CN109091239A - Operating robot with mounting groove - Google Patents
Operating robot with mounting groove Download PDFInfo
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- CN109091239A CN109091239A CN201810649859.3A CN201810649859A CN109091239A CN 109091239 A CN109091239 A CN 109091239A CN 201810649859 A CN201810649859 A CN 201810649859A CN 109091239 A CN109091239 A CN 109091239A
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- mounting groove
- ontology
- power part
- motion arm
- connecting rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000009434 installation Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 22
- 238000001356 surgical procedure Methods 0.000 description 5
- 239000002360 explosive Substances 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- A61B34/37—Master-slave 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
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Biomedical Technology (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)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of operating robot with mounting groove include: master operating station and from operation equipment, the master operating station is used to send control command from operation equipment to described according to the operation of doctor, it is described from operation equipment to control, it is described to be used to respond the control command that master operating station is sent from operation equipment, and carry out corresponding operation；It is described that there is power mechanism from operation equipment, the power mechanism has ontology and power part, described body side surface offers mounting groove, the mounting groove runs through the bottom surface of the ontology, so that the motion arm is moved in the mounting groove from side, and its distal end is located at outside the mounting groove, and the power part is arranged on the body, power is provided for connecting the motion arm, and for the motion arm.Above-mentioned operating robot enables motion arm installation simpler, quickly.
Description
Technical field
The present invention relates to Minimally Invasive Surgery fields, more particularly to a kind of operating robot with mounting groove.
Background technique
Minimally Invasive Surgery refers to be applied inside body cavity using the modern medical equipments such as laparoscope, thoracoscope and relevant device
A kind of modus operandi of row operation.There are the advantages such as wound is small, pain is light, recovery is fast compared to traditional operation mode Minimally Invasive Surgery.
With the development of science and technology micro-wound operation robot technology graduallys mature, and it is widely used.Micro-wound operation robot
It generally includes master operating station and from operation equipment, doctor is performed the operation by the control of operation master operating station from operation equipment accordingly
Operation.Wherein, the motion arm for generally including power mechanism from operation equipment and being mounted on power mechanism, motion arm
For protruding into vivo, and execute surgical procedure.However it is complex from the motion arm dismounting of operation equipment at present, it is not easy to use.
Summary of the invention
Based on this, it is necessary to provide a kind of operating robot for enabling motion arm dismount simply with mounting groove.
A kind of operating robot with mounting groove, comprising: master operating station and from operation equipment,
The master operating station is used to send control command from operation equipment to described according to the operation of doctor, described in control
It is described to be used to respond the control command that master operating station is sent from operation equipment from operation equipment, and carry out corresponding operation；
Described to have power mechanism from operation equipment, the power mechanism has ontology and power part, described body side surface
Mounting groove is offered, the mounting groove runs through the bottom surface of the ontology, so that the motion arm is moved to the installation from side
In slot, and its distal end is located at outside the mounting groove, and the power part is arranged on the body, for connecting the motion arm,
And power is provided for the motion arm.
Above-mentioned operating robot enables motion arm installation simpler, quickly.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of operating robot of the present invention；
Fig. 2 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 3 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 4 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Fig. 5 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Fig. 6 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Fig. 7 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Fig. 8 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Fig. 9 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Figure 10 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Figure 11 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Figure 12 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Figure 13 is the structural schematic diagram of one embodiment of operation of the present invention arm；
Figure 14 is partial structurtes explosive view of the present invention from operation one embodiment of equipment；
Figure 15 is the structural schematic diagram of one embodiment of power mechanism shown in Figure 14；
Figure 16 is partial structurtes explosive view of the present invention from operation one embodiment of equipment；
Figure 17 is the structural schematic diagram of one embodiment of power mechanism shown in Figure 16；
Figure 18 is partial structurtes explosive view of the present invention from operation one embodiment of equipment；
Figure 19 is the structural schematic diagram of one embodiment of power mechanism shown in Figure 18；
Figure 20 is the structural schematic diagram of one embodiment of power mechanism of the present invention；
Figure 21 is partial structural diagram of the present invention from operation one embodiment of equipment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it can
To be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " water
It is flat ", "left", "right" and similar statement for illustrative purposes only, be not meant to be the only embodiment.Herein
Used term " distal end ", " proximal end " are used as the noun of locality, which is interventional medical device field common terminology, wherein
" distal end " indicates that one end in surgical procedure far from operator, " proximal end " indicate one end that proximal operator is depended in surgical procedure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
It as shown in Figure 1 to Figure 3, is respectively the structural schematic diagram of one embodiment of operating robot of the present invention, and from operation
The partial schematic diagram of equipment difference embodiment.
