CN107157583A - A kind of ceiling mounting type laparoscopic surgery robot - Google Patents
A kind of ceiling mounting type laparoscopic surgery robot Download PDFInfo
- Publication number
- CN107157583A CN107157583A CN201710306713.4A CN201710306713A CN107157583A CN 107157583 A CN107157583 A CN 107157583A CN 201710306713 A CN201710306713 A CN 201710306713A CN 107157583 A CN107157583 A CN 107157583A
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- China
- Prior art keywords
- sliding block
- transverse shifting
- slide rail
- support arm
- guide wheel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of ceiling mounting type laparoscopic surgery robot, including slide rail fixed plate, vertically move slide rail, vertically move sliding block, transverse shifting slide rail and transverse shifting sliding block, vertical pull bar is fixedly mounted on the bottom of transverse shifting sliding block, the bottom of vertical pull bar is provided with support arm runing rest, it is hinged on support arm runing rest by support arm shaft and three rotating arms is installed, the bottom end of rotating arm is fixedly installed expansion link, and the bottom of expansion link is provided with operation technique hand.Structure of the present invention occupies little space, to walking about and visual field effects very little for personnel, more stablize and simple compared to cantilevered robot architecture, operate steadily, registration, with more preferable dexterity, finer and complicated operation can be completed safely, and this structure greatly solves the problem of big abdominal operation wound, refractory conjunction using invasive manner, reduces the requirement to personnel's technology.The operating robot is novel in design rationally, with low cost, is easy to promote the use of.
Description
Technical field：
The present invention relates to a kind of operating robot structure, and in particular to a kind of ceiling mounting type laparoscopic surgery robot.
Background technology：
With the extensive use of conventional laparoscopic technology, modern surgery enters the minimally invasiveization epoch.But conventional laparoscopic is set
Standby limitation, significantly limit the further development of minimally invasive surgery.A kind of appearance of ceiling mounting type laparoscopic surgery robot
Conventional surgical and the limitation of laparoscopic technique are surmounted, its remarkable three-dimensional visual field and more preferable dexterity can be safe
Complete finer and complicated operation, ceiling mounting type laparoscopic surgery robot have operation flexibly, the features such as occupy little space, because
And laparoscopic surgery robot technology is just progressively penetrating into each clinical medicine field of surgery.
The content of the invention：
There is provided a kind of ceiling mounting type laparoscopic surgery robot aiming at above-mentioned prior art for the purpose of the present invention.
The technology solution of the present invention is as follows：
A kind of ceiling mounting type laparoscopic surgery robot, it includes two symmetrically arranged slide rail fixed plates, slide rail fixed plate
On be installed with and vertically move slide rail, be provided with shifting sledge vertically move sliding block longitudinally in each, vertically move sliding block energy
Enough realized on slide rail is vertically moved vertically moves, and two symmetrically arranged transverse shifting slide rails are fixedly mounted on two longitudinal direction shiftings
The bottom of movable slider, transverse shifting slide rail has identical structure construction, two symmetrically arranged transverse directions with vertically moving slide rail
Transverse shifting sliding block is installed, transverse shifting sliding block can realize transverse shifting on transverse shifting slide rail between shifting sledge,
Vertical pull bar is fixedly mounted on the bottom of transverse shifting sliding block, and the bottom of vertical pull bar is provided with support arm runing rest, props up
Arm runing rest medium position, which offers to be hinged by support arm shaft in rotating arm mounting groove, rotating arm mounting groove, is provided with three
Individual rotating arm, each rotating arm can rotate around respective support arm shaft, and the bottom end of rotating arm is fixedly installed
There is expansion link, the bottom of expansion link is provided with operation technique hand；Vertically moving slide rail includes square U-steel frame, and square U-steel frame is consolidated
Dingan County is in slide rail fixed plate, and vertically moving slide rail also includes upper rall and lower guide, upper rall and lower guide
Position above and below the sidepiece of square U-steel frame is symmetrically fixedly installed on, the bottom of upper rall is provided with guide rail rack, upper rall
The bottom of upper and lower part guide rail is equipped with guide wheel projection；Vertically moving sliding block includes longitudinal sliding block installing plate, longitudinal sliding block peace
Longitudinal mobile motor is fixedly installed in the side plate face for filling plate, longitudinal mobile motor output shaft passes through longitudinal sliding block installing plate,
Vertically move gear to be fixedly mounted on longitudinal mobile motor output shaft by pin, vertically move gear and engage phase with guide rail rack
Connect, four corners of longitudinal sliding block installing plate are respectively and fixedly provided with guide wheel shaft, guide wheel shaft to be provided with outside guide wheel, guide wheel by bearing
Offer guide wheel groove week, the guide wheel projection insertion of upper rall and lower guide is arranged in guide wheel groove.
