CN109730778A - A kind of the laparoscopic surgery robot and system of double control cooperating - Google Patents
A kind of the laparoscopic surgery robot and system of double control cooperating Download PDFInfo
- Publication number
- CN109730778A CN109730778A CN201910212072.5A CN201910212072A CN109730778A CN 109730778 A CN109730778 A CN 109730778A CN 201910212072 A CN201910212072 A CN 201910212072A CN 109730778 A CN109730778 A CN 109730778A
- Authority
- CN
- China
- Prior art keywords
- linking arm
- rotation
- laparoscopic surgery
- double control
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 60
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000003028 elevating effect Effects 0.000 claims description 9
- 238000001356 surgical procedure Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides a kind of laparoscopic surgery robot of double control cooperating and systems, are related to the field of medical instrument technology.The laparoscopic surgery robot of double control cooperating of the present invention, including pedestal, fuselage and mechanical arm, the mechanical arm have multiple rotary freedoms and at least one translational degree of freedom；Wherein one end of the mechanical arm and the fuselage are rotatablely connected, and the other end is equipped with actuator.The laparoscopic surgery robot system of double control cooperating of the present invention, laparoscopic surgery robot including double control cooperating described above, it further include surgeon console, the surgeon console is suitable for controlling the manipulator motion of the laparoscopic surgery robot of the double control cooperating.The present invention effective save medical resources and can reduce operation cost, and operating robot is small in size, and performing the operation, other space occupied is small, operate light, facilitate the pendulum position of instrument.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of laparoscopic surgery machine of double control cooperating
People and system.
Background technique
With the extensive use of laparoscopic technique, modern surgery enters the minimally invasiveization epoch, and Minimally Invasive Surgery refers to and utilizes abdomen
The operation that the modern medical equipments such as hysteroscope, thoracoscope and relevant device carry out.Minimally Invasive Surgery is with wound is small, pain is light, postoperative
Restore the advantages that fast, is conducive to improve surgical operation quality, reduces medical treatment cost, it is undoubtedly revolutionary compared with traditional operation
Progress, it is called one of 21 century surgery developing direction, is electronic display system and high-tech surgical instrument and tradition
The cutting edge technology that surgical operation combines.But current existing laparoscope robot is with volume is big, weight is big, accounts for by operating bed
The disadvantages of ground space is big significantly limits the further development of minimally invasive surgery, as equipment pendulum position often goes out in clinical operation
Existing interference phenomenon, some pendulum positions are unable to satisfy the requirement of some particular procedures, and visual effect is undesirable, and structure is complicated, cost
Height is not easy to promote and apply.
Summary of the invention
In view of this, the present invention is directed to propose a kind of laparoscopic surgery robot of double control cooperating, to surgical engine
The mechanical arm configuration of device people improves.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of laparoscopic surgery robot of double control cooperating, including pedestal, fuselage and mechanical arm, the mechanical arm
With multiple rotary freedoms and at least one translational degree of freedom；Wherein one end of the mechanical arm and fuselage rotation connect
It connects, the other end is equipped with actuator；There are two the mechanical arms.
Preferably, the rotary freedom is at least seven, the mechanical arm include: the first linking arm, the second linking arm,
Third linking arm, the 4th linking arm, the 5th linking arm, the 6th linking arm and the 7th linking arm, the fuselage, first connection
Arm, second linking arm, the third linking arm, the 4th linking arm, the 5th linking arm, the 6th linking arm
It is successively rotatablely connected with the 7th linking arm.
Preferably, first linking arm is rotated around the junction of first linking arm and the fuselage, first is formed
Rotation；Second linking arm is rotated around the junction of second linking arm and first linking arm, forms the second rotation；
The third linking arm is rotated around the junction of the third linking arm and second linking arm, forms third rotation；It is described
Plane locating for the gyrobearing of first rotation, second rotation and third rotation is respectively positioned in horizontal plane.
Preferably, the 4th linking arm is rotated around the junction of the 4th linking arm and the third linking arm, shape
At the 4th rotation；5th linking arm is rotated around the junction of the 5th linking arm and the 4th linking arm, forms the
Five rotations；6th linking arm is rotated around the junction of the 6th linking arm and the 5th linking arm, forms the 6th rotation
Turn；7th linking arm is rotated around the junction of the 7th linking arm and the 6th linking arm, forms the 7th rotation；Described
Plane locating for the gyrobearing of five rotations, the 6th rotation and the 7th rotation is same plane.
Preferably, the third linking arm is rendered as warp architecture.
Preferably, the mechanical arm further includes elevating mechanism, the elevating mechanism include the first auxiliary being parallel to each other and
Second auxiliary further includes two connecting joints for being respectively arranged at first auxiliary both ends and being parallel to each other, and described first is secondary
Arm, second auxiliary and two connecting joints form parallelogram mechanism；First auxiliary and second pair
The rotation of arm synchronous parallel, is adjusted suitable for the height to mechanical arm.