Operating robot include master operating station 1 and from operation equipment 2.Wherein, master operating station 1 is used for the operation according to doctor
Control command is sent to from operation equipment 2, with control from operation equipment 2, is also used to show the shadow obtained from operation equipment 2
Picture.It is used to respond the control command that master operating station 1 is sent from operation equipment 2, and carries out corresponding operation, and from operation equipment
2 are also used to obtain intracorporal image.
Specifically, from operation equipment 2 include mechanical arm 10, be set on mechanical arm 10 power mechanism 20, be set to it is dynamic
Motion arm 30 on force mechanisms 20, and it is arranged the casing 40 of motion arm 30.Mechanical arm 10 is used to adjust the position of motion arm 30；
Power mechanism 20 is for driving motion arm 30 to execute corresponding operating；Motion arm 30 is located at distal end for protruding into vivo, and by it
End instrument 31 execute surgical procedure, and/or obtain internal image.Specifically, as shown in Figure 2 and Figure 3, have from operation equipment 2
There are multiple motion arms 30, multiple motion arms 30 wear casing 40, and end instrument stretches out outside casing 40, so that multiple operations
Arm is protruded into vivo by a notch, and executes operation.In Fig. 2, it is rigid region that motion arm 30, which is located at the region in casing 40,；
In Fig. 3, it is flexible region that motion arm 30, which is located at the region in casing 40, and casing is with flexible region bends.In other embodiments,
It can be omitted casing 40, at this point, being not necessarily to casing.
It further include stamp card from operation equipment 2 in one embodiment, stamp card is fixedly installed for wearing the notch on human body
In incision tract, motion arm 30 is extend into vivo by stabbing card.
As shown in Fig. 4 to Figure 11, motion arm 30 include: sequentially connected end instrument 31, connection component 32, connecting rod 33 and
Driving mechanism 34.Wherein for driving mechanism 34 for being connected with power mechanism 20, driving mechanism 34 has shell 340；Connecting rod 33
For wearing casing 40 and/or stamp card；Connection component 32 is used to adjust position and the posture of end instrument 31；End instrument 31 is used
In execution surgical procedure, and/or obtain internal image.In other embodiments, connecting rod 33 also can be omitted, at this time connection component 32
Wear casing.
In one embodiment, connecting rod 33 is set on shell 340, and in their extension direction with 341 phase of side of shell 340
It cuts, so that the connecting rod 33 of multiple motion arms 30 is protruded into vivo by a notch.Wherein, the side 341 of shell 340 is and shell
The surface that 340 bottom surface 342 is connected, towards the surface of human body when the finger of bottom surface 342 of shell 340 is performed the operation.Connecting rod 33 is essentially
Rigid link 33 is directly arranged on power mechanism 20 when installing motion arm 30, is not necessarily to bent connecting rod 33.Other realities
It applies in example, connecting rod 33 or flexible link 33.
Aforesaid operations arm 30 enables the connecting rod 33 of multiple motion arms 30 that can pass through human body since connecting rod 33 and shell 340 are tangent
On a notch the distance between protrude into vivo, and multiple 30 driving mechanisms 34 of motion arm can be reduced, and then enable multiple
Motion arm 30 is more compact, reduces the volume that power mechanism 20 installs 30 region of motion arm.Further, since connecting rod 33 is rigid
Property connecting rod 33, enable operation when it is more stable.
