CN107041786A - A kind of laparoscopic device - Google Patents
A kind of laparoscopic device Download PDFInfo
- Publication number
- CN107041786A CN107041786A CN201710376164.8A CN201710376164A CN107041786A CN 107041786 A CN107041786 A CN 107041786A CN 201710376164 A CN201710376164 A CN 201710376164A CN 107041786 A CN107041786 A CN 107041786A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- joint
- connecting rod
- shaft
- bar
- 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.)
- Pending
Links
- 244000309464 bull Species 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 description 8
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
A kind of laparoscopic device, including base and laparoscope clamper, the equipment also includes lift, positioning linkage rod mechanism, rotating mechanism, around a travel mechanism and end telescoping mechanism, lift is installed on the base, the motion end of the lift is connected with one end of positioning linkage rod mechanism, the other end of the positioning linkage rod mechanism is connected with rotating mechanism, the motion end of the rotating mechanism is connected with described around a travel mechanism, the motion end around a travel mechanism is connected with the support of end telescoping mechanism, the motion end of the end telescoping mechanism is connected with the laparoscope clamper.The invention provides a kind of handling preferable, laparoscopic device that space-consuming is smaller, positioning precision is higher.
Description
Technical field
The invention belongs to Medical Devices, it is related to a kind of laparoscopic device, the action control to realize laparoscope.
Background technology
Existing laparoscopic device majority is using artificial support；Some only laparoscope controlling equipments are not also intelligent,
Operate position fixing process cumbersome and unstable；In addition, existing laparoscope controlling equipment profile is huge, space-consuming is big；It is existing
Laparoscope controlling equipment positioning precision bottom.
The content of the invention
In order to overcome, the handling poor, space-consuming of existing laparoscope controlling equipment is larger, positioning precision is relatively low not
Foot, the invention provides a kind of handling preferable, laparoscopic device that space-consuming is smaller, positioning precision is higher.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of laparoscopic device, including base and laparoscope clamper, the equipment also include lift, positioning linkage rod machine
Structure, rotating mechanism, lift, the action of the lift are installed in a travel mechanism and end telescoping mechanism, the base
End is connected with one end of positioning linkage rod mechanism, and the other end of the positioning linkage rod mechanism is connected with rotating mechanism, the whirler
The motion end of structure is connected with described around a travel mechanism, the motion end around a travel mechanism and end telescoping mechanism
Support is connected, and the motion end of the end telescoping mechanism is connected with the laparoscope clamper.
Further, the lift includes take-up housing, and the take-up housing is sleeved in the track of base up or down, institute
Take-up housing is stated to be connected with the lifting drive module for driving take-up housing to move up and down.Such as, the lifting drive module is used
Screw-nut body, the leading screw is driven by motor, drives nut to move up and down by the rotation of leading screw, the nut with
The take-up housing linkage.
Further, the positioning linkage rod mechanism includes the first free joint, first connecting rod, the second free joint, second
Connecting rod and the 3rd free joint, first free joint are fixedly mounted on take-up housing, first free joint and first
One end connection of connecting rod, the other end of the first connecting rod is connected with second free joint, and second free joint is same
When and one end of second connecting rod connect, the other end of the second connecting rod is connected with the 3rd free joint, the described 3rd oneself
Upper end by joint simultaneously with bull stick, first free joint, first connecting rod, the second free joint, second connecting rod, the 3rd are certainly
Pendulum position arm is constituted by joint and bull stick together.
First free joint, the second free joint and the 3rd free joint include joint shaft, encoder, power down armful
Pacify on lock, fixed end link, harmonic wave speed reducing machine and rotation end link, the fixed end link of joint shaft suit, the joint shaft
Fill encoder, power down band-type brake, harmonic wave speed reducing machine and rotation end link；
The fixation end link of first free joint is arranged on the take-up housing, the rotation of first free joint
End link is connected with one end of the first connecting rod；The fixation end link of the other end of the first connecting rod and the second free joint
Connection, the rotation end link of second free joint is connected with one end of the second connecting rod, the second connecting rod it is another
End is connected with the fixation end link of the 3rd free joint, rotation end link and the bull stick of the 3rd free joint
Upper end is connected.