Preferably, the 7th linking arm includes carriage, the actuator is connect with the carriage, the cunning
Dynamic device drives the actuator to move reciprocatingly.
Compared with the existing technology, the laparoscopic surgery robot of double control cooperating of the present invention has following excellent
Gesture:
In practical work process of the present invention, the first rotation, the second rotation and third rotation are combined, and are suitable for the mechanical arm
Spatial position adjustment.4th rotation, the 5th rotation, the 6th rotation and the 7th rotation combine carry out posture put position, the 5th rotation,
Plane locating for the gyrobearing of 6th rotation and the 7th rotation is same plane, and the 5th linking arm, the 6th linking arm and the 7th connect
It connects arm and forms parallelogram mechanism, mechanical arm is made to form the function of telecentricity fixed point.
The present invention adds parallelogram mechanism by mechanical arm, and the lifting to the mechanical arm matches the second linking arm
It closes other linking arms and carries out posture pendulum position, the flexibility ratio of the mechanical arm is made to reach promotion.
In addition the present invention proposes a kind of laparoscopic surgery robot system of double control cooperating, assist to above-mentioned double control
The laparoscopic surgery robot of biconditional operation is controlled.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of laparoscopic surgery robot system of double control cooperating, including any of the above-described double control collaboration
The laparoscopic surgery robot of operation, further includes surgeon console, and the surgeon console is suitable for controlling the double control collaboration
The manipulator motion of the laparoscopic surgery robot of operation.
Preferably, the number of the laparoscopic surgery robot of the quantity of the surgeon console and the double control cooperating
Measure identical, each surgeon console controls the laparoscopic surgery robot of a double control cooperating respectively.
Preferably, the surgeon console further includes KINECT, monitor and secondary monitor, the secondary monitor is suitable
In the vital sign index of display patient, the monitor is suitable for display patients surgery position 3D picture；The KINECT setting
Side on a monitor, range of visibility and movement suitable for real-time monitoring operator.
Compared with the existing technology, the laparoscopic surgery robot system of double control cooperating of the present invention have with
Lower advantage:
The laparoscopic surgery robot system of double control cooperating of the present invention can need to select one according to operation
Platform, two or more double control cooperatings laparoscopic surgery robot perform the operation, can effective save medical resources
With reduction operation cost.Any one arm of the laparoscopic surgery robot of any one double control cooperating can be with
Holding handel, perhaps instrument arm carries out the installation of laparoscope or surgical instrument, can realize in space various in clinical operation
The pendulum position of complicated shape requires, while can effectively avoid the interference of instrument.Operating robot is small in size, takes up an area by operation empty
Between it is small, operate it is light, facilitate the pendulum position of instrument.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the axonometric drawing of the laparoscopic surgery robot system of the double control cooperating of the embodiment of the present invention；
Fig. 2 is the side view of the laparoscopic surgery robot system of the double control cooperating of the embodiment of the present invention；
Fig. 3 is the surgeon console front axonometric drawing of the embodiment of the present invention；
Fig. 4 is the surgeon console rear portion axonometric drawing of the embodiment of the present invention；
Fig. 5 is the axonometric drawing of the laparoscopic surgery robot of the double control cooperating of the embodiment of the present invention；
Fig. 6 is the laparoscopic surgery robot side view of the double control cooperating of the embodiment of the present invention；
Fig. 7 is the mechanical arm structural schematic diagram of the embodiment of the present invention；
Fig. 8 is the schematic diagram of internal structure of the second linking arm of the embodiment of the present invention.
Description of symbols:
The first robot of 1-, the second robot of 2-, the first surgeon console of 3-, the second surgeon console of 4-, 5- monitor,
11- pedestal, 12- fuselage, 13- display screen, the second connecting joint of 14-, the first linking arm of 15-, the second linking arm of 16-, 17- third
Connecting joint, 18- third linking arm, the 4th linking arm of 19-, the 5th linking arm of 20-, the 6th linking arm of 21-, the connection of 22- the 7th
Arm, 23- mounting portion, 24- idler wheel, 25- universal wheel, the first auxiliary of 26-, 27- handrail, the second auxiliary of 28-, 31- secondary monitor,
32-KINECT, 33- monitor, 34- state display, the first main manipulator of 35-, 36- armrest system, 37- pedestal, 38- are foot-operated
Panel assembly, the second main manipulator of 39-, 40- column.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In addition, direction or positional relationship all in the text being previously mentioned in an embodiment of the present invention are the position based on attached drawing
Relationship is set, only for facilitating the description present invention and simplifying description, rather than implies or imply that signified device or element are necessary
The specific orientation having, is not considered as limiting the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment one
The present embodiment provides a kind of laparoscopic surgery robots of double control cooperating, as shown in Figure 5 and Figure 6, including
Pedestal 11, fuselage 12 and two mechanical arms, any mechanical arm have multiple rotary freedoms and at least one translation freely
Degree, wherein one end of the mechanical arm and the fuselage 12 are rotatablely connected, and the other end is equipped with actuator.