In Fig. 4, embodiment illustrated in fig. 5, shell 340 has adjacent first side 341A, second side 341B, is used to
It is abutted with the first side 341A of adjacent operator arm 30 or second side 341B, so that multiple motion arms 30 are around a central axis point
Cloth；Either first side 341A, second side 341B are for the first side 341A or second side with adjacent operator arm 30
341B closes on interval setting, so that multiple motion arms 30 are distributed around a central axis, for example, wherein one in two neighboring shell 340
The first side 341A of a shell 340 and the first side 341A of another shell 340 or second side 341B is opposite sets
There is gap between the surface set, and be oppositely arranged.Wherein, first side 341A and second side 341B shape are in an acute angle.Its
In his embodiment, first side 341A, second side 341B can also form right angle or obtuse angle.
Further, the edge of first side 341A extends to the edge of second side 341B, so that two 341 phases of side
Connection, join domain are curved surface.Wherein, connecting rod 33 and curved surface are tangent, in an embodiment, the radius of curvature and connecting rod 33 of curved surface
Radius it is essentially identical.In other embodiments, the radius of curvature of curved surface can also and also it is different.Alternatively, in other embodiments,
As shown in Fig. 6 to Figure 11, connecting rod can also be not provided in the adjacent area of multiple sides.
In other embodiments, shell can be other shapes.In embodiment as shown in Figure 6, Figure 7, shell is rectangle.Fig. 8 is extremely
In embodiment illustrated in fig. 11, shell 340 has the first main body 343, and the first main body 343 has the peace for connecting power mechanism 20
Dress face 344 is extended with the second main body 345 on mounting surface 344, so that mounting surface 344 is protruded in the free end of the second main body 345, with
First main body 343 forms the notch 36 for accommodating power mechanism 20, wherein free end refer to stretch out the first main body 343 not with its
The end of connection.Fig. 8 is into Figure 10, and the second main body extends along an edge of mounting surface, so that shell shape is at L-shaped.In Figure 11,
Second main body extends from the central region of mounting surface, so that shell shape is at T-shaped, there are two notches 36 for tool.
It should be noted that in each embodiment, Fig. 4, embodiment illustrated in fig. 5 is can be used in the region of shell setting connecting rod
Mode.For example, the second main body have adjacent first side, second side, be used to the first side of adjacent operator arm or
Person's second side abuts, and either closes on interval for the shown first side or shown second side with adjacent shown motion arm
Setting, so that multiple motion arms are distributed around a central axis.
As shown in Fig. 4 to Figure 11, the surface on the surface and setting connecting rod that are used to connect power mechanism on shell can be a variety of
Positional relationship.
In embodiment illustrated in fig. 4, for connecting the surface of power mechanism and the surface opposite of setting connecting rod 33 on shell 340
Setting.Specifically, connecting rod 33 is set on the bottom surface 342 of shell 340, and closes on the fringe region of bottom surface 342, on shell 340
The surface being disposed opposite to each other with bottom surface 342 is for connecting power mechanism.
In embodiment illustrated in fig. 6, the surface on the surface and setting connecting rod 33 that are used to connect power mechanism 20 on shell 340 is
The same surface, specifically, the bottom surface 342 of shell 340 has terminal pad 35, for connecting power mechanism 20, connecting rod 33 is arranged
In on the bottom surface of shell 340 342.
It, can also be with setting connecting rod 33 for connecting the surface of power mechanism 20 on shell 340 in embodiment illustrated in fig. 7
Surface is disposed adjacent, i.e. terminal pad 35 is arranged for connecting power mechanism in shell 340 a side 341 thereon.
Fig. 8 is into embodiment illustrated in fig. 11, and connecting rod is set in the second main body, Fig. 8, Fig. 9, Tu11Zhong, mounting surface 344 with
Connecting rod 33 is parallel, Tu10Zhong, and mounting surface 344 is vertical with connecting rod 33.Wherein, Fig. 8, Figure 10, Tu11Zhong, it is main that notch 36 is located at second
On the direction of body side surface, in Fig. 9, notch 6 is located on the direction on the second main body surface opposite with bottom surface.Specifically, connecting rod 33
It is set to the second main body 345 and closes on the region of free end, for example, being set on the bottom surface of the second main body, and in its extending direction
It is upper tangent with the side of the second main body, wherein the bottom surface of the second main body is when performing the operation towards the surface of human body, and side is and bottom surface
Adjacent surface.Mounting surface 344 is equipped with terminal pad 35, for connecting dynamic structure 20.