The bottom of support arm runing rest is further fixedly arranged on expansion link, and the bottom of expansion link is provided with operation technique hand.
Transverse shifting upper end of slide block portion is fixedly installed transverse mobile motor, and transverse shifting sliding block and two transverse shiftings are slided
Rail opposite flank is provided with guide wheel by bearing, the guide wheel of transverse shifting sliding block can transverse shifting slide rail upper rall and
Laterally walked in lower guide.
Operation technique hand has four and is hinged support arm.
Lengthwise position of the support arm runing rest in vertical pull bar bottom is fixed, and can the central shaft of vertically pull bar do
Rotary motion.
Expansion link adjustable and retractable length, and can be slided along rotating arm horizontal direction.
The beneficial effects of the present invention are：
Structure of the present invention occupies little space, to walking about and visual field effects very little for personnel, compared to cantilevered robot architecture
More stablize with it is simple, operate steadily, registration, with more preferable dexterity, can complete finer and complicated safely
Operation, in addition, this structure greatly solves the problem of big abdominal operation wound, refractory conjunction using invasive manner, is reduced pair
The requirement of personnel's technology.The operating robot is novel in design rationally, with low cost, is easy to promote the use of.
Brief description of the drawings：
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of shifting sledge；
Fig. 3 is the structural representation for vertically moving sliding block.
Embodiment：
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
As Figure 1-3, a kind of ceiling mounting type laparoscopic surgery robot, it includes two symmetrically arranged slide rails and fixed
It is installed with plate, slide rail fixed plate and vertically moves slide rail 1, is provided with shifting sledge 1 vertically moves sliding block longitudinally in each
2, vertically move sliding block 2 and can be realized on slide rail 1 is vertically moved and vertically move, two symmetrically arranged transverse shifting slide rails 3
Two bottoms for vertically moving sliding block 2 are fixedly mounted on, transverse shifting slide rail 3 is with vertically moving slide rail 1 with identical structure
Transverse shifting sliding block 4 is installed between construction, two symmetrically arranged transverse shifting slide rails 3, transverse shifting sliding block 4 can be in horizontal stroke
Transverse shifting is realized on to shifting sledge 3, vertical pull bar 5 is fixedly mounted on the bottom of transverse shifting sliding block 4, vertical pull bar
5 bottom is provided with support arm runing rest 6, and the medium position of support arm runing rest 6 offers rotating arm mounting groove, rotating arm
It is hinged in mounting groove by support arm shaft and three rotating arms 7 is installed, each rotating arm 7 can be done around respective support arm shaft is rotated
Motion, the bottom end of rotating arm 7 is fixedly installed expansion link 8, and the bottom of expansion link 8 is provided with operation technique hand 9；Longitudinal direction
Shifting sledge 1 includes square U-steel frame 10, and square U-steel frame 10 is fixedly mounted in slide rail fixed plate, vertically moves slide rail 1 also
Including upper rall 11 and lower guide 12, upper rall 11 and lower guide 12 are symmetrically fixedly installed on square U-steel frame 10
Position above and below sidepiece, the bottom of upper rall 11 is provided with guide rail rack 111, the upper and lower part guide rail 12 of upper rall 11
Portion is equipped with guide wheel projection 121；Vertically moving sliding block 2 includes longitudinal sliding block installing plate 21, the side of longitudinal sliding block installing plate 21
Longitudinal mobile motor 20 is fixedly installed in plate face, longitudinal mobile motor output shaft 201 passes through longitudinal sliding block installing plate 21, longitudinal direction
Carrier wheel 22 is fixedly mounted on longitudinal mobile motor output shaft 201 by pin, vertically moves gear 22 and guide rail rack 111
Engagement connects, and four corners of longitudinal sliding block installing plate 21 are respectively and fixedly provided with guide wheel shaft 23, guide wheel shaft 23 is installed by bearing
There is a guide wheel 24, the periphery of guide wheel 24 offers guide wheel groove 240, the guide wheel projection 121 of upper rall 11 and lower guide 12 is embedding
Enter to be arranged in guide wheel groove 240.