It should be noted that the actuator is laparoscope or surgical instrument, the laparoscope is suitable for that disease is presented
3D image at stove.Any one arm of the laparoscopic surgery robot of any one double control cooperating can be used as
Holding handel, perhaps instrument arm carries out the installation of laparoscope or surgical instrument, to be adapted in clinical operation in space each
The pendulum position of kind complicated shape requires.Here, two mechanical arm knots of the laparoscopic surgery robot of the double control cooperating
It is identical on structure.
Here, as shown in figure 5, the mechanical arm has 7 rotary freedoms and 1 translational degree of freedom, the mechanical arm
It include: the first linking arm 15, the second linking arm 16, third linking arm 18, the 4th linking arm 19, the 5th linking arm the 20, the 6th company
Arm 21 and the 7th linking arm 22 are connect, the fuselage 12, first linking arm 15, second linking arm 16, the third connect
Connect arm 18, the 4th linking arm 19, the 5th linking arm 20, the 6th linking arm 21 and the 7th linking arm successively
Connection.
As shown in Figure 5 and Figure 6, wherein one end of first linking arm 15 and the fuselage 12 are rotatablely connected, and described the
One linking arm 15 is rotated around the junction of first linking arm 15 and the fuselage 12, forms the first rotation.Here, the machine
Mounting portion 23 is provided on body 12, wherein one end along its length of first linking arm 15 is provided with the first connection pass
Section, first connecting joint is vertical with first linking arm 15, and it is real that first connecting joint is inserted into the mounting portion 23
The connection of existing first linking arm 15 and fuselage, first linking arm 15 is rotated around first connecting joint, thus shape
At the first rotation, described first rotates corresponding freedom degree for the first rotary freedom.It should be noted that first connection
Joint is vertical with first linking arm 15 to be meant, the axial line of first connecting joint and first linking arm 15
Length direction it is perpendicular.That is, as shown in Figure 5 and Figure 6, the orientation of first rotation is located in horizontal plane.
In practice, it is provided with first motor in first connecting joint, first linking arm 15 is driven by the first motor
Rotation.
As shown in Figure 5 and Figure 6, the other end of wherein one end of second linking arm 16 and first linking arm 15 connects
It connects, second linking arm 16 is rotated around the junction of second linking arm 16 and first linking arm 15, forms second
Rotation.Here, wherein one end of second linking arm 16 is provided with the second connecting joint 14, and second linking arm 16 passes through
Second connecting joint 14 is connect with first linking arm 15, the rotation axis of second connecting joint 14 simultaneously with it is described
The length direction of the length direction of second linking arm 16 and first linking arm 15 is vertical, and second connecting joint 14
The axis parallel of the axial line of rotation axis and first connecting joint, second linking arm 16 are closed around second connection
The rotation axis rotation for saving 14 forms the second rotation, and described second rotates corresponding freedom degree for the second rotary freedom.Such as Fig. 5
With shown in Fig. 6, the orientation of second rotation is located in horizontal plane.First rotation can be with second rotation
Plane internal rotation 180 degree, to increase the flexibility of the mechanical arm.In practice, setting in second connecting joint 14
There is the second motor, drives second linking arm 16 to rotate by second motor.
As shown in Figure 5 and Figure 6, the other end of wherein one end of the third linking arm 18 and second linking arm 16 connects
It connects, the third linking arm 18 is rotated around the junction of the third linking arm 18 and second linking arm 16, forms third
Rotation.Here, the third linking arm 18 is rendered as warp architecture, and wherein one end of the third linking arm 18 is provided with third
Connecting joint 17, the third linking arm 18 is connect by the third connecting joint 17 with second linking arm 16, described
The axial line of the rotation axis of third connecting joint 17 is vertical with the length direction of second linking arm 16, and the third connects
The axial line of the rotation axis in joint 17 and the third linking arm 18 are tangent, and the third linking arm 18 is connected around the third and closed
17 rotation of section, forms third rotation, and the third rotates corresponding freedom degree, that is, third rotary freedom.Here third linking arm
18 be warp architecture, and mechanical arm can be made to be converted into inclined operating position by horizontal position, is convenient for oblique operation.It is practical
In, it is provided with third motor in the third connecting joint 17, drives second linking arm 16 to revolve by the third motor
Turn.
As shown in Figure 5 and Figure 6, the other end of wherein one end of the 4th linking arm 19 and the third linking arm 18 connects
It connects, the 4th linking arm 19 is rotated around the junction of the 4th linking arm 19 and the third linking arm 18, forms the 4th
Rotation.Here, wherein one end of the 4th linking arm 19 is provided with the 4th connecting joint, and the 4th linking arm 19 passes through institute
It states the 4th connecting joint to connect with the third linking arm 18, the axial line of the shaft of the 4th connecting joint and the third
Linking arm 18 is tangent, and the 4th linking arm 19 is rotated around the 4th connecting joint, forms the 4th rotation, the 4th rotation
Corresponding freedom degree i.e. the 4th rotary freedom.In Fig. 5 and Fig. 6, the 4th connecting joint is with the 4th linking arm 19
Integrated formed structure, the 4th connecting joint are parallel with the 4th linking arm 19.In practice, in the 4th connecting joint
It is provided with the 4th motor, drives the third linking arm 18 to rotate by the 4th motor.