The encoder is arranged on the upper end of the joint shaft, and the power down band-type brake is located at the lower section of the encoder, institute
The lower section that fixed end link is located at the power down band-type brake is stated, the harmonic wave speed reducing machine is located at the lower section of the fixed end link, institute
The fixed end for stating harmonic wave speed reducing machine is connected with the fixed end link, and the moved end top of the harmonic wave speed reducing machine is arranged on the joint
The lower end of axle, the moved end bottom of the harmonic wave speed reducing machine and the round end connection-rod linkage.It is of course also possible to use other dresses
With mode.
The bull stick is 45 degree of bull sticks.This is preferred scheme.
Under the rotation driving module that the rotating mechanism includes rotary joint and drives rotary joint to rotate, the bull stick
The rotary joint is installed at end, and the rotation driving module is fixedly mounted in the bull stick, the rotation driving module it is dynamic
Make end to be connected with the rotary joint.Such as, rotation driving module uses electric rotating machine, is rotated by motor shaft and then drives institute
State rotary joint rotation.
It is described to include swing arm support bar, swing arm joint, swing arm bar and quadrilateral connecting rod, the swing arm branch around a travel mechanism
The upper end of strut is connected with the motion end of the rotating mechanism, and the bottom of the swing arm support bar is provided with swing arm joint, the pendulum
Swing arm bar is installed, one end of the swing arm bar and the quadrilateral connecting rod is hinged on shoulder joint, the quadrilateral connecting rod it is another
The support with the end telescoping mechanism is held to be hinged, the swing arm support bar, swing arm joint, swing arm bar, quadrilateral connecting rod and institute
The support for stating end telescoping mechanism is formed for realizing the parallel-crank mechanism that laparoscope is moved around point of contact.
Swing arm rotating wheel is installed, the swing arm rotating wheel drives swing arm to rotate with being used on the joint shaft in the swing arm joint
What wheel was rotated installs fixed gear, the fixed gear and central gear in a mobile drive module connection, the joint shaft
Engagement, the rotating shaft of the central gear is arranged on the swing arm bar, and the central gear is engaged with drive gear, the driving
The rotating shaft of gear is arranged on the swing arm bar, and input synchronizing wheel is installed in the rotating shaft of the drive gear, and the input is synchronous
Wheel is connected by timing belt with output synchronizing wheel, and the output synchronizing wheel is arranged on swing arm jointed shaft, the swing arm jointed shaft
On the swing arm bar, the one end for installing quadrilateral connecting rod is hinged on the swing arm jointed shaft, the quadrilateral connecting rod
The other end is by helping jointed shaft to be arranged on the support of end telescoping mechanism；
The central shaft of the swing arm support bar is consistent with the rotating shaft of rotary joint, the central shaft of the swing arm support bar and institute
Quadrilateral connecting rod is stated to be parallel to each other, the line between the swing arm jointed shaft and swing arm joint shaft with it is described support jointed shaft with around
Line between point is parallel to each other.
Described also to include auxiliary connecting rod around a travel mechanism, the auxiliary connecting rod is parallel with the quadrilateral connecting rod, described
One end of auxiliary connecting rod is arranged on swing arm bar by additional swing arm jointed shaft, and the other end of the auxiliary connecting rod is helped by additional
Jointed shaft is held on the support of end telescoping mechanism, the additional swing arm jointed shaft is located at the swing arm jointed shaft and swing arm
On the extension line of line between joint shaft；The additional support jointed shaft is located at the support jointed shaft and the company between point
On the extension line of line.
Described to include power synchronous wheel around a mobile drive module, the rotating shaft of the power synchronous wheel around a movement with driving
The output shaft connection of motor, the power synchronous wheel is connected by timing belt with the swing arm rotating wheel.
The end telescoping mechanism uses straight-line mechanism, and the straight-line mechanism drives sliding block, the laparoscope folder by motor
Holder is installed on sliding block, and laparoscope is arranged on the laparoscope clamper.
The solution of the present invention, operation consent energy quick manual realizes the pendulum bit function of laparoscope and can lock-bit present bit
Put, realize that laparoscope rotates and goed deep into automatically controlling for depth in abdomen automatically around otch in surgical procedure.
Beneficial effects of the present invention are mainly manifested in：With reliability operation, easily otch positioning, laparoscope exists
The function of being moved in abdomen around otch, reduces incisional wound；Improve the flexible mobile convenience of laparoscope.
Brief description of the drawings
Fig. 1 is the schematic diagram of laparoscopic device.
Fig. 2 is the use state figure of laparoscopic device.
