CN108210077B - Surgical instrument mounting assembly used in a kind of laparoscopic surgery - Google Patents
Surgical instrument mounting assembly used in a kind of laparoscopic surgery Download PDFInfo
- Publication number
- CN108210077B CN108210077B CN201810003092.7A CN201810003092A CN108210077B CN 108210077 B CN108210077 B CN 108210077B CN 201810003092 A CN201810003092 A CN 201810003092A CN 108210077 B CN108210077 B CN 108210077B
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- surgical instrument
- fixed
- fixed device
- driving
- laparoscopic surgery
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B2017/00238—Type of minimally invasive operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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)
- 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)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses surgical instrument mounting assemblies used in a kind of laparoscopic surgery, belong to area of medical devices, it include: fixed device (2), it is used to install surgical instrument, fixed device includes a fixed point and a moving point, the surgical instrument includes the power end for having the actuating station for going deep into abdominal cavity and being mounted on fixed device (2), is a long tube structure between power end and actuating station；Driving assembly (1), driving assembly is connected with operating robot, driving assembly is connected by the first connector (31) with the fixed hinge of fixed device (2) and by the second connector (32) with the moving point of fixed device, second connector drives fixed device to rotate around its fixed point, and the long tube structure of surgical instrument is located on its plane of rotation.
Description
Technical field
The present invention relates to laparoscopically surgical operation instruments.
Background technique
Laparoscopic surgery is the invasive methods that a new development is got up, and is that one of the following operation method development necessarily becomes
Gesture.With advancing by leaps and bounds for industrial manufacturing technology, be fused to carry out new technology, the new method of related discipline have established firm base
Plinth, in addition the operation that doctor is more and more consummate, so that many past open operations have been replaced by intracavity operation now,
Considerably increase surgical selection chance.Retroperitoneoscopictechnique conventional method is to make three 1 centimetre of small notch in patient's waist, respectively
Insertion one is called the pipe-like service aisle of " trocar ", and later every operation, which passes through these three pipelines, to carry out；Again with spy
The lengthening surgical instrument of system completes the step same as open surgery under television monitoring, reaches same surgical effect.
The advantages of Two trocars retroperitoneoscopictechnique is very it will be evident that being wound very little first, it is only necessary to 2 osculums, scar
Very little, this point are more worth noting for young man and the women to like to be beautiful.Second, it performs the operation as the entrance of single-broadsword event, to week
The damage for enclosing tissue minimizes, and the postoperative chance to stick together becomes smaller.Third, patient's postoperative wound pain are substantially reduced.The
Four, length of stay is less, as long as 2-3 days had can leave hospital, complete recovery of health and can devote oneself to work within 7 days, to make to suffer from
Person, which bears expenses, to be greatly reduced, while hospital bed turnover rate is accelerated.
Two trocars Retroperitoneoscopicvaricocelectomy and laparoscope urological surgery can be used at present in following Urology Surgery treatment, such as kidney
Cystectomy, cryptorchidism testis draw drop art, varicocele ligation etc..
Robotic surgical system is the synthesis for integrating multinomial modern high tech method.Be mainly used for department of cardiac surgery and
Prostatectomy.Surgeon, which may be located remotely from operating table and operate machine, to perform the operation, and is totally different from traditional operation concept,
It is undisputed revolutionary Surigical tool in world minimally invasive surgery field.
Operating robot is usually to pass through a robot, and corresponding hand is carried out on human body by multiple robots arms
Art, especially Minimally Invasive Surgery, such as laparoscopic surgery.Place of the hospital except operation is remotely controlled, such as Leonardo da Vinci's machine
People's surgery systems.
When laparoscopic minimally invasive surgery is operated by operating robot, 6 or so are typically provided on operating robot
Motion arm, control different surgical instruments respectively, and laparoscope need to achieve the effect that it is minimally invasive.Each motion arm is met empty
Between very little, and between these existing machinery much is all to be moved from the plane for being parallel to abdominal cavity, hold very much between each other
Easily interference, reduces operative speed and effect.
Meanwhile existing surgical instrument mounting assembly, majority realizes multiple freedom degrees by the composition of R pair and P pair, in hand
In the operating process of art robot, surgical instrument and the stabilization that surgical instrument will be seriously affected according to element end gravity
Property.
Summary of the invention
The present invention the problems in works as the prior art, discloses surgical instrument installation used in a kind of laparoscopic surgery
Component, comprising:
Fixed device, is used to install surgical instrument, and fixed device includes a fixed point and a moving point, described
Surgical instrument include having the actuating station for going deep into abdominal cavity and installation power end on the securing means, power end and execution
It is a long tube structure between end；
Driving assembly, driving assembly are connected with operating robot, and driving assembly is by the first connector and fixes device
It fixed hinge and is connected by the second connector with the moving point of fixed device, second connector drives fixed device
It is rotated around its fixed point, the long tube structure of surgical instrument is located on its plane of rotation.