It should be noted that connecting rod 33 also can be set on the side of shell 340 341, at this point, shell 340 is for connecting
The surface for connecing power mechanism both can be on one of side 341, or bottom surface 342, or it is opposite with bottom surface 342
Surface.Connecting rod 33 can also close on lateral side regions setting, not tangent with side.
In above-described embodiment, connecting rod 33 is straight-bar, and 33 rotary setting of connecting rod is driven on the shell 340 of driving mechanism 34
34 drive link 33 of motivation structure is rotated along its axis.In other embodiments, connecting rod 33 or non-straight rod structure.Alternatively, even
Bar 33 can also be fixedly installed on shell 340.
As shown in figure 12, in an embodiment, connecting rod 33 includes sequentially connected first connecting rod 331, second connecting rod 332,
In, first connecting rod 331 is set on shell 340, and is fixedly connected with second connecting rod 332, first connecting rod 331 and second connecting rod
332 form angle, which is the non-straight angle.In the present embodiment, second connecting rod 332 and the side 341 of shell 340 are tangent, connecting rod
33 are fixedly installed on shell 340.At this point, the end instrument 31 connecting with connecting rod 33 can be enabled to relatively rotate, to guarantee to operate
The freedom degree of arm 30.In other embodiments, second connecting rod 33 can also with the non-tangent setting of shell 340, as long as guaranteeing multiple behaviour
The second connecting rod 33 for making arm is entered in vivo by a notch.
First connecting rod 33 can also be with rotary setting on shell 340.For example, first connecting rod 33 be soft bar, flexible pipe, or
First connecting rod 33 is connect by flexible joint component with second connecting rod 33, so that the position between first connecting rod 33 and second connecting rod 33
It sets adjustable；Second connecting rod 33 wears stamp card or casing, to limit its position with respect to human body, first connecting rod 33 is enabled to drive the
Two connecting rods 33 are around fixed rotary shaft rotation, i.e., the rotary shaft of second connecting rod 33 will not change with the bending of first connecting rod 33.Again
Such as, second connecting rod 33 is fixed with respect to 33 position of first connecting rod, at this point, first connecting rod 33 and second connecting rod 33 are connected by transmission mechanism
It connects, when so that first connecting rod 33 rotating, second connecting rod 33 is driven to fix rotary shaft around it.When 33 rotary setting of first connecting rod is in shell
When on body 340, first connecting rod 33 can be located at the central region on 340 surface of shell.
It should be noted that when first connecting rod 33 is that soft bar, flexible pipe or first connecting rod 33 pass through flexible joint component
When connecting with second connecting rod 33, first connecting rod 33 can also be fixedly connected with shell 340, be connect at this point, can enable with connecting rod 33
End instrument 31 relatively rotates.
As shown in figure 13, in an embodiment, connecting rod 33 includes first connecting rod 331, second connecting rod 332, and connection component 32 wraps
Include the first connection component 321, the second connection component 322.First connecting rod 331 is set in driving mechanism 34, and is connected by first
Connected components 321 are connect with 332 phase swinging of second connecting rod, and second connecting rod 332 is for connecting end instrument 31 or the second connection group
Part 322, wherein when second connecting rod 332 connects the second connection component 322, end instrument 31 is remote with the second connection component 322
End is connected.The first connection component 321 is located at external when operation, and the second connection component 322 is located at internal.It should be noted that
In the present embodiment, second connecting rod 332 and the side 341 of shell 340 are tangent.In other embodiments, second connecting rod 332 can also be with
Shell 340 is nontangential, is other positions relationship.
Aforesaid operations arm 30 is drivingly connected component 32 by driving mechanism 34, to enable second connecting rod 332 with respect to first connecting rod
331 swing, and then adjust the position of second connecting rod 332 and the end instrument 31 connecting with second connecting rod 332, make full use of operation
30 driving mechanism 34 of arm improves the flexibility of motion arm 30 to the space between human body.