Fig. 3 is the schematic diagram of free joint.
Fig. 4 is front view of the double leval jib around a travel mechanism.
Fig. 5 is side view of the double leval jib around a travel mechanism.
Wherein, in Fig. 1 and Fig. 2,1- mobile base 2- lift 3- take-up housings the first free joints of 4- 5- first connects
The free joint 9- bull stick 10- rotary joint 11- swing arm support bars of bar 6- the second free joint 7- second connecting rods 8- the 3rd
The end telescoping mechanism 16- laparoscope clamper 17- laparoscopes of 12- swing arms joint 13- swing arm bar 14- quadrilateral connecting rods 15；
In Fig. 3,31- encoder 32- power down band-type brakes 33- fixes end link 34- harmonic wave speed reducing machines 35- rotation end links；
In Fig. 4 and Fig. 5,41- fixed gear 42- central gear 43- drive gears 44- input synchronizing wheel 45- outputs
Synchronizing wheel 46- power synchronous wheel 47- swing arm rotating wheel 48- the first swing arm jointed shaft 49- the second swing arm jointed shafts 50-
One helps jointed shaft 51- second to help jointed shaft.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 5 of reference picture, a kind of laparoscopic device, including base 1 and laparoscope clamper 16, the equipment also include
Lift 2, positioning linkage rod mechanism, rotating mechanism, the installation lifting in a travel mechanism and end telescoping mechanism, the base 1
Machine 2, the motion end of the lift is connected with one end of positioning linkage rod mechanism, the other end of the positioning linkage rod mechanism and rotation
Mechanism is connected, and the motion end of the rotating mechanism is connected with described around a travel mechanism, the motion end around a travel mechanism
It is connected with the support of the end telescoping mechanism 15, the motion end of the end telescoping mechanism 15 and the laparoscope clamper 16
Connection.
Further, the lift includes take-up housing 3, and the take-up housing 3 is sleeved on the track of base 1 up or down
Interior, the take-up housing 3 is connected with the lifting drive module for driving take-up housing to move up and down.Such as, the lifting driving mould
Block uses screw-nut body, and the leading screw is driven by motor, drives nut to move up and down by the rotation of leading screw, described
Nut links with the take-up housing.
Further, the positioning linkage rod mechanism includes the first free joint 4, first connecting rod 5, the second free joint 6, the
Two connecting rods 7 and the 3rd free joint 8, first free joint 4 are fixedly mounted on take-up housing 3, first free joint 4
It is connected with one end of first connecting rod 5, the other end of the first connecting rod 5 is connected with second free joint 6, described second certainly
It is connected simultaneously with one end of second connecting rod 7 by joint 6, the other end of the second connecting rod 7 connects with the 3rd free joint 8
Connect, the upper end of the 3rd free joint 8 simultaneously with bull stick 9, first free joint 4, first connecting rod 5, second are freely closed
Section 6, second connecting rod 7, the 3rd free joint 8 and bull stick 9 constitute pendulum position arm together.
First free joint 4, the second free joint 6 and the 3rd free joint 6 include joint shaft, encoder 31,
Power down band-type brake 32, fixed end link 33, harmonic wave speed reducing machine 34 and rotation end link 35, the fixed end link of joint shaft suit
33, encoder 31, power down band-type brake 32, harmonic wave speed reducing machine 34 and rotation end link 35 are installed on the joint shaft；
The fixation end link of first free joint 4 is arranged on the take-up housing 3, first free joint 4
Rotation end link is connected with one end of the first connecting rod 5；The other end of the first connecting rod 5 is consolidated with the second free joint 6
Fixed end connecting rod connection, the rotation end link of second free joint 6 is connected with one end of the second connecting rod 7, and described second
The other end of connecting rod 7 is connected with the fixation end link of the 3rd free joint 8, and the round end of the 3rd free joint 8 connects
Bar is connected with the upper end of the bull stick 9.
The encoder 31 is arranged on the upper end of the joint shaft, and the power down band-type brake 32 is located under the encoder 31
Side, the fixed end link 33 is located at the lower section of the power down band-type brake 32, and the machine of harmonic reduction 34 connects positioned at the fixing end
The lower section of bar 33,34 fixed ends of the harmonic wave speed reducing machine are connected with the fixed end link 33, the harmonic wave speed reducing machine 34 it is dynamic
Top is held to be arranged on the lower end of the joint shaft, the moved end bottom of the harmonic wave speed reducing machine 34 and the rotation end link 35
It is dynamic.It is of course also possible to use other assembling modes.