As an improvement, the driving assembly, which is equipped with first driving device, drives the second connector and further driving fixation
Device is rotated around its fixed point, and the first driving device, which includes one, and the second connecting rod connects firmly first installs
Seat, first driving device drive the first mounting base and further drive the second connector.
As an improvement, the first driving device is screw rod driving comprising there is first motor to connect with first motor
The first screw rod, be threaded with the first sliding block on the first screw rod, the first sliding block and the first mounting base connect firmly.
As an improvement, the second connector and the movable block that fixed device is equipped with are hinged, movable block can be along solid
Determine device sliding.
As an improvement, movable block is equipped with a buckle, fixed device is equipped with a card slot, is stuck in card slot solid
Determine movable block and makes movable block or slided along card slot.
As an improvement, fixed device is equipped with that the power end of driving surgical instrument moves forward and backward along long tube structure
Two driving devices, the second driving device includes the second motor, the second screw rod for connecting with the second motor, screw thread on the second screw rod
It is connected with the second sliding block, the first sliding block connects firmly or integrated molding has the second mounting base for installing surgical instrument power end, the
Two driving devices drive surgical instrument along long tube structure axially reciprocating.
As an improvement, fixed device is equipped with the locating piece of fixation surgical instrument long tube structure, locating piece includes placing hand
The support of art instrument and the pipe sleeve passed through for long tube structure.
As an improvement, support is equipped with groove, one end of pipe sleeve is fixed in groove.
As an improvement, the first connector is hinged on pipe sleeve.
The surgery mechanical for designing multiple surgery mechanical arms end so adequately can be rotated and be moved, between each other
Too big interference will not be generated, improve surgery mechanical can operating space, improve flexibility and surgical effect, reduce secondary make
With.Meanwhile the present invention avoids instrument gravity bring stability influence, substantially increases surgical instrument by this rotation
The precision of end effector.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the schematic diagram of 1 first driving device of embodiment；
Fig. 3 is the structural schematic diagram of 1 second driving device of embodiment and locating piece；
Marked in the figure: 1- driving assembly (connector), 11- mounting base, the fixed device of 2-, 21- locating piece, 211- pipe sleeve,
212- support, the second motor of 22-, the second screw rod of 23-, the second sliding block of 24-, the second mounting base of 25-, the first connector of 31-, 32-
Second connector, 33- first motor, the first screw rod of 34-, the first sliding block of 35-, the first mounting base of 36-.
Specific embodiment
Specific embodiment 1
Present embodiment discloses surgical instrument mounting assemblies used in a kind of laparoscopic surgery, comprising:
Fixed device 2 is used to install surgical instrument, and fixed device includes a fixed point and a moving point, institute
The surgical instrument stated includes the power end for having the actuating station for going deep into abdominal cavity and being mounted on fixed device 2, power end and
It is a long tube structure between actuating station, in laparoscopic minimally invasive surgery, which is human body surface notch to be deep into
In；
Driving assembly 1, driving assembly is connected with operating robot, and driving assembly passes through the first connector 31 and fixed device
2 fixed hinge and connect by the second connector 32 with the moving point of fixed device, second connector, which drives, to be consolidated
Determine device to rotate around its fixed point, the long tube structure of surgical instrument is located on its plane of rotation.
The present invention is connected by driving assembly with surgical robot arm, on the one hand the main effect of driving assembly is to solid
Determine one fixed point of device and moving point, fixed device is controlled by moving point and is rotated around fixed point, wherein in the mistake of rotation
Cheng Dangzhong, it is fixed be to maintain it is fixed, but its fix be also relative to, usually fixed relative to driving assembly 1, this is solid
Determine device and be preferably the size in dimension direction (such as direction A) one by one to be far longer than the size of other two dimension, long tube hand
The long tube direction and the direction A of art instrument are consistent or are not much different, and angle controls within 10 degree.Driving assembly and solid
It is similar to determine device, in one dimension (B dimension) have larger size, in specific use process, the direction A, the direction B with
And first connector and the second connector in the same plane, it is flat in the process of fixed device rotation, and at this
It is rotated on face.The surgery mechanical for designing multiple surgery mechanical arms end so adequately can be rotated and be moved, mutually it
Between will not generate too big interference, improve surgery mechanical can operating space, improve flexibility and surgical effect, reduce secondary
Effect.