As shown in Figure 5 and Figure 6, wherein one end of the 5th linking arm 20 is connect with the 4th linking arm 19, described
5th linking arm 20 is rotated around the junction of the 5th linking arm 20 and the 4th linking arm 19, forms the 5th rotation.This
In, wherein one end of the 5th linking arm 20 is provided with the 5th connecting joint, and the 5th linking arm 20 passes through the described 5th
Connecting joint is connect with the 4th linking arm 19, the axial line and the 4th linking arm of the shaft of the 5th connecting joint
19 and the 5th linking arm 20 it is vertical, the 5th linking arm 20 rotate around the 5th connecting joint, is formed the 5th and is revolved
Turn, the described 5th rotates corresponding i.e. the 5th rotary freedom of freedom degree.In practice, is provided in the 5th connecting joint
Five motors drive the 4th linking arm 19 to rotate by the 5th motor.
As shown in Figure 5 and Figure 6, wherein one end of the 6th linking arm 21 is connect with the 5th linking arm 20, described
6th linking arm 21 is rotated around the junction of the 6th linking arm 21 and the 5th linking arm 20, forms the 6th rotation.This
In, wherein one end of the 6th linking arm 21 is provided with the 6th connecting joint, and the 6th linking arm 21 passes through the described 6th
Connecting joint is connect with the 5th linking arm 20, the axial line and the 5th linking arm of the shaft of the 6th connecting joint
20 and the 6th linking arm 21 it is vertical, the 6th linking arm 21 rotate around the 6th connecting joint, is formed the 6th and is revolved
Turn, the described 6th rotates corresponding i.e. the 6th rotary freedom of freedom degree.In practice, is provided in the 6th connecting joint
Six motors drive the 5th linking arm 20 to rotate by the 6th motor.
As shown in Figure 5 and Figure 6, the 7th linking arm 22 is connect with the 6th linking arm 21, the 7th linking arm
22 rotate around the junction of the 7th linking arm 22 and the 6th linking arm 21, form the 7th rotation.Here, the described 7th
The junction of linking arm 22 and the 6th linking arm 21 is located at the middle of 22 length direction of the 7th linking arm, and described the
Seven linking arms 22 are connect by the 7th connecting joint with the 6th linking arm 21, and the 7th linking arm 22 connects around the described 7th
The shaft rotation for connecing joint, forms the 7th rotation, and the described 7th rotates corresponding i.e. the 7th rotary freedom of freedom degree.It is practical
In, it is provided with the 7th motor in the 7th connecting joint, drives the 6th linking arm 21 to rotate by the 7th motor.
In practical work process, first rotation, second rotation and third rotation are combined, and described first
Plane locating for the gyrobearing of rotation, second rotation and third rotation is respectively positioned in horizontal plane, is suitable for described
The spatial position adjustment of mechanical arm adapts the mechanical arm to patients surgery position.4th rotation, the 5th rotation
Turn, it is described 6th rotation and it is described 7th rotation combine carry out posture put position, it is described 5th rotation, it is described 6th rotation and it is described
Plane locating for the gyrobearing of 7th rotation is same plane, the 5th linking arm, the 6th linking arm and the described 7th
Linking arm forms parallelogram mechanism, and the mechanical arm is made to form the function of telecentricity fixed point.
As shown in fig. 7, the mechanical arm further includes elevating mechanism, the elevating mechanism includes the first auxiliary being parallel to each other
26 and second auxiliary 28, it further include two connecting joints for being respectively arranged at 26 both ends of the first auxiliary and being parallel to each other, institute
State the first auxiliary 26, second auxiliary 28 and two connecting joint composition parallelogram mechanisms；First auxiliary
26 and 28 synchronous parallel of the second auxiliary rotation, be adjusted suitable for the height to mechanical arm.Specifically, first auxiliary
26 both ends are hinged with two connecting joints respectively, and the both ends of second auxiliary 28 are also closed with two connections respectively
Section is hinged, two connecting joints adjacent with first auxiliary 26 and the second auxiliary 28 and first auxiliary 26 and institute
State the parallelogram sturcutre that the second auxiliary 28 is collectively formed in perpendicular, first auxiliary 26 and second auxiliary 28
It is rotated simultaneously around corresponding hinged place, first auxiliary 26 and 28 synchronous parallel of the second auxiliary rotation.In practice,
Second linking arm 16 includes elevating mechanism, and first auxiliary 26 and second auxiliary 28 are set to second connection
In arm 16, the both ends of the first auxiliary 26 are hinged with the third connecting joint 17 and second connecting joint 14 respectively, described
The both ends of second auxiliary 28 are also hinged with the third connecting joint 17 and second connecting joint 14 respectively, to make described
It is formed between third connecting joint 17, second connecting joint 14, first auxiliary 26 and second auxiliary 28 parallel
Quadrilateral structure, under the drive of the 8th motor, first auxiliary 26 and second auxiliary 28 inclination, thus to the machine
The height of tool arm is adjusted, and realizes the function of lifting, and while lifting, the third connecting joint 17, described second connect
It connects and remains parallelogram sturcutre between joint 14, first auxiliary 26 and second auxiliary 28.It needs to illustrate
It is that, when each edge lengths of parallelogram are constant, the angle of parallelogram changes, it therefore, only need to be secondary to described first
Arm 26 or second auxiliary 28 is any is driven, can make second linking arm 16 carry out elevating movement.In practice, institute
It states the 8th motor to be set in the third connecting joint 17 or second connecting joint 14, passes through the 8th motor pair
The either end of first auxiliary 26 or second auxiliary 28 is driven, and drives second linking arm 16 in perpendicular
The gyrobearing of interior rotation, the 8th rotation and second rotation is mutually perpendicular to.Here, by second linking arm
First auxiliary 26 and second auxiliary 28 are set at 16, pass through the flat of first auxiliary 26 and second auxiliary 28
Row is converted into the lifting of the mechanical arm, makes second linking arm that other linking arms be cooperated to carry out posture pendulum position, makes institute
The flexibility ratio for stating mechanical arm reaches promotion.