The bull stick 9 is 45 degree of bull sticks.This is preferred scheme.
The rotation driving module that the rotating mechanism includes rotary joint 10 and drives rotary joint to rotate, the bull stick 9
Lower end the rotary joint 10 is installed, the rotation driving module is fixedly mounted in the bull stick 9, the rotation driving mould
The motion end of block is connected with the rotary joint.Such as, rotation driving module uses electric rotating machine, by motor shaft rotate and then
The rotary joint is driven to rotate.
It is described to include swing arm support bar 11, swing arm joint 12, swing arm bar 13 and quadrilateral connecting rod 14, institute around a travel mechanism
The upper end for stating swing arm support bar 11 is connected with the motion end of the rotating mechanism, and the bottom of the swing arm support bar 11 is provided with swing arm
Swing arm bar 13 is installed, one end of the swing arm bar 13 and the quadrilateral connecting rod 14 is hinged on joint 12, the swing arm joint 12,
The support of the other end of the quadrilateral connecting rod 14 and the end telescoping mechanism 15 is hinged, the swing arm support bar 11, swing arm
Joint 12, swing arm bar 13, the support of quadrilateral connecting rod 14 and the end telescoping mechanism 15 are formed for realizing laparoscope around cutting
The mobile parallel-crank mechanism of point.
Swing arm rotating wheel 47 is installed, the swing arm rotating wheel 47 for driving with putting on the joint shaft in the swing arm joint 12
What arm rotating wheel was rotated installs fixed gear 41, the fixed gear 41 in a mobile drive module connection, the joint shaft
Engaged with central gear 42, the rotating shaft of the central gear 42 is arranged on the swing arm bar 13, and the central gear 42 is with driving
Moving gear 43 is engaged, and the rotating shaft of the drive gear 43 is arranged on the swing arm bar 13, in the rotating shaft of the drive gear 43
Input synchronizing wheel 44 is installed, the input synchronizing wheel 44 is connected by timing belt with output synchronizing wheel 45, the output synchronizing wheel
45 are arranged on swing arm jointed shaft 49, and the swing arm jointed shaft 49 is arranged on the swing arm bar 13, the swing arm jointed shaft 49
On be hinged the one end for installing quadrilateral connecting rod 14, the other end of the quadrilateral connecting rod 14 is by helping jointed shaft 51 to be arranged on end
Hold the support of telescoping mechanism 15；
The central shaft of the swing arm support bar 11 is consistent with the rotating shaft of rotary joint 10, the center of the swing arm support bar 11
Axle is parallel to each other with the quadrilateral connecting rod 14, and the line between the swing arm jointed shaft 48 and swing arm joint shaft is helped with described
Jointed shaft 50 and the line between point are parallel to each other.
Described also to include auxiliary connecting rod around a travel mechanism, the auxiliary connecting rod is parallel with the quadrilateral connecting rod 14, institute
The one end for stating auxiliary connecting rod is arranged on swing arm bar 13 by additional swing arm jointed shaft 49, and the other end of the auxiliary connecting rod passes through
Additional to help jointed shaft 51 to be arranged on the support of end telescoping mechanism 15, the additional swing arm jointed shaft 49 is located at the swing arm
On the extension line of line between jointed shaft 48 and swing arm joint shaft；The additional support jointed shaft 51 is located at the support and is hinged
On the extension line of axle 50 and the line between point.
It is described to include power synchronous wheel 46 around a mobile drive module, the rotating shaft of the power synchronous wheel 46 with around a movement
The output shaft connection of motor, the power synchronous wheel 46 is connected by timing belt with the swing arm rotating wheel 47.
The end telescoping mechanism 15 uses straight-line mechanism, and the straight-line mechanism drives sliding block, the laparoscope by motor
Clamper 16 is installed on sliding block, and laparoscope 17 is arranged on the laparoscope clamper 16.
The lower section installing wheel formation mobile base of the base 1, is easy to displacement.
