CN107822676A - A kind of retractor of far-end operation - Google Patents
A kind of retractor of far-end operation Download PDFInfo
- Publication number
- CN107822676A CN107822676A CN201710862217.7A CN201710862217A CN107822676A CN 107822676 A CN107822676 A CN 107822676A CN 201710862217 A CN201710862217 A CN 201710862217A CN 107822676 A CN107822676 A CN 107822676A
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- China
- Prior art keywords
- rotating bar
- bar
- hook portion
- motor
- screens
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Classifications
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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
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0206—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors with antagonistic arms as supports for retractor elements
-
- 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
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of retractor of far-end operation, belong to area of medical devices, the traction of people's operative segment is carried out by the retractor on operating robot, clinical treatment field can be used in.
Description
Technical field
The present invention relates to area of medical devices.
Background technology
Retractor (retractors) is also known as drag hook, and to retract tissue, appearing needs range of operation, is easy to detect and grasps
Make, the hand-held class of drag hook and self-retractor two can be divided into.There is the specification of various different shapes and size, can need to select according to operation
Suitable drag hook.
Retractor be generally used for surgical operation, such as neurosurgery, cardiothoracic surgery, Urology Surgery, anorectal surgical, outside liver and gall
The otch of section, plastic surgery, microsurgery etc. is fixed, and current retractor is consolidated typically by the opening and closing of a pair of hook portions of control
Determine otch, end passes through the structure remote controls such as scissors handle.
Medical robot is increasingly applied in performing the operation, and medical robot generally has general medical robot and minimally invasive
Medical robot, general medical robot mainly replace a variety of operations of people.
Existing retractor generally has the following problems：
Existing retractor is typically to cut cutter handle structure, also there is some screw rod transmissions, but needs a people to fix always, hand
In the case that the art time is grown, wound size can change, and generally in some dead angle positions, it is difficult operation that people retracts manually.
Some present surgical operations can use operating robot to carry out, but when operating robot is carried out, such as
Fruit is retracted by hand by people, the operation and the fixation of exposure range that will not utilize very much operating robot.
The content of the invention
It is an object of the invention to：For above-mentioned problem, there is provided a kind of retractor of far-end operation, including：
Bottom plate, the side of described bottom plate is provided with and the riser of bottom plate vertical distribution, base plate rear end have electric baseboard, and front end is provided with
Convex portion is provided, retaining lugs is forward extended out and raised up in end, and boss is provided with passage,；Electric baseboard is located at bottom plate
Side, electric baseboard is provided with a motor housing, is provided with motor in motor housing, motor housing and motor can be according to existing knots
Structure, motor are provided with control device（It is identical with the robot of existing most far-end operations）, by the rotation of remote control motor,
Motor can be rotated forward and rotated backward, and forward and reverse is relative.
Rotating bar, riser, which is provided with, is used for the passage that rotating bar passes through, and rotating bar is fixed on riser through passage, is rotated
The end of bar connects the first motor, and motor is controlled by far-end control device, and rotating bar includes and the first rotation of motor connection
Bar, the second rotating bar connected with nut piece, the surface of the second rotating bar are provided with screw thread, and the first rotating bar and the second drive link lead to
Spring connection is crossed, and the first rotating bar and the second rotating bar phase one-directional rotation each other are limited provided with positioner, when first turn
When lever and the second rotating bar are blocked by positioner, spring has a moment of torsion；
Hook portion, described hook portion are two, and two hook portions coordinate to be retracted to operative site, and hook portion and rotating bar pass through transmission
Bar assembly connects, and the end of hook portion is gib head, and transmission bar assembly includes two connecting rods of specification identical and is enclosed in rotating bar
Nut piece, two connecting rods are hinged with nut piece and hook portion respectively, one of hook portion integrated molding or are fixedly connected
There is the gag lever post through another hook portion；
Side position hook portion, described side position hook portion are located at the front end of retaining lugs, and side position hook portion is connected with motion bar, the end of motion bar
End is threaded with screw rod, screw rod and the second motor connection, and passes through motor control；
Bar assembly is driven, transmission bar assembly includes the nut piece of one and rotating bar threaded connection, passes through the motion control of nut piece
The traction of hook portion processed and closure.