As shown in Figure 5 and Figure 6, the 7th linking arm 22 includes carriage, the actuator and the carriage
Connection, the carriage drive the actuator to move reciprocatingly, realize the variation of the spatial position of the actuator.It is described
Carriage includes guide rail, guide rail slide block, lead screw, lead screw fixing seat, bearing, shaft coupling and the 9th motor, the 9th motor
It is fixedly connected with motor fixing seat, lead screw fixing seat is fixedly connected with column, and the 9th motor is consolidated by shaft coupling and lead screw
Fixed connection, lead screw are rotatablely connected by bearing and lead screw fixing seat, and guide rail slide block is fixedly connected with the actuator；It is described
9th motor drives lead screw rotation as power source, and lead screw drives guide rail slide block to move reciprocatingly on guide rail, the actuator
It moves reciprocatingly with guide rail slide block, and then realizes the elevating function of the actuator.9th motor drives the actuator
It is formed by translation, the corresponding freedom degree, that is, translational degree of freedom of the reciprocating motion of the actuator.
As shown in figure 5, the fuselage 12 is set on the pedestal 11, there are two idler wheels for the bottom setting of the pedestal 11
24 and a universal wheel 25, the universal wheel 25 is suitable for controlling the row of the laparoscopic surgery robot of the double control cooperating
Direction is walked, the support of the laparoscopic surgery robot to the double control cooperating is collectively formed in three idler wheels.The fuselage
12 rear side is provided with handrail 27, and the handrail 27 is fixedly connected with the fuselage 12, and the handrail 27 is suitable for pushing and pulling described double
The laparoscopic surgery robot for controlling cooperating is mobile.Display screen 13 is provided on the handrail 27, the display screen 13 is suitable
The positional relationship between the mechanical arm and operating bed is manipulated in the position according to patient.As shown in Fig. 1,2 and 6, the handrail
27 along the left and right directions of the fuselage 12 be rod-like structure, and the display screen 13 includes mounting portion, and the mounting portion is sheathed on institute
In the rod-like structure for stating handrail 27, the mounting portion can be rotated around the rod-like structure, make the adjustment of display screen 13 in suitable
The position of viewing, the display screen 13 is about 12 bilateral symmetry of fuselage."upper" "lower" " left side " " right side " described here is
For the coordinate system in Fig. 5, the limitation to structure itself is not constituted.
Embodiment two
The present embodiment provides a kind of laparoscopic surgery robot systems of double control cooperating, as shown in Fig. 1 Fig. 2, packet
The laparoscopic surgery robot for including double control cooperating described in embodiment one further includes surgeon console 3, doctor's control
Platform 3 processed is suitable for controlling the manipulator motion of the laparoscopic surgery robot of the double control cooperating.
As shown in Figures 3 and 4, the surgeon console 3 includes main manipulator and foot-treadle device 38, and doctor passes through control institute
Main manipulator and the foot-treadle device 38 are stated, the machine of the laparoscopic surgery robot of the double control cooperating is remotely controlled
The movement of tool arm.The surgeon console further includes secondary monitor 31, KINECT 32, monitor 33, state display 34, helps
Arm device 36, column 40 and pedestal 37, the secondary monitor 31 are suitable for showing the vital sign index of patient, the monitor
33 are suitable for display patients surgery position 3D picture.The KINECT 32 is arranged above monitor 33, and is fixedly mounted on described
On column 40, the KINECT is a kind of 3D body-sensing video camera, is suitable for the range of visibility and movement of real-time monitoring operator.Institute
State the company that state display 34 is suitable for showing the laparoscopic surgery robot of the main manipulator and the double control cooperating
Connect state.Wherein one end of the column 40 is fixedly connected with pedestal 37, and the armrest system 36 connects with the column 40 sliding
It connects, makes the height-adjustable of the armrest system 36, the other end of the column 40 is fixedly connected with the monitor 33.Its
In, the main manipulator includes the first main manipulator 35 and the second main manipulator 39, when being performed the operation, the right-hand man point of doctor
It is other that first main manipulator 35 and second main manipulator 39 are controlled.