The laparoscopic device of the present embodiment, by mobile base as overall laparoscope base, is responsible for the upright of whole device
It is reliable and stable；
Lift 2 is responsible for drive belt movable slider seat 3, automatically controls the lifting of whole support arm, and precision is high, and operation is flat
Surely；
The one end of first free joint 4 is fixedly mounted on take-up housing, is connected with first connecting rod 5, the second free joint 6, second
Bar 7, the 3rd free joint 8,45 degree of bull sticks 9 constitute pendulum position arm together；Put position arm free joint and use power down auto-lock function, pass through
It is placed on the shift knob control pendulum position arm by handle to stop and unclamp, is easy to operating personnel quickly to move and positioning laparoscope
Original position.
Rotary joint 10 is positioned over the end of 45 degree of bull sticks 9 of pendulum position arm, realizes laparoscope around mesh by drive and control of electric machine
Mark the axle I rotations at point of contact；
Swing arm support bar 11, swing arm joint 12 and swing arm bar 13, quadrilateral connecting rod 14, the support group of end telescoping mechanism 15
Synthesis parallelogram motion mechanism realizes axle II rotary motion of the laparoscope around point of contact and end telescoping mechanism.Wherein parallel four
One side of side shape is conllinear with axle I, so as to ensure that laparoscope shaft I axle II intersection points are constant, so as to constitute the position at point of contact；
End telescoping mechanism 15 uses straight-line mechanism, and the straight-line mechanism drives sliding block, laparoscope clamper 16 by motor
It is installed on sliding block, laparoscope 17 is arranged on the laparoscope clamper 16, so as to realize to laparoscope extension and contraction control.
Claims (10)
1. a kind of laparoscopic device, including base and laparoscope clamper, it is characterised in that：The equipment also include lift,
Positioning linkage rod mechanism, rotating mechanism, lift, the liter are installed in a travel mechanism and end telescoping mechanism, the base
The motion end of drop machine is connected with one end of positioning linkage rod mechanism, and the other end of the positioning linkage rod mechanism is connected with rotating mechanism,
The motion end of the rotating mechanism is connected with described around a travel mechanism, the motion end around a travel mechanism and the end
The support connection of telescoping mechanism, the motion end of the end telescoping mechanism is connected with the laparoscope clamper.
2. a kind of laparoscopic device as claimed in claim 1, it is characterised in that：The lift includes take-up housing, the cunning
Block is sleeved in the track of base up or down, and the take-up housing drives with the lifting for driving take-up housing to move up and down
Module is connected.
3. a kind of laparoscopic device as claimed in claim 1, it is characterised in that：The positioning linkage rod mechanism includes first freely
Joint, first connecting rod, the second free joint, second connecting rod and the 3rd free joint, first free joint are fixedly mounted on
On take-up housing, one end connection of first free joint and first connecting rod, the other end of the first connecting rod and described second
Free joint is connected, and second free joint is connected with one end of second connecting rod simultaneously, the other end of the second connecting rod and
The 3rd free joint connection, the upper end of the 3rd free joint simultaneously with bull stick, first free joint, first connect
Bar, the second free joint, second connecting rod, the 3rd free joint and bull stick constitute pendulum position arm together.
4. a kind of laparoscopic device as claimed in claim 3, it is characterised in that：First free joint, second are freely closed
Section and the 3rd free joint include joint shaft, encoder, power down band-type brake, fixed end link, harmonic wave speed reducing machine and round end and connected
Encoder, power down band-type brake, harmonic wave speed reducing machine and rotation are installed on bar, the fixed end link of joint shaft suit, the joint shaft
End link；
The fixation end link of first free joint is arranged on the take-up housing, and the round end of first free joint connects
Bar is connected with one end of the first connecting rod；The fixation end link of the other end of the first connecting rod and the second free joint connects
Connect, the rotation end link of second free joint is connected with one end of the second connecting rod, the other end of the second connecting rod
Be connected with the fixation end link of the 3rd free joint, rotation end link and the bull stick of the 3rd free joint it is upper
End connection.
5. a kind of laparoscopic device as claimed in claim 4, it is characterised in that：The encoder is arranged on the joint shaft
Upper end, the power down band-type brake is located at the lower section of the encoder, and the fixed end link is located at the lower section of the power down band-type brake, institute
The lower section that harmonic wave speed reducing machine is located at the fixed end link is stated, the fixed end of the harmonic wave speed reducing machine connects with the fixed end link
Connect, the moved end top of the harmonic wave speed reducing machine is arranged on the lower end of the joint shaft, the moved end bottom of the harmonic wave speed reducing machine with
The round end connection-rod linkage.
