors, and rotating shaft dimension drive motors drives soft lens slewing equipment to rotate, thus makes soft lens clamper do pivot;
(5), when mechanical hand needs to do driver plate motion, controller controls soft lens driver plate dimension drive motors, and soft lens driver plate dimension drive motors drives the fixing card of soft lens driver plate to rotate, thus makes soft lens clamper do driver plate motion.
When described step (4) and (5) are carried out simultaneously, soft lens clamper drives soft lens to do before and after soft lens and bends motion.
Controller in described step (1) ~ (5) is the control operation platform of tape input equipment.
The present invention, relative to prior art, has following advantage and effect:
1, present invention employs and comprise base, vertically up and down mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, have that structure is simple, low cost, be applicable to soft lens operation, surgery situation tackle complexity, soft lens realize the features such as five maintenance and operations are moved and result of use is good.
2, the present invention can pass through soft lens slewing equipment, the fixing card of soft lens driver plate, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors, realizes the control of bending before and after soft lens, so that the surgery situation that reply is complicated.
4, the drive motors of dimension up and down in the present invention, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors, first set each motor position corner accuracy, then control the continuous small control of each motor by signal.
5, the present invention replaces doctor's artificial hand to perform the operation, and mechanical hand stability is high, prevents shake, avoids danger, improve successful surgery probability.
6, the present invention is by controlling each electric machine rotation, thus it is dynamic to realize five maintenance and operations, and flexibly, without operation dead angle, result of use is good in motion.
Accompanying drawing explanation
Fig. 1 is a kind of overall structure schematic diagram for soft lens operation auxiliary manipulator;
Fig. 2 is vertical mechanical arm, level left and right mechanical arm, elastic mechanical arm place structural representation up and down in the present invention;
Fig. 3 is the syndeton schematic diagram of elastic mechanical arm and soft lens clamper in the present invention;
Fig. 4 is the syndeton schematic diagram of soft lens clamper and soft lens in the present invention;
Fig. 5 is the structural representation of soft lens clamper in the present invention.
Number in the figure and title as follows:
| 1 | Base | 2 | Vertically upper and lower mechanical arm |
| 3 | Level left and right mechanical arm | 4 | Elastic mechanical arm |
| 5 | Soft lens clamper | 6 | Tie up drive motors up and down |
| 7 | Left and right dimension drive motors | 8 | Front and back dimension drive motors |
| 9 | Rotating shaft dimension drive motors | 10 | Soft lens driver plate dimension drive motors |
| 11 | First leading screw | 12 | First feed screw nut |
| 13 | First slide block | 14 | Second leading screw |
| 15 | Second feed screw nut | 16 | Second slide block |
| 17 | 3rd leading screw | 18 | 3rd feed screw nut |
| 19 | 3rd slide block | 20 | Soft lens slewing equipment |
| 21 | Soft lens clamp body | 22 | Soft lens clamping movable block |
| 23 | The fixing card of soft lens driver plate | 24 | First adjustment screw |
| 25 | Second adjustment screw | 26 | Caster |
| 27 | Soft lens |
Detailed description of the invention
For ease of it will be appreciated by those skilled in the art that the present invention is described in further detail below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Fig. 1 ~ 5, a kind of for soft lens operation auxiliary manipulator, comprise base 1, vertically upper and lower mechanical arm 2, level left and right mechanical arm 3, elastic mechanical arm 4, soft lens clamper 5, tie up drive motors 6 up and down, drive motors 7 is tieed up in left and right, drive motors 10 tieed up by front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate, wherein, as shown in Figure 2, vertically mechanical arm 2 is provided with the first leading screw 11 and the first feed screw nut 12 up and down, first feed screw nut 12 is connected with the first slide block 13, tieing up drive motors 6 up and down drives the first leading screw 11 to rotate, the first slide block 13 is driven to slide, the second leading screw 14 and the second feed screw nut 15 is provided with in level left and right mechanical arm 3, second feed screw nut 15 is connected with the second slide block 16, left and right dimension drive motors 7 drives the second leading screw 14 to drive the second slide block 16 to slide, first slide block 13 is connected with the second slide block 16, elastic mechanical arm 4 is provided with the 3rd leading screw 17 and the 3rd feed screw nut 18, 3rd feed screw nut 18 is connected with the 3rd slide block 19, front and back dimension drive motors 8 drives the 3rd leading screw 17 to drive the 3rd slide block 18 to slide, 3rd slide block 18 is connected with vertical mechanical arm 2 one end up and down, elastic mechanical arm 4 end surface affixed rotating shaft dimension drive motors 9, rotating shaft dimension drive motors 9 is rotationally connected with soft lens slewing equipment 20 one end, soft lens slewing equipment 20 other end connects soft lens clamper 5, soft lens clamper 5 and soft lens driver plate are tieed up drive motors 10 and are connected, tie up drive motors 6 up and down, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 are connected with controller respectively, vertically upper and lower mechanical arm 2, level left and right mechanical arm 3, elastic mechanical arm 4 any connected mode can form rectangular coordinate system motion.
Soft lens slewing equipment 20 in the present embodiment is " L " shape turning cylinder, tie up drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 up and down and be motor, controller is the control operation platform of tape input equipment.
As shown in Figure 4,5, soft lens clamper 5 comprises soft lens clamp body 21, soft lens clamps movable block 22, soft lens driver plate is fixed card 23, first and adjusted screw 24 and the second adjustment screw 25; Wherein, soft lens driver plate dimension drive motors 10 passes soft lens clamp body 5 and is fixed on soft lens clamp body 5, the axle of soft lens driver plate dimension drive motors 10 and soft lens driver plate are fixed card 23 and are rotationally connected, soft lens clamping movable block 22 is provided with the first adjustment screw 24, and soft lens driver plate is fixed card 23 and is provided with the second adjustment screw 25.
Base 1 in the present embodiment is travelling carriage, travelling carriage inside is provided with some installation positions, travelling carriage side plate offers cable through hole, more than 1 brake block caster 26 is provided with bottom travelling carriage, jack device is equipped with bottom travelling carriage, in operation process, castor 26 is risen, ensure that travelling carriage is fixed.
For an implementation method for soft lens operation auxiliary manipulator, comprise the following steps:
(1), when mechanical hand need do vertically move up and down time, controller controls to tie up drive motors 6 up and down, tieing up drive motors 6 up and down drives the first leading screw 11 on vertical mechanical arm 2 up and down to rotate, first leading screw 11 drives the first slide block 13 to slide, and the motion of the first slide block 13 makes soft lens clamper 5 do vertically to move up and down;
(2), when mechanical hand needs to do horizontal side-to-side movement, controller controls left and right dimension drive motors 7, left and right dimension drive motors 7 drives the second leading screw 14 on level left and right mechanical arm 3 to rotate, second leading screw 14 drives the second slide block 16 to slide, and the motion of the second slide block 16 makes soft lens clamper 5 do horizontal side-to-side movement;
(3), when mechanical hand needs to do elastic motion, dimension drive motors 8 before and after controller controls, front and back dimension drive motors 8 drives the 3rd leading screw 17 on elastic mechanical arm 4 to rotate, 3rd leading screw 17 drives the 3rd slide block 19 to slide, and the motion of the 3rd slide block 19 makes soft lens clamper 5 do elastic motion;
(4), when mechanical hand needs to do pivot, controller controls rotating shaft dimension drive motors 9, and rotating shaft dimension drive motors 9 drives soft lens slewing equipment 20 to rotate, thus makes soft lens clamper 5 do pivot;
(5), when mechanical hand needs to do driver plate motion, controller controls soft lens driver plate dimension drive motors 10, and soft lens driver plate dimension drive motors 10 drives soft lens driver plate to fix card 23 to rotate, thus makes soft lens clamper 5 do driver plate motion.
When described step (4) and (5) are carried out simultaneously, soft lens clamper 5 drives soft lens 27 to do before and after soft lens and bends motion.
Controller in described step (1) ~ (5) is the control operation platform of tape input equipment.
Above-mentioned control method can be used in the middle of the scientific research prosthese of operation or non-medical object, and the concrete control method of the present embodiment acts on prosthese.During concrete practical application, can proceed as follows:
First soft lens 27 is entered urethra, the ureter of prosthese by ureter guiding sheath, and send into renal pelvis, then soft lens handle placed by manual type as requested and be fixed on soft lens clamper 5.Enter the whole process of kidney aggregation system at touch screen (there is display image function) upper display soft lens, comprise renal pelvis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; Open by the corresponding function button clicked on control operation platform touch screen the excitation device controlling Bladder stone and launch Bladder stone; In operation, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the definition in the visual field by control operation platform; When entering kidney aggregation system, opening control X-ray exposure device and carrying out X-ray irradiation with the position determining soft lens 27; In operation, check kidney aggregation system at any time by touch screen, carry out X-ray simultaneously and irradiate with the physical location determining soft lens.According to soft lens surgical protocols, the operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of operating robotic arm, the rotation of mechanical hand and gyration.Meanwhile, according to practical situation, the brake block caster 26 of travelling carriage can be controlled, carry out brake hard, and then control upper and lower, all around of soft lens 27, rotation and gyration, adjustment soft lens 27 position and state.
Embodiment 2
The present embodiment and embodiment 1 difference are: tie up drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 up and down and be servomotor, be equipped with height adjustable fixed feet bottom travelling carriage.During concrete operations, first soft lens is entered urethra, the ureter of prosthese by ureter guiding sheath, and send into renal pelvis, then soft lens handle placed by manual type as requested and be fixed on soft lens clamper.Enter the whole process of kidney aggregation system at touch screen (there is display image function) upper display soft lens, comprise renal pelvis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; Open by the corresponding function button clicked on control operation platform touch screen the excitation device controlling Bladder stone and launch Bladder stone; In operation, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the definition in the visual field by control operation platform; When entering kidney aggregation system, opening control X-ray exposure device and carrying out X-ray irradiation with the position determining soft lens; Open control high-pressure contrast equipment by control operation platform and carry out radiography; In operation, check kidney aggregation system at any time by touch screen, carry out X-ray simultaneously and irradiate with the physical location determining soft lens.According to soft lens surgical protocols, operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of operating robotic arm, the rotation of mechanical hand and gyration, simultaneously, according to practical situation, the brake block caster of travelling carriage can be controlled, carry out brake hard, and then control upper and lower, all around of soft lens 27, rotation and gyration, adjustment soft lens 27 position and state.
Above-mentioned detailed description of the invention is the preferred embodiments of the present invention, can not limit the present invention, and any of other does not deviate from technical scheme of the present invention and the substitute mode of the change made or other equivalence, is included within protection scope of the present invention.
Claims (5)
1. for a soft lens operation auxiliary manipulator, it is characterized in that: comprise base, vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, wherein, vertically mechanical arm is provided with the first leading screw and the first feed screw nut up and down, first feed screw nut is connected with the first slide block, tieing up drive motors up and down drives the first leading screw to rotate, drive the first skid, the second leading screw and the second feed screw nut is provided with in the mechanical arm of level left and right, second feed screw nut is connected with the second slide block, left and right dimension drive motors drives the second leading screw to drive the second skid, vertically the first slide block of mechanical arm is connected with the second slide block of vertical mechanical arm up and down up and down, elastic mechanical arm is provided with the 3rd leading screw and the 3rd feed screw nut, 3rd feed screw nut is connected with the 3rd slide block, front and back dimension drive motors drives the 3rd leading screw to drive the 3rd skid, 3rd slide block of elastic mechanical arm is connected with vertical mechanical arm one end up and down, elastic mechanical arm end surface affixed rotating shaft dimension drive motors, rotating shaft dimension drive motors and soft lens slewing equipment one end are rotationally connected, the soft lens slewing equipment other end connects soft lens clamper, soft lens clamper and soft lens driver plate are tieed up drive motors and are connected, tie up drive motors up and down, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors are connected with controller respectively.
2. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described soft lens slewing equipment is " L " shape turning cylinder.
3. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and the soft lens driver plate dimension drive motors tieed up up and down is motor or servomotor.
4. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described soft lens clamper comprises soft lens clamp body, soft lens clamping movable block, the fixing card of soft lens driver plate, the first adjustment screw and the second adjustment screw; Wherein, soft lens driver plate dimension drive motors passes soft lens clamp body and is fixed on soft lens clamp body, the axle of soft lens driver plate dimension drive motors and soft lens driver plate are fixed card and are rotationally connected, and soft lens clamping movable block is provided with the first adjustment screw, and the fixing card of soft lens driver plate is provided with the second adjustment screw.
5. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described base is travelling carriage, travelling carriage inside is provided with some installation positions, travelling carriage side plate offers cable through hole, more than 1 brake block caster is provided with bottom travelling carriage, be equipped with jack device or height-adjustable fixed feet bottom travelling carriage, in operation process, castor risen, ensure that travelling carriage is fixed.
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| CN203468741U (en) * | 2013-08-07 | 2014-03-12 | 吴开俊 | Flexible cystoscope operation auxiliary manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101554335A (en) * | 2008-04-07 | 2009-10-14 | 奥林巴斯医疗株式会社 | Medical manipulator system |
| CN102470003A (en) * | 2009-12-10 | 2012-05-23 | 奥林巴斯医疗株式会社 | Medical manipulator |
| DE102010052219A1 (en) * | 2010-11-24 | 2012-05-24 | Karl Storz Gmbh & Co. Kg | Holding system for medical instruments |
| EP2612616A1 (en) * | 2012-01-06 | 2013-07-10 | Samsung Electronics Co., Ltd | Surgical robot and method for controlling the same |
| CN203468741U (en) * | 2013-08-07 | 2014-03-12 | 吴开俊 | Flexible cystoscope operation auxiliary manipulator |
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