Preferably, the laparoscopic surgery robot system of the double control cooperating further includes monitor 5, it is suitable for display
The position of patient's affected area.
Preferably, the number of the laparoscopic surgery robot of the quantity of the surgeon console and the double control cooperating
Measure identical, each surgeon console controls the laparoscopic surgery robot of a double control cooperating respectively.Such as
Shown in Fig. 1 and 2, the surgeon console includes the first surgeon console 3 and the second surgeon console 4, the double control collaboration
The laparoscopic surgery robot of operation include the first robot 1 and the second robot 2, first surgeon console 3 be suitable for pair
First robot 1 is controlled, and second surgeon console 4 is suitable for controlling second robot 2, is passed through
The operation of patient is completed in the laparoscopic surgery robot cooperation of two double control cooperatings.
Certainly, the laparoscopic surgery robot system of the double control cooperating can need to select one according to operation
Platform, the two or more double control cooperatings laparoscopic surgery robot perform the operation, can effective Economy type medicine
Resource and reduction operation cost.Any one arm of the laparoscopic surgery robot of any one double control cooperating is equal
Handel can be held, and perhaps instrument arm carries out the installation of laparoscope or surgical instrument, can realize in clinical operation in space
The pendulum position of various complicated shapes requires, while can effectively avoid the interference of instrument.Operating robot is small in size, accounts for by operation
Ground space is small, and operation is light, facilitates the movement of equipment and the pendulum position of instrument.
This system can be applied in more kinds of laparoscopic surgeries, can be performed the operation for more patients, be made patient
A possibility that wound face is smaller, reduces pain and reduces infection, while the operation difficulty of operation is also reduced, the system body
Product is small, brings convenience for operation, improves the success rate of operation.
This structure runs smoothly, registration can be completed safely finer and complexity with better dexterity
Operation, the visual effect in various orientation have been significantly improved.The configuration of the present invention is simple, it is novel in design reasonable, it is at low cost
It is honest and clean, convenient for promoting the use of.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laparoscopic surgery robot of double control cooperating, which is characterized in that including pedestal (11), fuselage (12) and
Mechanical arm, the mechanical arm have multiple rotary freedoms and at least one translational degree of freedom；Wherein one end of the mechanical arm
It is rotatablely connected with the fuselage (12), the other end is equipped with actuator；There are two the mechanical arms.
2. the laparoscopic surgery robot of double control cooperating according to claim 1, which is characterized in that the rotation
Freedom degree is at least seven, the mechanical arm include: the first linking arm (15), the second linking arm (16), third linking arm (18),
4th linking arm (19), the 5th linking arm (20), the 6th linking arm (21) and the 7th linking arm (22), the fuselage (12), institute
State the first linking arm (15), second linking arm (16), the third linking arm (18), the 4th linking arm (19), institute
The 5th linking arm (20), the 6th linking arm (21) and the 7th linking arm is stated successively to be rotatablely connected.
3. the laparoscopic surgery robot of double control cooperating according to claim 2, which is characterized in that described first
Linking arm (15) is rotated around the junction of first linking arm (15) Yu the fuselage (12), forms the first rotation；Described
Two linking arms (16) are rotated around the junction of second linking arm (16) and first linking arm (15), form the second rotation
Turn；The third linking arm (18) rotates around the junction of the third linking arm (18) and second linking arm (16), shape
It is rotated at third；Plane locating for the gyrobearing of first rotation, second rotation and third rotation is respectively positioned on water
In flat plane.
4. the laparoscopic surgery robot of double control cooperating according to claim 2 or 3, which is characterized in that described
4th linking arm (19) is rotated around the junction of the 4th linking arm (19) and the third linking arm (18), forms the 4th rotation
Turn；5th linking arm (20) rotates around the junction of the 5th linking arm (20) and the 4th linking arm (19), shape
At the 5th rotation；6th linking arm (21) is around the junction of the 6th linking arm (21) and the 5th linking arm (20)
Rotation forms the 6th rotation；Company of 7th linking arm (22) around the 7th linking arm (22) and the 6th linking arm (21)
Place's rotation is connect, the 7th rotation is formed；It is put down locating for the gyrobearing of 5th rotation, the 6th rotation and the 7th rotation
Face is same plane.
5. the laparoscopic surgery robot of double control cooperating according to claim 4, which is characterized in that the third
Linking arm (18) is rendered as warp architecture.