6. a kind of laparoscopic device as described in one of claim 3~5, it is characterised in that：The bull stick is 45 degree of bull sticks.
7. a kind of laparoscopic device as described in one of Claims 1 to 5, it is characterised in that：The rotating mechanism includes rotation
Joint and the rotation driving module for driving rotary joint to rotate, the rotary joint, the rotation are installed in the lower end of the bull stick
Drive module is fixedly mounted in the bull stick, and the motion end of the rotation driving module is connected with the rotary joint.
8. a kind of laparoscopic device as described in one of Claims 1 to 5, it is characterised in that：It is described to include around a travel mechanism
Swing arm support bar, swing arm joint, swing arm bar and quadrilateral connecting rod, the upper end of the swing arm support bar and moving for the rotating mechanism
Make end connection, the bottom of the swing arm support bar, which is provided with swing arm joint, the swing arm joint, installs swing arm bar, the swing arm bar
It is hinged with one end of the quadrilateral connecting rod, the support of the other end of the quadrilateral connecting rod and the end telescoping mechanism is cut with scissors
Connect, the swing arm support bar, swing arm joint, swing arm bar, the support of quadrilateral connecting rod and the end telescoping mechanism is formed is used for
Realize the parallel-crank mechanism that laparoscope is moved around point of contact.
9. a kind of laparoscopic device as claimed in claim 8, it is characterised in that：Pendulum is installed on the joint shaft in the swing arm joint
Arm rotating wheel, the swing arm rotating wheel drives being connected around a mobile drive module for swing arm rotating wheel rotation with being used for, described to close
Fixed gear is installed, the fixed gear is engaged with central gear on nodal axisn, the rotating shaft of the central gear is arranged on the pendulum
On armed lever, the central gear is engaged with drive gear, and the rotating shaft of the drive gear is arranged on the swing arm bar, described to drive
Input synchronizing wheel is installed, the input synchronizing wheel is connected by timing belt with output synchronizing wheel, described defeated in the rotating shaft of moving gear
Go out synchronizing wheel on swing arm jointed shaft, the swing arm jointed shaft is arranged on the swing arm bar, on the swing arm jointed shaft
The one end for installing quadrilateral connecting rod is hinged, the other end of the quadrilateral connecting rod is by helping jointed shaft to be arranged on end telescopic machine
The support of structure；
The central shaft of the swing arm support bar is consistent with the rotating shaft of rotary joint, the central shaft of the swing arm support bar and described four
Side shape connecting rod is parallel to each other, and the line between the swing arm jointed shaft and swing arm joint shaft is with the support jointed shaft and around point
Between line be parallel to each other.
10. a kind of laparoscopic device as claimed in claim 9, it is characterised in that：It is described also to include auxiliary around a travel mechanism
Connecting rod, the auxiliary connecting rod is parallel with the quadrilateral connecting rod, and one end of the auxiliary connecting rod is pacified by additional swing arm jointed shaft
On swing arm bar, the other end of the auxiliary connecting rod is arranged on the support of end telescoping mechanism by additional support jointed shaft
On, the additional swing arm jointed shaft is located on the extension line of the line between the swing arm jointed shaft and swing arm joint shaft；It is described
It is additional to help jointed shaft to be located on the extension line of the support jointed shaft and the line between point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710376164.8A CN107041786A (en) | 2017-05-25 | 2017-05-25 | A kind of laparoscopic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710376164.8A CN107041786A (en) | 2017-05-25 | 2017-05-25 | A kind of laparoscopic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107041786A true CN107041786A (en) | 2017-08-15 |
Family
ID=59547201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710376164.8A Pending CN107041786A (en) | 2017-05-25 | 2017-05-25 | A kind of laparoscopic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107041786A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109106420A (en) * | 2018-07-10 | 2019-01-01 | 佳木斯大学 | A kind of automatic positioning carries out out the craniotomy saw of cranium decompression |