In one embodiment, first connecting rod 331 be it is multiple, multiple first connecting rods 331 are successively put by the first connection component 321
Dynamic connection, the first connecting rod 331 positioned at proximal end are connected with driving mechanism 34, and the first connecting rod 331 positioned at distal end passes through first
Connection component 321 is connected with second connecting rod 332.Which further increases the flexibilities of motion arm 30.
It is respectively partial structurtes explosive view and power mechanism 20 of the present invention from operation equipment as shown in Figure 14, Figure 15
The structural schematic diagram of one embodiment.
Power mechanism 20 includes ontology 210 and power part 220.Wherein, 210 side 211 of ontology offers mounting groove 213,
Mounting groove 213 runs through the bottom surface 212 of ontology 210, so that motion arm 30 is moved in mounting groove 213 from side 211, and its distal end
Outside mounting groove 213, i.e., translate installation during motion arm 30 end instrument 31 generally within mounting groove 213 outside,
End instrument 31 is without wearing mounting groove 213 to stretch out outside mounting groove 213；Power part 220 is set on ontology 210, for connecting
The driving mechanism 34 of motion arm 30 is connect, and provides power for motion arm 30, so that the execution of motion arm 30 correspondingly operates, for example,
Change position or the posture of end instrument 31.Wherein, when the bottom surface 212 of ontology 210 refers to operation, towards the surface of patient, side
Face 211 is the surface adjacent with bottom surface 212.
When installing motion arm 30, motion arm 30 is first moved to peace from the opening that mounting groove 213 is located at 210 side 211 of ontology
In tankage 213, at this point, motion arm 30 is moved to the process of mounting groove 213 since mounting groove 213 runs through 210 bottom surface 212 of ontology
In will not be stopped by bottom surface 212.After being moved to mounting groove 213, motion arm 30 is connect with power part 220.With above-mentioned power
Mechanism 20 from operation equipment, enable motion arm 30 installation it is simpler, quickly.
In the present embodiment, mounting groove 213 be one, power part 220 be it is multiple, each power part 220 connects corresponding
Motion arm 30.Wherein, multiple motion arms 30 connecting with power part 220 wear mounting groove 213, so that multiple motion arms 30
It can be protruded into vivo by a notch.
In other embodiments, power mechanism 20 can also only have a power part 220.Alternatively, in multiple motion arms 30
Mounting groove 213 can also be worn at least two.For example, part operation arm 30 is set in ontology 210, and wears mounting groove 213,
So that ontology 210 is stretched out in end, part operation arm 30 is set to 210 outside of ontology, without wearing mounting groove 213.
In other embodiments, mounting groove 213 may be multiple.For example, mounting groove 213 is two, wherein at least one
Two motion arms 30 are accommodated in mounting groove 213, remaining motion arm 30 is contained in another mounting groove 213.At this point, multiple installations
Slot can both be opened in the same side, can also be opened on the not ipsilateral of ontology, for example, being opened in two of ontology opposite to each other
A side.Multiple motion arms 30 are protruded into vivo by two notch, the corresponding mounting groove 213 of each notch, so that from the peace
The motion arm 30 stretched out in tankage 213 protrudes into corresponding notch.
It should be noted that when mounting groove is multiple, the corresponding notch of at least two mounting grooves can also be enabled, i.e., from
The motion arm that multiple mounting grooves of a corresponding notch stretch out, is protruded into vivo by a notch.Alternatively, multiple from same
The motion arm 30 that mounting groove 213 stretches out, can also protrude into vivo from multiple notch.
Container 214 is also provided on ontology 210, for accommodating power part 220.When installing motion arm 30, first translation is grasped
Making arm 30 enables its connecting rod 33 out of 210 side 211 of ontology receiving to mounting groove 213, so that the driving mechanism 34 of motion arm 30 is faced
Driving mechanism 34, is connected by the power part 220 in nearly container 214 with corresponding power part later.