6. the laparoscopic surgery robot of double control cooperating according to claim 1, which is characterized in that the machinery
Arm further includes elevating mechanism, and the elevating mechanism includes the first auxiliary (26) and the second auxiliary (28) being parallel to each other, and further includes
Two connecting joints for being respectively arranged at the first auxiliary (26) both ends and being parallel to each other, it is first auxiliary (26), described
Second auxiliary (28) and two connecting joints form parallelogram mechanism；First auxiliary (26) and second pair
The rotation of arm (28) synchronous parallel, is adjusted suitable for the height to mechanical arm.
7. the laparoscopic surgery robot of double control cooperating according to claim 2, which is characterized in that the described 7th
Linking arm (22) includes carriage, and the actuator is connect with the carriage, and the carriage drives the execution
Device does linear reciprocating motion.
8. a kind of laparoscopic surgery robot system of double control cooperating, which is characterized in that wanted including an at least right
The laparoscopic surgery robot for seeking any double control cooperating in 1-7, further includes surgeon console (3), the doctor
Raw console (3) are suitable for controlling the manipulator motion of the laparoscopic surgery robot of the double control cooperating.
9. the laparoscopic surgery robot of double control cooperating according to claim 8, which is characterized in that the doctor
The quantity of console (3) is identical as the quantity of laparoscopic surgery robot of the double control cooperating, each doctor
Console (3) controls the laparoscopic surgery robot of a double control cooperating respectively.
10. the laparoscopic surgery robot of double control cooperating according to claim 8, which is characterized in that the doctor
Raw console further includes KINECT (32), monitor (33) and secondary monitor (31), and the secondary monitor (31) is suitable for aobvious
Show the vital sign index of patient, the monitor (33) is suitable for display patients surgery position 3D picture；The KINECT (32)
Setting is above monitor (33), range of visibility and movement suitable for real-time monitoring operator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910212072.5A CN109730778A (en) | 2019-03-20 | 2019-03-20 | A kind of the laparoscopic surgery robot and system of double control cooperating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910212072.5A CN109730778A (en) | 2019-03-20 | 2019-03-20 | A kind of the laparoscopic surgery robot and system of double control cooperating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109730778A true CN109730778A (en) | 2019-05-10 |
Family
ID=66370922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910212072.5A Pending CN109730778A (en) | 2019-03-20 | 2019-03-20 | A kind of the laparoscopic surgery robot and system of double control cooperating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109730778A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584585A (en) * | 2019-10-22 | 2019-12-20 | 北京仙进机器人有限公司 | Handheld multi-degree-of-freedom laparoscope |
| CN111096799A (en) * | 2020-01-08 | 2020-05-05 | 北京仙进机器人有限公司 | Single-hole multi-arm laparoscopic surgery robot system |
| CN111728696A (en) * | 2020-06-12 | 2020-10-02 | 天津理工大学 | Craniotomy robot system and craniotomy method thereof |
| CN112006780A (en) * | 2020-09-07 | 2020-12-01 | 哈尔滨工业大学 | Minimally invasive surgery robot system and artificial cochlea minimally invasive implantation surgery device |
| CN112451103A (en) * | 2020-12-04 | 2021-03-09 | 哈尔滨思哲睿智能医疗设备有限公司 | Mechanical arm control method and laparoscopic surgery robot system |
| CN113040913A (en) * | 2021-03-02 | 2021-06-29 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm, surgical device, surgical end device, surgical system and working method |
| WO2022001224A1 (en) * | 2020-06-30 | 2022-01-06 | 北京术锐技术有限公司 | Surgical robot system |
| CN114074328A (en) * | 2020-08-19 | 2022-02-22 | 北京术锐技术有限公司 | Robot system and control method thereof |
| CN114129266A (en) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Method, robot arm, device, robot, and medium for maintaining RC point constant |
| WO2022079875A1 (en) * | 2020-10-15 | 2022-04-21 | リバーフィールド株式会社 | Work assistance robot |
| CN114376734A (en) * | 2020-10-19 | 2022-04-22 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101106952A (en) * | 2005-01-24 | 2008-01-16 | 直观外科手术公司 | Modular manipulator support for robotic surgery |
| CN105686883A (en) * | 2016-03-14 | 2016-06-22 | 昆山邦泰汽车零部件制造有限公司 | Redundant-freedom-degree laparoscope-holding mechanical arm |
| CN107951565A (en) * | 2017-12-18 | 2018-04-24 | 苏州康多机器人有限公司 | A kind of laparoscopic surgery robot architecture centered on holding handel |
| CN109009443A (en) * | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN210056222U (en) * | 2019-03-20 | 2020-02-14 | 苏州康多机器人有限公司 | Double-control cooperative operation laparoscopic surgery robot and system |
-
2019