| CN113274102A (en) * | 2021-05-28 | 2021-08-20 | 河南省中医院（河南中医药大学第二附属医院） | Tumor biopsy puncture positioning instrument used on CT bed |
| CN113288427A (en) * | 2020-02-21 | 2021-08-24 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
| CN113813048A (en) * | 2021-10-12 | 2021-12-21 | 中南大学 | Four-freedom-degree far-end motion center mechanism of surgical robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060074406A1 (en) * | 2004-09-30 | 2006-04-06 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN104224328A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
| CN104334110A (en) * | 2012-06-01 | 2015-02-04 | 直观外科手术操作公司 | Manipulator arm-to-patient collision avoidance using a null-space |
| CN104546147A (en) * | 2015-02-14 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot |
| CN105686883A (en) * | 2016-03-14 | 2016-06-22 | 昆山邦泰汽车零部件制造有限公司 | Redundant-freedom-degree laparoscope-holding mechanical arm |
| CN207785285U (en) * | 2017-05-25 | 2018-08-31 | 杭州妙手机器人有限公司 | A kind of laparoscopic device |
-
2017
- 2017-05-25 CN CN201710376164.8A patent/CN107041786A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060074406A1 (en) * | 2004-09-30 | 2006-04-06 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| CN105852974A (en) * | 2004-09-30 | 2016-08-17 | 直观外科手术操作公司 | Offset remote center manipulator |
| CN104334110A (en) * | 2012-06-01 | 2015-02-04 | 直观外科手术操作公司 | Manipulator arm-to-patient collision avoidance using a null-space |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN104224328A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
| CN104546147A (en) * | 2015-02-14 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot |
| CN105686883A (en) * | 2016-03-14 | 2016-06-22 | 昆山邦泰汽车零部件制造有限公司 | Redundant-freedom-degree laparoscope-holding mechanical arm |
| CN207785285U (en) * | 2017-05-25 | 2018-08-31 | 杭州妙手机器人有限公司 | A kind of laparoscopic device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109106420A (en) * | 2018-07-10 | 2019-01-01 | 佳木斯大学 | A kind of automatic positioning carries out out the craniotomy saw of cranium decompression |
| CN113288427A (en) * | 2020-02-21 | 2021-08-24 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
| CN113288427B (en) * | 2020-02-21 | 2022-07-05 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
| CN113274102A (en) * | 2021-05-28 | 2021-08-20 | 河南省中医院（河南中医药大学第二附属医院） | Tumor biopsy puncture positioning instrument used on CT bed |
| CN113813048A (en) * | 2021-10-12 | 2021-12-21 | 中南大学 | Four-freedom-degree far-end motion center mechanism of surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107041786A (en) | A kind of laparoscopic device | |
| CN103895035B (en) | Based on the collapsible explorer mechanical arm of triangle configuration link transmission | |
| CN107199573A (en) | A kind of production line clamping workpiece manipulator | |
| CN110693653B (en) | Integrated linkage wheelchair bed | |
| CN105945901B (en) | Jack catchs type multi-freedom robot manipulator mechanism | |
| CN103622790B (en) | Patient couch | |
| CN205734910U (en) | Three-dimensional jack catchs type robot mechanical arm mechanism | |
| CN107462270A (en) | A kind of portable atmospheric monitoring equipment with wind-shielding function based on Internet of Things | |
| CN108163785A (en) | A kind of moveable attitude adjustment platform | |
| CN205588298U (en) | Gripper -like multi freedom robot manipulator mechanism | |
| CN108480836A (en) | Lithium battery ultrasonic brazing unit | |
| CN107028579A (en) | Laparoscopic device around a travel mechanism | |
| CN108533614A (en) | A kind of Production of bearing clamping device that can be adjusted | |
| CN207785285U (en) | A kind of laparoscopic device | |
| CN105923160A (en) | Clamping device for logistics unmanned aerial vehicle | |
| CN104382698B (en) | Multifunctional exchange platform | |
| CN208081191U (en) | Laparoscopic device around a mobile mechanism | |
| CN109295684A (en) | Scissoring device is used in a kind of production of pps base fabric | |
| CN207532452U (en) | The detent mechanism of laparoscopic device | |
| CN104641957B (en) | Supporting device for vehicle-mounted trimmer | |
| CN107137204A (en) | A kind of lazyboot's body-building equipment based on Internet of Things | |
| CN208614625U (en) | A kind of excavator positioning tool on rectangular pipe fitting | |
| CN210020192U (en) | Upper limb edema recovery device after mammary gland surgery | |
| CN206745665U (en) | Medical smoking machine people | |
| CN206625797U (en) | Oil drilling machine packaged type rig floor pipe arranging robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170815 |
|
| RJ01 | Rejection of invention patent application after publication |