The retractor of the present invention first can be by robot remote control, and can be fixed by robot, in hand
Single human users are not needed in art, robot of the invention control can control in operating room, can also be in operating room
Outer control, the operation of surgical staff is generally mated if being controlled in operating room, control is typically to coordinate operation in operating room
Robot（Typically other operating robot operating sides）Use, structure disclosed by the invention has certain pooling feature,
Normal conditions lower spring is a preloading moment of torsion, when the rotating bar of motor driven first rotates, due to the presence of moment of torsion,
First rotating bar drive the second rotating bar rotate, and then and then retract, when traction reaches rational position, if distal end
Dynamics is lost control of, the second rotating bar will be bigger by the otch power of human body, under the preloading moment of torsion of spring, first turn
Lever can not drive the second rotating bar to rotate, this when, and the second rotating bar be able to can just rotate relative to the second rotating bar, Jin Erhuan
Rush to wound drawing-off, protected wound.Under normal circumstances, after fixed a period of time, the second rotating bar and the second rotating bar
Initial position can be returned to（The namely just position of screens）, but also will not recover or recover sometimes and be slow.Work as traction
Device needs to leave wound, and after the completion of operation, rotating bar rotates towards opposite direction, this when, because positioner rotates
Bar will keep rigid state, and retractor is taken out.So the purpose of positioner has three：1, spring clamp can be preloaded
Moment of torsion；2：Rotating bar rotates in one direction, keeps rigidity and state both with elasticity, buffers the stretching to wound；3；Instead
To when rotation, rotating bar is from beginning rigid state.
The present invention and the second motor connection screw rod can also use and rotating bar identical structure, in the end of screw rod
Provided with the screw thread coordinated with motion bar, but it can not also use, because the screw rod of side will not be had influence on very much using rigid structure
Using effect.
Connecting rod disclosed by the invention uses two identical specifications so that nut piece among movable process,
Hook portion can relatively move, and by the cooperation of gag lever post, gib head can be caused to be moved along specific direction, entered
And carry out the traction of tissue.
It should be noted that spring can use existing spring, its preloading moment of torsion is big according to the tractive force of retractor
Small rationally to set, in certain embodiments, elasticity is prepared using titanium alloy material, in titanium alloy containing gallium 0.2%, indium 0.25% with
And 5% Zn-ef ficiency, above-mentioned element adds among the process of titanium valve vacuum fusion, and its technique added is existing.It is prepared
Spring strength it is bigger, reaching equal requirement, spring can become thinner lighter, and longer when use, because existing
The many elasticity having its performance after long-time is reversed can change.
As an improvement, the first described rotating bar is provided with convex portion, convex portion is provided with the screens bar being axially distributed, and second rotates
The recess that bar is provided with and the first rotating bar convex portion coordinates, the screens conduit that recess inwall is provided with and screens bar coordinates, screens bar
It can be moved radially along screens conduit.Screens bar can move along screens conduit so that and rotating bar keeps certain elasticity,
The length of convex portion is more than recess under normal conditions so that and spring can be enclosed on convex portion,
As an improvement, the quantity of screens groove and screens bar is two.
As an improvement, the second described rotating bar is fixedly connected or integrated molding has the rod set of a covering spring.
Described rod set can be not provided with normal circumstances, set the purpose of rod set to be to protect spring, rod set can be generally fixed on
In first rotating bar and the second rotating bar, in one embodiment, rod set is provided with circular hole, the first rotating bar or the second rotating bar
If flexible screens ball, screens ball and circular hole coordinate can by rod set according to and dismounting（Similar closed with the opening of umbrella is tied
Structure）.
As an improvement, the described motor of electricity first and the second motor is fixed on electric baseboard by fixed seat.
As an improvement, electric baseboard is connected with the montant vertical with electric baseboard, montant is connected with turn of bilge, and turn of bilge is provided with solid
The fixed seat being scheduled in robot.The space increase that it is operated can so be caused, and reduced to normal operating theatre staff
Influence, robot may be mounted at a remote position.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the schematic diagram of opposite side observation of the present invention；
Fig. 3 is the structure chart of rotating bar of the present invention；
Fig. 4 is the sectional view of rotating bar；
Fig. 5 is the rotating bar schematic diagram of no rod set；
Fig. 6 is the connection diagram of the first rotating bar and the second rotating bar；
Fig. 7 is that the first rotating bar is good and the schematic diagram of the second rotating bar；
Fig. 8 is the schematic diagram of the motor part of the present invention；
Marked in figure：1- bottom plates, 101- electric baseboards, 102- retaining lugs, 2- rotating bars, the rotating bars of 201- first, 2011- cards
Position bar, the rotating bars of 202- second, 2021- screens conduits, 203- rod sets, 204- springs, 3- transmission bar assemblies, 301- connecting rods,
302- nut pieces, 4- hook portions, 401- gib heads, 402- gag lever posts, 5- connection parts, 501- montants, 502- turn of bilges, 503- are solid
Determine portion, the motors of 6- first, 601- fixed seats, 7- sides position hook portion, 701- motion bars, 702- screw rods, the motors of 703- second.