The bottom of support arm runing rest 6 is further fixedly arranged on expansion link 8, and the bottom of expansion link 8 is provided with operation technique hand
9。
The upper end of transverse shifting sliding block 4 is fixedly installed transverse mobile motor 40, and transverse shifting sliding block 4 and two laterally move
The dynamic opposite flank of slide rail 3 is provided with guide wheel by bearing, and the guide wheel of transverse shifting sliding block 4 can be on the top of transverse shifting slide rail
Laterally walked in guide rail and lower guide.
Operation technique hand 9 has four and is hinged support arm.
Lengthwise position of the support arm runing rest 6 in the vertical bottom of pull bar 5 is fixed, can vertically pull bar 5 central shaft
Rotate, and vertically can do stretching motion by the axis direction of push rod 5.
The adjustable and retractable length of expansion link 8, and can be slided along the horizontal direction of rotating arm 7.
Operation principle：The driving of longitudinal mobile motor 20 vertically moves gear 22 and is vertically moving the guide rail rack 111 of slide rail 1
Upper longitudinal direction walking, the driving transverse shifting of transverse mobile motor 40 sliding block 4 is laterally walked on transverse shifting slide rail 3, vertical push-and-pull
Bar 5 can realize the vertically movable of support arm runing rest 6, support arm runing rest 6 can the central shaft of vertically pull bar 5 do rotation fortune
Dynamic, rotating arm 7 can realize the adjustment by a small margin around support arm shaft.
The embodiment is to the illustrative present invention, not for the limitation present invention.Any those skilled in the art
The embodiment can be modified under the spirit and scope without prejudice to the present invention, therefore the rights protection model of the present invention
Enclose, should be as listed by the claim of the present invention.
Claims (6)
1. a kind of ceiling mounting type laparoscopic surgery robot, it is characterised in that：Including two symmetrically arranged slide rail fixed plates, slide rail
It is installed with fixed plate and vertically moves slide rail (1), is provided with shifting sledge (1) vertically moves sliding block (2) longitudinally in each,
Vertically move sliding block (2) and can be realized on slide rail (1) is vertically moved and vertically moved, two symmetrically arranged transverse shifting slide rails
(3) two bottoms for vertically moving sliding block (2) are fixedly mounted on, transverse shifting slide rail (3) is with vertically moving slide rail (1) with phase
Transverse shifting sliding block (4), transverse shifting are installed between same structure construction, two symmetrically arranged transverse shifting slide rails (3)
Sliding block (4) can realize transverse shifting on transverse shifting slide rail (3), and vertical pull bar (5) is fixedly mounted on transverse shifting cunning
The bottom of block (4), the bottom of vertical pull bar (5) is provided with support arm runing rest (6), support arm runing rest (6) medium position
Offer to be hinged by support arm shaft in rotating arm mounting groove, rotating arm mounting groove and three rotating arms (7) are installed, each
Rotating arm (7) can rotate around respective support arm shaft, and the bottom end of rotating arm (7) is fixedly installed expansion link
(8), the bottom of expansion link (8) is provided with operation technique hand (9)；Vertically moving slide rail (1) includes square U-steel frame (10), square
U-steel frame (10) is fixedly mounted in slide rail fixed plate, and vertically moving slide rail (1) also includes upper rall (11) and lower guide
(12), upper rall (11) and lower guide (12) are symmetrically fixedly installed on position above and below the sidepiece of square U-steel frame (10), on
The bottom of portion's guide rail (11) is provided with guide rail rack (111), and the bottom of the upper and lower part guide rail (12) of upper rall (11) is all provided with
There is guide wheel projection (121)；Vertically moving sliding block (2) includes longitudinal sliding block installing plate (21), the one of longitudinal sliding block installing plate (21)
Longitudinal mobile motor (20) is fixedly installed in lateral plates, longitudinal mobile motor output shaft (201) passes through longitudinal sliding block installing plate
(21), vertically move gear (22) to be fixedly mounted on longitudinal mobile motor output shaft (201) by pin, vertically move gear
(22) engage and connect with guide rail rack (111), four corners of longitudinal sliding block installing plate (21) are respectively and fixedly provided with guide wheel shaft (23), lead
Guide wheel (24) is provided with by bearing on wheel shaft (23), guide wheel (24) periphery offers guide wheel groove (240), upper rall
(11) embedded it is arranged on the guide wheel projection (121) of lower guide (12) in guide wheel groove (240).
2. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Support arm runing rest
(6) bottom is further fixedly arranged on expansion link (8), and the bottom of expansion link (8) is provided with operation technique hand (9).
3. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Transverse shifting sliding block
(4) upper end is fixedly installed transverse mobile motor (40), and transverse shifting sliding block (4) is relative with two transverse shifting slide rails (3)
Side is provided with guide wheel by bearing, the guide wheel of transverse shifting sliding block (4) can transverse shifting slide rail upper rall and under
Laterally walked on portion's guide rail.
4. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Operation technique hand (9)
Support arm is hinged with four.
5. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Support arm runing rest
(6) lengthwise position in vertical pull bar (5) bottom is fixed, can the central shaft of vertically pull bar (5) rotate, and can
Vertically push rod (5) axis direction does stretching motion.
6. a kind of ceiling mounting type laparoscopic surgery robot according to claim 1, it is characterised in that：Expansion link (8) is adjustable
Collapsing length is saved, and can be slided along rotating arm (7) horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306713.4A CN107157583A (en) | 2017-05-04 | 2017-05-04 | A kind of ceiling mounting type laparoscopic surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306713.4A CN107157583A (en) | 2017-05-04 | 2017-05-04 | A kind of ceiling mounting type laparoscopic surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107157583A true CN107157583A (en) | 2017-09-15 |
Family
ID=59812964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710306713.4A Pending CN107157583A (en) | 2017-05-04 | 2017-05-04 | A kind of ceiling mounting type laparoscopic surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107157583A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107951565A (en) * | 2017-12-18 | 2018-04-24 | 苏州康多机器人有限公司 | A kind of laparoscopic surgery robot architecture centered on holding handel |
| CN109394162A (en) * | 2018-11-22 | 2019-03-01 | 兰州大学第二医院 | A kind of laparoscope intelligent controlling device |
| CN111419406A (en) * | 2020-04-29 | 2020-07-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Guide rail device and medical robot |
| CN111437037A (en) * | 2020-04-29 | 2020-07-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Guide rail device and medical robot |
| CN111759534A (en) * | 2020-07-06 | 2020-10-13 | 温州大学 | Auxiliary device for artificial blood vessel installation |
| CN114129266A (en) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Method, robot arm, device, robot, and medium for maintaining RC point constant |
| CN114191091A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
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| CN106214261A (en) * | 2016-09-21 | 2016-12-14 | 东莞市联洲知识产权运营管理有限公司 | A kind of suspension type operating robot |
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| CN207734219U (en) * | 2017-05-04 | 2018-08-17 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of ceiling mounting type laparoscopic surgery robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107951565A (en) * | 2017-12-18 | 2018-04-24 | 苏州康多机器人有限公司 | A kind of laparoscopic surgery robot architecture centered on holding handel |
| CN109394162A (en) * | 2018-11-22 | 2019-03-01 | 兰州大学第二医院 | A kind of laparoscope intelligent controlling device |
| WO2021218955A1 (en) * | 2020-04-29 | 2021-11-04 | 苏州康多机器人有限公司 | Guide rail device and medical robot |
| CN111437037A (en) * | 2020-04-29 | 2020-07-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Guide rail device and medical robot |
| WO2021218954A1 (en) * | 2020-04-29 | 2021-11-04 | 苏州康多机器人有限公司 | Guide rail device and medical robot |
| CN111419406A (en) * | 2020-04-29 | 2020-07-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Guide rail device and medical robot |
| EP4144320A4 (en) * | 2020-04-29 | 2024-05-15 | Suzhou Kangduo Robot Co., Ltd. | Guide rail device and medical robot |
| EP4144321A4 (en) * | 2020-04-29 | 2024-05-15 | Suzhou Kangduo Robot Co., Ltd. | Guide rail device and medical robot |
| CN111759534A (en) * | 2020-07-06 | 2020-10-13 | 温州大学 | Auxiliary device for artificial blood vessel installation |
| CN111759534B (en) * | 2020-07-06 | 2023-09-26 | 温州大学 | Auxiliary device for artificial blood vessel installation |
| CN114191091A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN114191091B (en) * | 2021-11-09 | 2024-06-04 | 深圳爱博合创医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN114129266A (en) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Method, robot arm, device, robot, and medium for maintaining RC point constant |
| CN114129266B (en) * | 2021-11-11 | 2024-05-14 | 深圳市精锋医疗科技股份有限公司 | Method, mechanical arm, equipment, robot and medium for keeping RC point unchanged |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Applicant after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Applicant before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |