CN104758053B - The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus - Google Patents
The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus Download PDFInfo
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- CN104758053B CN104758053B CN201410006200.8A CN201410006200A CN104758053B CN 104758053 B CN104758053 B CN 104758053B CN 201410006200 A CN201410006200 A CN 201410006200A CN 104758053 B CN104758053 B CN 104758053B
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- perforating
- contraposition
- projector
- minimally invasive
- invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a kind of contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus, comprising：One connecting piece, a fastener and a contraposition part, it is be combined with each other between the connecting piece, fastener and contraposition part by snap, the contraposition part is provided with an apparatus perforating, the apparatus perforating provides an operating theater instruments and plugged wherein, and the same plane of the center line in the apparatus perforating is provided with a projector, the center line of the light beam that the projector is launched and the apparatus perforating is positioned at an angle setting；By said structure, the mechanism of the positioning module of Minimally Invasive Surgery apparatus of the present invention is simple, positioning precision is high.
Description
Technical field
The present invention relates to a kind of and Minimally Invasive Surgery endoscopy surgery apparatus, a kind of fortune of Minimally Invasive Surgery apparatus is referred in particular to
The contraposition module of dynamic central point.
Background technology
With the progress of medical technology, new surgical technic is constantly weeded out the old and bring forth the new.Allowing patient to obtain, quick, risk is small again
The short surgical technic of recovery time is always the target that medical field is pursued, in recent years Minimally Invasive Surgery in fashion
(MinimallyInvasiveSurgery) be one of them, such as laparoscopic surgery, its using introscope image technology and
Micro- shape operating theater instruments, patient is initially formed huge wound can perform a surgical operation, and not only be greatly decreased patient's blood loss,
Can rapidly it be fully recovered because wound is small.
However, when doctor carries out laparoscopic surgery, need to be stretched into simultaneously with introscope image module and operating theater instruments module
Patient's body, and performed the operation by introscope viewing, thus, it is necessary to which mechanical arm assists doctor to grip or operate phase
Closing apparatus could be performed the operation.And Minimally Invasive Surgery is due to the limitation of otch, operating theater instruments need to rotate or mobile around insertion point,
RemoteofCenterMotion, RCM (remote centre of motion) mechanism can with for operating theater instruments provide one it is relatively-stationary
Insertion point (RCM points) position, with facilitate doctor by Minimally Invasive Surgery apparatus insert human body when, it is ensured that the centre of motion of robot in itself
Invasion point of the point with body is superimposed with each other, to avoid the wound of human body from expanding wound because of operating theater instruments swing process
Scope, so then lose the spirit and effect of Minimally Invasive Surgery.
Hold above-mentioned, be directed to RemoteofCenterMotion on Minimally Invasive Surgery apparatus, RCM (remote centre of motion) mechanism
Technology, just as No. 5697939 Patent Case of U.S. Publication, a kind of operating theater instruments is disclosed in having two projected lights on instrument holder
Source device, multiple marks can be projected by relevant position with human body, and the position of the RCM points gone out by projection mark in human body
Put.
Above-mentioned technology is the mode projected using light, need to be superimposed with each other by the projection image of the projection light source apparatus of left and right two,
Projection mark goes out the position of RCM points with human body, therefore need to be fixed two projection light source apparatus using more mechanism and be had
The problem of element is various, mechanism is complicated, angle adjustment is cumbersome.In addition, this mode be by the image projecting of projection light source apparatus extremely
With human body, but the plane of human body surface non-flat forms, therefore image distortion is easily caused after projecting, cause the tight of RCM point locations
Weight error.
In view of this, the present inventor for above-mentioned Minimally Invasive Surgery apparatus structure design on do not attain improve caused by it is many lack
Lose and inconvenient, and deeply conceive, and actively research improvement has a fling at and develops and design this case.
The content of the invention
It is an object of the invention to provide a kind of positioning module for the Minimally Invasive Surgery apparatus that mechanism is simple, positioning precision is high.
In order to reach above-mentioned purpose, solution of the invention is：
A kind of contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus, comprising：One connecting piece, a fastener and a contraposition
Part, it is be combined with each other between the connecting piece, fastener and contraposition part by snap, the contraposition part is provided with one and supplies an operating theater instruments
The apparatus perforating plugged, and the same plane of the center line in the apparatus perforating is provided with a projector, the projector is sent out
The center line of the light beam penetrated and the apparatus perforating is positioned at an angle setting, and is generally aligned in the same plane.