In Figure 14, embodiment illustrated in fig. 15, the surface that ontology 210 opens up container 214 is opposite with bottom surface 212.Mounting groove
213 run through the bottom surface of container 214, the i.e. bottom surface that container 214 is extended through along 30 connecting rod of motion arm, 33 direction of mounting groove 213
And the bottom surface 212 of ontology 210, so that motion arm 30 can be installed from 210 side of ontology.Power part 220 is set to container 214
Interior, the joint face 221 of attended operation arm 30 is surface of the power part 220 backwards to 210 bottom surface 212 of ontology.At this point, being connected thereto
Motion arm 30 to connect the surface of power part 220 be surface of the driving mechanism 34 towards bottom surface 212, for example, to implement shown in Fig. 6
The motion arm 30 of example, it is mobile towards 212 direction of bottom surface when installation, and be fastened and connected with joint face 221.
In Figure 16, embodiment illustrated in fig. 17, ontology 210 opens up the surface of container 214 and opens up the surface of mounting groove 213
Identical, i.e. the opening of container 214 is located at the side 211 of ontology 210, and mounting groove 213 is through container 214 close to ontology at this time
First inner wall 215 of 210 bottom surfaces, so that the connecting rod of motion arm can stretch out ontology 210 by mounting groove.Power part 220 is arranged
It in container 214, and is spaced and is arranged with the first inner wall 215, to form the receiving area of receiving power part 220, power part 220
The joint face 221 of attended operation arm 30 is surface of the power part 220 towards 210 bottom surface 212 of ontology.At this point, behaviour connected to it
Make arm 30 to connect the surface of power part 220 to be surface of the driving mechanism 34 backwards to bottom surface 212, for example, for embodiment illustrated in fig. 4
Motion arm 30, it is mobile backwards to bottom surface 212 when installation, and be fastened and connected with joint face 221.
In Figure 18, embodiment illustrated in fig. 19, the surface that ontology 210 opens up container 214 is opposite with bottom surface 212.Mounting groove
213 run through the bottom surface of container 214.Power part 220 is set in mounting groove 213, and the joint face 221 of attended operation arm 30 is
Power part 220 is towards the surface of 210 side of ontology, and joint face 221 is towards the middle part of container 214.At this point, connected to it
The surface that motion arm 30 connects power part is a side of driving mechanism, for example, be the motion arm of embodiment illustrated in fig. 7,
It is mobile towards 221 direction of joint face when installation, and fastened with it.
It is similar to Figure 18, embodiment illustrated in fig. 19 in embodiment illustrated in fig. 20, at this point, power part 220 is located at container
214 middle part, towards the side of container 214, ontology 210 opens up the surface of container 214 and opens up installation joint face 221
The surface of slot 213 is identical.Motion arm 30 connected to it connects the surface of power part 220 towards the middle part of container 214, example
It such as, is Fig. 8, Fig. 9, the motion arm 30 of embodiment illustrated in fig. 11, at this point, power part 220 is partially housed in 34 shell of driving mechanism
340 gap regions enable multiple motion arms 30 that can pass through since connecting rod 33 is located at the region of 34 bottom surface extension of driving mechanism
One notch protrudes into vivo.It should be noted that the surface that ontology opens up container can also be opposite with bottom surface 212.
In the various embodiments described above, container 214 also can be omitted on ontology 210, at this point, power part 220 is set to ontology
Outside 210, for example, being set on the surface opposite with bottom surface 212.
Further, power part 220 is slideably positioned on ontology 210, specifically, as shown in Figure 14 to Figure 20, container
Guide rail 230 is set in 214, power part 220 is slideably positioned on guide rail 230.In one embodiment, motion arm 30 is with power part
220 do feed motion, i.e. the glide direction of power part 220 is identical as the extending direction of mounting groove 213.In other embodiments, move
The glide direction in power portion 220 may be other directions, to adjust the position of motion arm 30, for example, the sliding side of power part 220
To vertical with the extending direction of mounting groove 213.
It as shown in figure 21, is the partial structural diagram of the invention from operation equipment.
In one embodiment, the ontology 210 of power mechanism 20 is rotatably dispose on mechanical arm 10.Specifically, the end of mechanical arm
End is " ∏ " shape, the two surface pivots connection opposite with ontology 210, mechanical arm and the surface of the rotation connection of ontology 210 and this
The surface that body 210 opens up mounting groove 213 is different.Further, the end of mechanical arm has motor, for driving ontology 210 to revolve
Turn.In the present embodiment, motor is one, positioned at the side of ontology 210.In other embodiments, motor may be two, respectively
Positioned at the two sides of ontology 210.