Meanwhile the present invention avoids instrument gravity bring stability influence, substantially increases operation by this rotation
The precision of instrument end operation.
The driving assembly 1 is mainly reflected in the fixed device rotation of driving in driving effect, including at least having
First driving device drives the second connector and fixed device is further driven to rotate around its fixed point.
What the second connector and first driving device were installed, in a preferred embodiment, first driving device includes one
The first mounting base 36 that a and the second connecting rod connects firmly, first driving device drive the first mounting base and further the second company of driving
Fitting.
First driving can with existing various driving structures, pneumatic actuation, screw structure etc., in preferred embodiments,
First driving device is screw rod driving comprising the first screw rod 34 for having first motor 33 to connect with first motor, the first screw rod
On be threaded with the first sliding block 35, the first sliding block and the first mounting base (36) connect firmly.In a more preferred embodiment, in order to
One end of the stabilization of first sliding block, the first screw rod is fixed by motor, and the other end is carried out by existing some common fasteners
It is fixed.
The present invention drives fixed device rotation by the transmission of the second connecting rod, therefore in a preferred embodiment,
A kind of connection type of the second connecting rod and fixed device is disclosed, specifically the second connector 32 is equipped with fixed device
A movable block it is hinged, movable block can be the above-mentioned direction A along fixed device sliding, glide direction.
The connection function of movable block and fixed device is that movable block is slided along the direction A, therefore existing
All reasonable directions can select, and as a preferred solution, movable block is equipped with a buckle, and fixed device is equipped with
One card slot is stuck in card slot and fixes movable block and make movable block or slide along card slot.
In laparoscopic minimally invasive surgery, the freedom degree that surgical instrument can be more as far as possible is to operation operability and surgical effect
Upper most important, more freedom degrees can increase the operating flexibility of surgical instrument, such as realize grabbing, cut, pressing from both sides, cutting for various directions
Deng.Therefore in a more preferred embodiment, the present invention increases an one-movement-freedom-degree to operating equipment, is characterized in particular in, is pacifying
In the case that arrangement is fixed, surgical instrument can be moved along the axial direction of surgical instrument, in order to reach this effect,
In further preferred embodiment, what the power end that fixed device is equipped with driving surgical instrument moved forward and backward along long tube structure
Second driving device, the second driving device include the second motor 22, the second screw rod 23 connecting with the second motor, the second screw rod
On be threaded with the second sliding block 24, the first sliding block connects firmly or integrated molding have installation surgical instrument power end second peace
Seat 25 is filled, the second driving device drives surgical instrument along long tube structure axially reciprocating.
Since installation is not to be bonded completely between each components, in the process that surgery mechanical is mobile and rotates, by
It is influenced in the intrinsic relationship of components and gravity, certainly exists swing, also accuracy is extremely important to Minimally Invasive Surgery, in order to
It can stablize in surgical instrument rotation and mobile process.In a preferred embodiment, fixed device is equipped with solid
Determine the locating piece 21 of surgical instrument long tube structure, locating piece includes placing the support of surgical instrument and passing through for long tube structure
Pipe sleeve；In more stable more preferred embodiment, support is equipped with groove, and one end of pipe sleeve is fixed in groove.
The locating piece can be used in the scheme of the present embodiment, can also be used in various other schemes of fixation surgical instrument pipe.?
This has the effect of splendid, which is because, a fixed point is needed in fixation device of the invention, if this fixed point
On pipe sleeve, there will be splendid stablizing effect to surgical instrument.
In preferably, the first connector is hinged on pipe sleeve 211.Further, the driving assembly of the present embodiment passes through
Mounting base 11 is connected with robot arm.
Under product regular situation disclosed by the invention can using iron, Stainless Steel etc., but robot end will be by weight
The influence of power, resistance etc., it is higher to its stability requirement, so the good product of mechanical properties such as need bending strength big, for this purpose,
Present invention uses a kind of special Cu alloy material, Cu alloy material is prepared using the copper vacuum fusion of high-purity, is specifically pressed
Include 100 parts of copper, 2 parts of nickel, 2 parts of zinc, 1 part of tin, 1 part of gallium according to parts by weight, 1 part of lead, passes through conventional vacuum-fusion technique, knot
It is configured standby, bending strength can achieve 1200mpa or more.
In the description of the present invention, it should be noted that term " center ", "lower", "left", "right", " is erected at "upper"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is based on orientation shown in attached drawing and use habit
Or positional relationship or the invention product using when the orientation or positional relationship usually put, be merely for convenience of description this
Invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition
The concrete meaning of above-mentioned term in the present invention.