- 2019-03-20 CN CN201910212072.5A patent/CN109730778A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101106952A (en) * | 2005-01-24 | 2008-01-16 | 直观外科手术公司 | Modular manipulator support for robotic surgery |
| CN105686883A (en) * | 2016-03-14 | 2016-06-22 | 昆山邦泰汽车零部件制造有限公司 | Redundant-freedom-degree laparoscope-holding mechanical arm |
| CN107951565A (en) * | 2017-12-18 | 2018-04-24 | 苏州康多机器人有限公司 | A kind of laparoscopic surgery robot architecture centered on holding handel |
| CN109009443A (en) * | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN210056222U (en) * | 2019-03-20 | 2020-02-14 | 苏州康多机器人有限公司 | Double-control cooperative operation laparoscopic surgery robot and system |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584585A (en) * | 2019-10-22 | 2019-12-20 | 北京仙进机器人有限公司 | Handheld multi-degree-of-freedom laparoscope |
| CN111096799A (en) * | 2020-01-08 | 2020-05-05 | 北京仙进机器人有限公司 | Single-hole multi-arm laparoscopic surgery robot system |
| CN111728696A (en) * | 2020-06-12 | 2020-10-02 | 天津理工大学 | Craniotomy robot system and craniotomy method thereof |
| WO2022001224A1 (en) * | 2020-06-30 | 2022-01-06 | 北京术锐技术有限公司 | Surgical robot system |
| CN114074328A (en) * | 2020-08-19 | 2022-02-22 | 北京术锐技术有限公司 | Robot system and control method thereof |
| CN112006780A (en) * | 2020-09-07 | 2020-12-01 | 哈尔滨工业大学 | Minimally invasive surgery robot system and artificial cochlea minimally invasive implantation surgery device |
| CN112006780B (en) * | 2020-09-07 | 2022-04-08 | 哈尔滨工业大学 | Minimally invasive surgery robot system and artificial cochlea minimally invasive implantation surgery device |
| WO2022079875A1 (en) * | 2020-10-15 | 2022-04-21 | リバーフィールド株式会社 | Work assistance robot |
| CN114376734B (en) * | 2020-10-19 | 2024-01-16 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot system |
| CN114376734A (en) * | 2020-10-19 | 2022-04-22 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot system |
| WO2022116845A1 (en) * | 2020-12-04 | 2022-06-09 | 哈尔滨思哲睿智能医疗设备有限公司 | Robot arm control method and laparoscopic surgical robotic system |
| CN112451103B (en) * | 2020-12-04 | 2023-05-26 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Mechanical arm control method and laparoscopic surgery robot system |
| CN112451103A (en) * | 2020-12-04 | 2021-03-09 | 哈尔滨思哲睿智能医疗设备有限公司 | Mechanical arm control method and laparoscopic surgery robot system |
| CN113040913A (en) * | 2021-03-02 | 2021-06-29 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm, surgical device, surgical end device, surgical system and working method |
| CN114129266A (en) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Method, robot arm, device, robot, and medium for maintaining RC point constant |
| CN114129266B (en) * | 2021-11-11 | 2024-05-14 | 深圳市精锋医疗科技股份有限公司 | Method, mechanical arm, equipment, robot and medium for keeping RC point unchanged |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109730778A (en) | A kind of the laparoscopic surgery robot and system of double control cooperating | |
| CN109091238B (en) | Split type minimally invasive surgical instrument auxiliary system | |
| US6202360B1 (en) | Medical work station with devices disposed in a double ceiling or a double floor of an operating room | |
| CN107184275A (en) | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery | |
| US9027431B2 (en) | Remote centre of motion positioner | |
| CN105686883A (en) | Redundant-freedom-degree laparoscope-holding mechanical arm | |
| CN104224328A (en) | Robot body structure for supporting minimally-invasive surgery instrument | |
| CN210056222U (en) | Double-control cooperative operation laparoscopic surgery robot and system | |
| CN103919577A (en) | Cantilever prostate biopsy robot | |
| CN105640648A (en) | Pose mechanical-adjusting movable platform | |
| CN107961503B (en) | A kind of upper limb mirror image training equipment | |
| JP6110527B1 (en) | Control mechanism for elastic medical devices | |
| CN107157581B (en) | Decoupling four-degree-of-freedom telecentric mechanism for in-vitro minimally invasive surgery | |
| CN110623731A (en) | High-integration orthopaedic surgery robot | |
| CN103654817A (en) | Apparatus and method for positioning a medical device | |
| CN109091232A (en) | A kind of robot system for hysteroscope Minimally Invasive Surgery | |
| CN207870961U (en) | The surgeon console of operating robot | |
| CN205814428U (en) | A kind of pose mechanical conditioning type moveable platform | |
| CN113786243A (en) | Main hand transport vehicle of miniaturized remote operation robot | |
| CN114683314A (en) | Arm joint, arm and surgical robot | |
| CN215129679U (en) | Four-degree-of-freedom fixed support used in hospital lung puncture operation | |
| CN107320190A (en) | The surgeon console of operating robot | |
| CN109528148B (en) | Single swing rod endoscope clamping device | |
| CN105496558B (en) | A kind of achievable space three-dimensional positioning and the five degree of freedom hybrid mechanism of two dimension orientation | |
| CN109907834A (en) | Visor outside a kind of robot with 3D function |
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 |