It should be noted that the end of mechanical arm can also be connect with a surface pivots of ontology, which both can be with
It is identical as the surface that ontology opens up mounting groove, can also be different with the surface that ontology opens up mounting groove, for example, opening up peace with ontology
The surface of tankage is adjacent.At this point, motor is located at the side of mechanical arm connection ontology when the end of mechanical arm has motor.
In one embodiment, the angle of rotation of 20 relative mechanical arm of power mechanism is 0 to 360 degree.In this way, enabling and power part 220
The motion arm 30 of connection is easier to adjust.In other embodiments, the angle of rotation of 20 relative mechanical arm of power mechanism may be other
Angle, for example, 0 to 180 degree, 0 to 90 degree etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of operating robot with mounting groove characterized by comprising master operating station and from operation equipment,
The master operating station is used to send control command from operation equipment to described according to the operation of doctor, described from behaviour to control
Make equipment, it is described to be used to respond the control command that master operating station is sent from operation equipment, and carry out corresponding operation；
Described to have power mechanism from operation equipment, the power mechanism has ontology and power part, and described body side surface opens up
There is mounting groove, the mounting groove runs through the bottom surface of the ontology, so that the motion arm is moved in the mounting groove from side,
And its distal end is located at outside the mounting groove, the power part is arranged on the body, and for connecting the motion arm, and is institute
It states motion arm and power is provided.
2. operating robot according to claim 1, which is characterized in that the power part be it is multiple, for being separately connected
Multiple motion arms, at least two motion arms wear the mounting groove.
3. operating robot according to claim 1, which is characterized in that container is also provided on the ontology, it is described
Power part is contained in the container.
4. operating robot according to claim 3, which is characterized in that the ontology open up the surface of the container with
Bottom surface is opposite.
5. operating robot according to claim 3, which is characterized in that the surface that the ontology opens up the container is
The ontology opens up the side of the mounting groove.
6. operating robot according to claim 1, which is characterized in that the power part, which has, connects the motion arm
Joint face, the joint face are surface of the power part towards the ontology bottom surface.
7. operating robot according to claim 1, which is characterized in that the power part, which has, connects the motion arm
Joint face, the joint face are surface of the power part backwards to the ontology bottom surface.
8. power mechanism according to claim 1, which is characterized in that the power part has the company for connecting the motion arm
Junction, the joint face are the power part towards the surface of described body side surface.
9. operating robot according to claim 1, which is characterized in that it is described from operation equipment further include motion arm,
It is connected with the power part, and wears the mounting groove.
10. operating robot according to claim 9, which is characterized in that the motion arm, the power part are more
A, each motion arm is set on the corresponding power part, and the motion arm has connecting rod, multiple operations
Multiple connecting rods of arm close on setting, and wear the mounting groove on the ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810649859.3A CN109091239B (en) | 2018-06-22 | 2018-06-22 | Surgical robot with mounting groove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810649859.3A CN109091239B (en) | 2018-06-22 | 2018-06-22 | Surgical robot with mounting groove |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109091239A true CN109091239A (en) | 2018-12-28 |
| CN109091239B CN109091239B (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810649859.3A Active CN109091239B (en) | 2018-06-22 | 2018-06-22 | Surgical robot with mounting groove |
Country Status (1)
| Country | Link |
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| CN (1) | CN109091239B (en) |
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| Publication number | Publication date |
|---|---|
| CN109091239B (en) | 2021-06-01 |
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Address after: 518000 Guangdong Province Longgang District Yuanshan Street Heao Community Longgang Avenue 8288 Dayun Software Town 39 301 Applicant after: Shenzhen Jingfeng Medical Technology Co., Ltd. Address before: 518172 Block 404, Building 2, Tianan Digital Innovation Park, Longgang District, Shenzhen City, Guangdong Province, 441 Huangge Road, Longcheng Street Applicant before: Shenzhen Jingfeng Medical Technology Co., Ltd. |
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