Embodiment
Present embodiment discloses a kind of retractor of far-end operation, including：
Bottom plate 1, the side of described bottom plate is provided with and the riser of bottom plate vertical distribution, base plate rear end have electric baseboard 101, front end
Provided with regulation convex portion 102, retaining lugs is forward extended out and raised up in end, and boss is provided with passage；
Rotating bar 2, riser, which is provided with, is used for the passage that rotating bar passes through, and rotating bar is fixed on riser through passage, rotating bar
End connect the first motor 6, motor is controlled by far-end control device, rotating bar include and motor connection the first rotating bar
201, the second rotating bar 202 connected with nut piece, the surface of the second rotating bar is provided with screw thread, the first rotating bar and the second transmission
Bar is connected by spring 204, and limits the first rotating bar and the second rotating bar phase one-directional rotation each other provided with positioner, when
When first rotating bar and the second rotating bar are blocked by positioner, spring has a moment of torsion；
Hook portion 4, described hook portion are two, and two hook portions coordinate to be retracted to operative site, and hook portion and rotating bar 2 pass through biography
Lever component 3 connects, and the end of hook portion is gib head 401, and transmission bar assembly 3 includes two connecting rods 301 of specification identical and set
Nut piece 302 in rotating bar 2, two connecting rods are be hinged with nut piece and hook portion 4 respectively, and one of hook portion is integrally melted into
Type is fixedly connected with gag lever post 402 through another hook portion；
Side position hook portion 7, described side position hook portion are located at the front end of retaining lugs, and side position hook portion is connected with motion bar 701, motion bar
End thread be connected with screw rod 702, screw rod and the second motor 703 connect, and pass through motor control；
Bar assembly 3 is driven, transmission bar assembly includes the nut piece 302 of one and rotating bar threaded connection, passes through the fortune of nut piece
The traction of dynamic control hook portion and closure.
First rotating bar of the present invention is provided with convex portion, and convex portion is provided with the screens bar 2011 being axially distributed, second turn
The recess that lever is provided with and the first rotating bar convex portion coordinates, the screens conduit 2021 that recess inwall is provided with and screens bar coordinates,
Screens bar can move radially along screens conduit.The quantity of screens groove and screens bar is two.The second described rotating bar
202 be fixedly connected or integrated molding have one covering spring 204 rod set 203.
Described electricity the first motor 6 and the second motor 703 is fixed on electric baseboard 101 by fixed seat 601.Motor bottom
Plate is connected with the montant 501 vertical with electric baseboard, and montant is connected with turn of bilge（502）, turn of bilge be provided be fixed in robot
Fixed seat 601.
Claims (6)
- A kind of 1. retractor of far-end operation, it is characterised in that including：Bottom plate（1）, the side of described bottom plate is provided with and the riser of bottom plate vertical distribution, base plate rear end have electric baseboard（101）, Front end is provided with regulation convex portion（102）, retaining lugs forward extends out and raised up in end, and boss is provided with passage；Rotating bar（2）, riser, which is provided with, is used for the passage that rotating bar passes through, and rotating bar is fixed on riser through passage, is rotated The end of bar connects the first motor（6）, motor controlled by far-end control device, and rotating bar includes and first turn of motor connection Lever（201）, the second rotating bar for being connected with nut piece（202）, the surface of the second rotating bar is provided with screw thread, the first rotating bar and Second drive link passes through spring（204）Connection, and limit the first rotating bar and the second rotating bar mutually each other provided with positioner One-directional rotation, when the first rotating bar and the second rotating bar are blocked by positioner, spring has a moment of torsion；Hook portion（4）, described hook portion is two, and two hook portions coordinate to be retracted to operative site, hook portion and rotating bar（2）It is logical Cross transmission bar assembly（3）Connection, the end of hook portion is gib head（401）, it is driven bar assembly（3）Including two connections of specification identical Bar（301）Be enclosed on rotating bar（2）On nut piece（302）, two connecting rods respectively with nut piece and hook portion（4）It is be hinged, its In a hook portion integrated molding or be fixedly connected with gag lever post through another hook portion（402）；Side position hook portion（7）, described side position hook portion is located at the front end of retaining lugs, and side position hook portion is connected with motion bar（701）, it is living The end thread of lever is connected with screw rod（702）, screw rod and the second motor（703）Connection, and pass through motor control；It is driven bar assembly（3）, nut piece of the transmission bar assembly including one and rotating bar threaded connection（302）, pass through nut piece Motion control hook portion traction and closure.
- 2. operating robot retractor according to claim 1, it is characterised in that the first described rotating bar is provided with convex Portion, convex portion are provided with the screens bar being axially distributed（2011）, the second rotating bar is provided with recessed with the cooperation of the first rotating bar convex portion Portion, the screens conduit that recess inwall is provided with and screens bar coordinates（2021）, screens bar can move radially along screens conduit.