Claims (8)
1. surgical instrument mounting assembly used in a kind of laparoscopic surgery characterized by comprising
Fixed device (2), are used to install surgical instrument, and fixed device includes a fixed point and a moving point, described
Surgical instrument include the power end for having the actuating station for going deep into abdominal cavity and being mounted on fixed device (2), power end and
It is a long tube structure between actuating station；
Driving assembly (1), driving assembly is connected with operating robot, and driving assembly passes through the first connector (31) and fixed device
(2) fixation is point articulated and is connected by the second connector (32) with the moving point of fixed device, second connector
Fixed device is driven to rotate around its fixed point, the long tube structure of surgical instrument is located on its plane of rotation；
The driving assembly (1) is equipped with first driving device and drives the second connector and further drive fixed device around it
Fixed point rotation, the first mounting base (36) that the first driving device includes one and the second connecting rod connects firmly, first
Driving device drives the first mounting base and further drives the second connector.
2. surgical instrument mounting assembly used in laparoscopic surgery according to claim 1, which is characterized in that described
First driving device is screw rod driving comprising the first screw rod (34) for thering is first motor (33) to connect with first motor, first
It is threaded on screw rod the first sliding block (35), the first sliding block and the first mounting base (36) connect firmly.
3. surgical instrument mounting assembly used in laparoscopic surgery according to claim 2, which is characterized in that second connects
Fitting (32) and the movable block that fixed device is equipped with are hinged, and movable block can be along fixed device sliding.
4. surgical instrument mounting assembly used in laparoscopic surgery according to claim 3, which is characterized in that movable block
Be equipped with a buckle, fixed device is equipped with a card slot, be stuck in card slot fix movable block and make movable block along
Card slot sliding.
5. surgical instrument mounting assembly used in laparoscopic surgery according to claim 4, which is characterized in that fixed dress
It sets and is equipped with the second driving device that the power end of driving surgical instrument moves forward and backward along long tube structure, the second driving device
Include the second motor (22), the second screw rod (23) being connect with the second motor, is threaded with the second sliding block on the second screw rod
(24), the second sliding block connects firmly or integrated molding has the second mounting base (25) of installation surgical instrument power end, the second driving
Device drives surgical instrument along long tube structure axially reciprocating.
6. surgical instrument mounting assembly used in laparoscopic surgery according to claim 5, which is characterized in that fixed dress
The locating piece (21) equipped with fixation surgical instrument long tube structure is set, locating piece includes placing the support of surgical instrument and being used for
The pipe sleeve that long tube structure passes through.
7. surgical instrument mounting assembly used in laparoscopic surgery according to claim 6, which is characterized in that on support
Equipped with groove, one end of pipe sleeve is fixed in groove.
8. surgical instrument mounting assembly used in laparoscopic surgery according to claim 7, which is characterized in that first connects
Fitting is hinged on pipe sleeve (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810003092.7A CN108210077B (en) | 2018-01-02 | 2018-01-02 | Surgical instrument mounting assembly used in a kind of laparoscopic surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810003092.7A CN108210077B (en) | 2018-01-02 | 2018-01-02 | Surgical instrument mounting assembly used in a kind of laparoscopic surgery |
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| Publication Number | Publication Date |
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| CN108210077A CN108210077A (en) | 2018-06-29 |
| CN108210077B true CN108210077B (en) | 2019-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810003092.7A Expired - Fee Related CN108210077B (en) | 2018-01-02 | 2018-01-02 | Surgical instrument mounting assembly used in a kind of laparoscopic surgery |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109316161A (en) * | 2018-10-23 | 2019-02-12 | 深圳市儿童医院 | A kind of portable child laparoscopic device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889900A (en) * | 2010-07-12 | 2010-11-24 | 天津大学 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
| CN205814425U (en) * | 2016-01-22 | 2016-12-21 | 中国科学院重庆绿色智能技术研究院 | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism |
| DE102016111737A1 (en) * | 2016-06-27 | 2017-12-28 | avateramedical GmBH | Instrument carrier device for a manipulator of a robotic surgical system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130338679A1 (en) * | 2007-05-04 | 2013-12-19 | Technische Universiteit Eindhoven | Surgical Robot |
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2018
- 2018-01-02 CN CN201810003092.7A patent/CN108210077B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889900A (en) * | 2010-07-12 | 2010-11-24 | 天津大学 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
| CN205814425U (en) * | 2016-01-22 | 2016-12-21 | 中国科学院重庆绿色智能技术研究院 | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism |
| DE102016111737A1 (en) * | 2016-06-27 | 2017-12-28 | avateramedical GmBH | Instrument carrier device for a manipulator of a robotic surgical system |
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| CN108210077A (en) | 2018-06-29 |
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