Above-mentioned contraposition part is additionally provided with a projector perforating plugged for the projector, and the apparatus perforating is worn with projector
The center line of apertured is generally aligned in the same plane, and two center lines are positioned at an angle setting.
After said structure, the positioning module of Minimally Invasive Surgery apparatus of the present invention by the contraposition module setting, with letter
Change prior art configurations challenge, and doctor can rapidly change operating theater instruments by the buckle structure of contraposition module, with
Overall versatility is improved, and the projection of the RCM points is located in operating theater instruments, therefore, mechanism of the invention is simple, positioning precision
Height, therefore will not be projected in such as prior art with human body has the problem of inaccuracy, therefore the present invention has completely solved previously
Technical problem point.
Brief description of the drawings
Fig. 1 is the stereogram of the contraposition part of the contraposition module for the centre of motion point that the present invention is Minimally Invasive Surgery apparatus；
Fig. 2 is the contraposition module for the centre of motion point that the present invention is Minimally Invasive Surgery apparatus, the system diagram of operating theater instruments；
Fig. 3 is the contraposition module for the centre of motion point that the present invention is Minimally Invasive Surgery apparatus, the constitutional diagram of operating theater instruments；
Fig. 4 is the contraposition module, operating theater instruments, Linear transmission module for the centre of motion point that the present invention is Minimally Invasive Surgery apparatus
And help the constitutional diagram of driving module.
Symbol description
1 helps the contraposition module of 2 Linear transmission module of driving module 3
The holding section of 31 connecting piece, 311 linking part 312 first
The fastener of 3121 first guide groove, 3122 connecting hole 32
The guide block of 321 convergence part, 3211 support surface 322
The buckle 33 of 323 first buckle 324 second aligns part
The first end face of 331 second 3,311 second guide groove of holding section 3312
The apparatus perforating of 3313 second end face, 332 contraposition part 3321
3322 projector perforatings 33211,33221 center lines
The 3323 adjustment seam projectors of 3324 locking hole 4
The locking part of 5 operating theater instruments, 51 intubation portion 6
The RCM points of Q angles 100.
Embodiment
In order to which technical scheme is explained further, the present invention is explained in detail below by specific embodiment
State.
Refer to shown in Fig. 1 to Fig. 3, be the schema of a preferred embodiment of the present invention, the present invention is a kind of Minimally Invasive Surgery device
The contraposition module of the centre of motion point of tool, the contraposition module 3 include：One connecting piece 31, a fastener 32 and a contraposition part 33, should
It is be combined with each other between connecting piece 31, fastener 32 and contraposition part 33 by snap, in the present embodiment, the connecting piece 31 has
One first holding section 312, first holding section 312 have the first guide groove 3121 and a connecting hole 3122, first guide groove 3121 with
Connecting hole 3122 is interconnected, and first guide groove 3121 makes first holding section 312 be in ㄇ type shapes, and the connecting hole 3122 divides
Not She Yu the ㄇ types both sides, as shown in Figure 2；The fastener 32 is by convergence part 321, guide block 322, the first buckle 323 and second
Buckle 324 is formed, and the both ends of the convergence part 321 are connected with the buckle 324 of guide block 322 and second respectively, define second buckle
324 end faces being connected with the convergence part 321 are support surface 3211, and the other end of guide block 322 is connected with first buckle 323, should
First buckle 323 is arranged at intervals flexible strip cylinder by two respectively with the second buckle 324 and formed, the end of two cylinders
A fixture block is convexly equipped with respectively, and the contraposition part 33 has one second holding section 331, and second holding section 331 has one second guide groove
3311, the both ends of second guide groove 3311 are respectively defined as first end face 3312 and second end face 3313.In the connecting piece 31, card
When fastener 32 and contraposition part 33 assemble, the fixture block is set to be placed in this after first buckle 323 is inserted in into first guide groove 3121
In connecting hole 3122, while the guide block 322 is located in first guide groove 3121, so completes the connecting piece 31 and fastener
Assembling between 32；And the contraposition part 33 is placed in the fixture block after second guide groove 3311 is sheathed on into second buckle 324
The second end face 3313 while first end face 3312 is bonded to each other with the support surface 3211, to lift the contraposition part 33 and card
The stability combined between fastener 32.In this way, complete to assemble operation between the connecting piece 31, fastener 32 and contraposition part 33.
Refer to shown in Fig. 2 and Fig. 3, the contraposition part 33 is provided with an apparatus perforating 3321 and a projector perforating
3322, the center line 33211,33221 of the apparatus perforating 3321 and projector perforating 3322 is generally aligned in the same plane and in two
Heart line 33211,33221 is positioned at an angle Q settings；The apparatus perforating 3321 provides an operating theater instruments 5 and plugged wherein, in this implementation
The example operating theater instruments 5 be an introscope, and to make the fixation that operating theater instruments 5 consolidates, the present embodiment is along the apparatus perforating 3321
Provided with an adjustment seam 3323, the apparatus perforating 3321 is set to form a c-type structure, and the contraposition part 332 runs through the tune provided with one
The locking hole 3324 of whole seam 3323, the locking hole 3324 provide the spiral shell of a locking part 6 and set wherein, can make when locking part 6 locks tighter
Adjustment seam 3323 reduces while allows the diameter of the apparatus perforating 3321 to reduce, and then the intubation portion of the packing operating theater instruments 5
51 to obtain preferable fixed effect.The projector perforating 3322 provides a projector 4 and plugged wherein, in the present embodiment throwing
Shadow device 4 is a RF transmitter, and it can be by a red spot projection to the intubation portion 51, as shown in figure 4, and infrared ray is projected
Point be RCM points 100；The projector perforating 4 set by the present embodiment is omissible, because the projector 4 is can be with
Manufacture is integrally formed with the contraposition part 33；But it must first set light beam and the angle of the operating theater instruments 5 that the projector 4 is sent
Angle Q, to avoid RCM points 100 inaccurate, in the present embodiment angle Q be 15 °.
Refer to shown in Fig. 3 and Fig. 4, the connecting piece 31 has a linking part 311, the Linear transmission of linking part 311 and one
The collocation of module 2 is fixed, and the connecting piece 31 is made linear displacement with the Linear transmission module 2, and then drives operating theater instruments linear
Displacement.
Above-described embodiment and accompanying drawing and non-limiting product form of the invention and style, any art it is common
The appropriate change or modification that technical staff is done to it, it all should be regarded as not departing from the patent category of the present invention.
Claims (1)
1. the contraposition module of the centre of motion point of a kind of Minimally Invasive Surgery apparatus, it is characterised in that include：One connecting piece, a buckle
Part and a contraposition part, be combined with each other, the contraposition part is provided with one and supplied between the connecting piece, fastener and contraposition part by snap
The apparatus perforating that one operating theater instruments plugs, and the same plane of the center line in the apparatus perforating is provided with a projector, should
The center line of the light beam that projector is launched and the apparatus perforating is positioned at an angle setting, and is generally aligned in the same plane；The contraposition part
A projector perforating plugged for the projector is additionally provided with, the center line of the apparatus perforating and projector perforating is located at together
One plane, and two center lines are positioned at an angle setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410006200.8A CN104758053B (en) | 2014-01-07 | 2014-01-07 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410006200.8A CN104758053B (en) | 2014-01-07 | 2014-01-07 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104758053A CN104758053A (en) | 2015-07-08 |
| CN104758053B true CN104758053B (en) | 2018-01-05 |
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| CN201410006200.8A Active CN104758053B (en) | 2014-01-07 | 2014-01-07 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
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| US5697939A (en) * | 1992-08-20 | 1997-12-16 | Olympus Optical Co., Ltd. | Apparatus for holding a medical instrument in place |
| US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| US5697393A (en) * | 1995-04-21 | 1997-12-16 | Mirlisena, Sr.; John Raymond | Adjustable anti-freeze faucet assembly |
| CN1243690A (en) * | 1997-08-27 | 2000-02-09 | 北京航空航天大学 | Cerebrosurgical operation equipment system with robot and its implement method |
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| CN104758053A (en) | 2015-07-08 |
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