- 3. operating robot retractor according to claim 2, it is characterised in that the quantity of screens groove and screens bar is Two.
- 4. operating robot retractor according to claim 3, it is characterised in that the second described rotating bar（202）Gu Fixed connection or integrated molding have a covering spring（204）Rod set（203）.
- 5. according to the operating robot retractor described in claim any one of 1-4, it is characterised in that the described motor of electricity first （6）With the second motor（703）Pass through fixed seat（601）It is fixed on electric baseboard（101）On.
- 6. according to the operating robot retractor described in claim any one of 1-5, it is characterised in that electric baseboard be connected with and The vertical montant of electric baseboard（501）, montant is connected with turn of bilge（502）, turn of bilge is provided with the fixed seat being fixed in robot （601）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862217.7A CN107822676B (en) | 2017-09-21 | 2017-09-21 | A kind of retractor of far-end operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862217.7A CN107822676B (en) | 2017-09-21 | 2017-09-21 | A kind of retractor of far-end operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107822676A true CN107822676A (en) | 2018-03-23 |
| CN107822676B CN107822676B (en) | 2019-06-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710862217.7A Expired - Fee Related CN107822676B (en) | 2017-09-21 | 2017-09-21 | A kind of retractor of far-end operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107822676B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109431611A (en) * | 2018-12-25 | 2019-03-08 | 吉林大学 | A kind of flexibility three arm type operating robot |
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|---|---|---|---|---|
| CN2616180Y (en) * | 2003-04-24 | 2004-05-19 | 刘春华 | Magnetic-fixed retracting apparatus for surgical operation |
| CN103220988A (en) * | 2010-04-29 | 2013-07-24 | 自动化医药产品公司 | Telescoping surgical support and retractor system |
| US20130296654A1 (en) * | 2011-01-27 | 2013-11-07 | Mayo Foundation For Medical Education And Research | Transoral retractor for robotic surgery |
| CN203328737U (en) * | 2013-03-27 | 2013-12-11 | 陈军 | Incision fixing device |
| CN204147067U (en) * | 2014-08-24 | 2015-02-11 | 邵杰 | A kind of surgical operation self-retractor |
| CN205286428U (en) * | 2016-01-11 | 2016-06-08 | 南阳医学高等专科学校 | Surgery retractor for surgery |
| CN205433776U (en) * | 2015-12-30 | 2016-08-10 | 深圳市第二人民医院 | Device is led out to pancreas transplantation operation intelligence |
| CN106028958A (en) * | 2013-11-27 | 2016-10-12 | 美的洛博迪克斯公司 | Oral retraction devices and methods |
-
2017
- 2017-09-21 CN CN201710862217.7A patent/CN107822676B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2616180Y (en) * | 2003-04-24 | 2004-05-19 | 刘春华 | Magnetic-fixed retracting apparatus for surgical operation |
| CN103220988A (en) * | 2010-04-29 | 2013-07-24 | 自动化医药产品公司 | Telescoping surgical support and retractor system |
| US20130296654A1 (en) * | 2011-01-27 | 2013-11-07 | Mayo Foundation For Medical Education And Research | Transoral retractor for robotic surgery |
| CN203328737U (en) * | 2013-03-27 | 2013-12-11 | 陈军 | Incision fixing device |
| CN106028958A (en) * | 2013-11-27 | 2016-10-12 | 美的洛博迪克斯公司 | Oral retraction devices and methods |
| CN204147067U (en) * | 2014-08-24 | 2015-02-11 | 邵杰 | A kind of surgical operation self-retractor |
| CN205433776U (en) * | 2015-12-30 | 2016-08-10 | 深圳市第二人民医院 | Device is led out to pancreas transplantation operation intelligence |
| CN205286428U (en) * | 2016-01-11 | 2016-06-08 | 南阳医学高等专科学校 | Surgery retractor for surgery |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109431611A (en) * | 2018-12-25 | 2019-03-08 | 吉林大学 | A kind of flexibility three arm type operating robot |
| CN109431611B (en) * | 2018-12-25 | 2021-08-06 | 吉林大学 | Flexible three-arm type surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107822676B (en) | 2019-06-21 |
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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 | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Tinggang Inventor after: Zhang Shenglin Inventor after: Li Shenxiao Inventor after: Sun Yanping Inventor before: Sun Yanping |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190527 Address after: 266000 Qingdao Haici Medical Group, No. 4 Renmin Road, North District, Qingdao City, Shandong Province Applicant after: Wang Tinggang Address before: 710000 No. 2, Dongfang Milan international city, Yantu Road, Yanta District, Xi'an, Shaanxi 2 Applicant before: Sun Yanping |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190621 Termination date: 20200921 |