CN110772322A - Robot active bracket for assisting minimally invasive surgery - Google Patents
Robot active bracket for assisting minimally invasive surgery Download PDFInfo
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- CN110772322A CN110772322A CN201910872596.7A CN201910872596A CN110772322A CN 110772322 A CN110772322 A CN 110772322A CN 201910872596 A CN201910872596 A CN 201910872596A CN 110772322 A CN110772322 A CN 110772322A
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- minimally invasive
- invasive surgery
- mounting hole
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- Health & Medical Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of medical instruments, and particularly relates to a robot active support for assisting minimally invasive surgery, aiming at the problem that the existing robot active support for assisting minimally invasive surgery is inconvenient to adjust. The invention is convenient for adjusting the position and the angle of the connecting frame, improves the convenience of operation, is beneficial to improving the stability of the surgical tool, can use the observation mirror to observe the position of the surgical tool, and is beneficial to improving the moving precision of the surgical tool.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a robot active bracket for assisting minimally invasive surgery.
Background
The minimally invasive surgery operation refers to the operation that a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the human body, and compared with the traditional open surgery, the minimally invasive surgery operation has the advantages of small surgical incision, less bleeding, small postoperative scar, short recovery time and the like, so that the pain of a patient is greatly reduced, and the minimally invasive surgery is widely applied to clinic, but the operation difficulty of the doctor is increased.
Through search, chinese patent publication No. CN106880410A discloses a robot active support for assisting minimally invasive surgery, comprising: no. 1 support, No. 2 support, base, big arm, fine tuning mechanism, little arm and manual vertical lift mechanism can improve the stability that the operation instrument removed through the device, but because fine tuning mechanism undersize, be not convenient for operate, use and often have inconveniently.
Disclosure of Invention
The invention provides a robot active bracket for assisting a minimally invasive surgery, which is based on the technical problem that the existing robot active bracket for assisting the minimally invasive surgery is inconvenient to adjust.
The invention provides a robot active bracket for assisting minimally invasive surgery, which comprises a fixed plate, wherein a transverse guide rail is welded on the outer wall of one side of the fixed plate, the inner wall of the transverse guide rail is connected with a movable frame in a sliding manner, a fixed arm and a longitudinal guide rail are respectively fixed on two sides of the outer wall of the top of the movable frame through screws, the inner wall of the longitudinal guide rail is connected with a sliding block in a sliding manner, the outer wall of one side of the sliding block is connected with a connecting rod through a hinge, the outer wall of one side of the connecting rod and the outer wall of one side of the fixed arm are both connected with a rotating sleeve through hinges, the inner wall of the rotating sleeve is connected.
Preferably, a screw rod mounting hole is formed in the inner wall of one side of the transverse guide rail, a screw rod is sleeved on the inner wall of the screw rod mounting hole, and the outer wall of the screw rod is connected to the inner wall of the movable frame through threads.
Preferably, a driving motor is fixed on the outer wall of one side of the transverse guide rail through a screw, and an output shaft of the driving motor is fixed on the outer wall of one end of the screw rod through a coupling.
Preferably, the outer wall of the top of the longitudinal guide rail is provided with a threaded rod mounting hole, the inner wall of the threaded rod mounting hole is sleeved with a threaded rod, and the outer wall of the threaded rod is connected to the inner wall of the sliding block through threads.
Preferably, the outer wall of the top of the rotating sleeve is provided with an adjusting rod mounting hole, the inner wall of the adjusting rod mounting hole is sleeved with an adjusting rod, and the outer wall of the adjusting rod is connected to the inner wall of the connecting frame through threads.
Preferably, the bottom outer wall both sides of link have the linking arm through hinged joint, and the lantern ring has all been welded to the one end outer wall of two linking arms.
Preferably, the fixed arm and the outer wall of one side opposite to the longitudinal guide rail are welded with reinforcing rods, and the outer wall of one side of each reinforcing rod is connected with an observation mirror through a ball hinge.
The beneficial effects of the invention are as follows:
1. this a robot initiative support for assisting minimal access surgery operation, through lead screw, threaded rod and the regulation pole that sets up, the lead screw rotates and promotes the removal frame lateral shifting, rotates regulation pole and promotes link longitudinal movement, rotates the threaded rod and promotes the slider removal, and the connecting rod drives and rotates the cover rotation, is convenient for adjust the position and the angle of link, has improved the simple operation degree.
2. This a robot initiative support for assisting minimal access surgery operation, through linking arm and the lantern ring that sets up, the operation instrument is fixed inside the back at the inside fixed orifices of linking bridge, rotates two linking arms, through two lantern ring centre gripping operation instrument, helps improving operation instrument's stability.
3. This a robot initiative support for assisting minimal access surgery operation through stiffener and the sight glass that sets up, rotates the sight glass, can utilize the sight glass to observe the position of operation instrument, helps improving the precision that operation instrument removed.
The device has the advantages of simple structure, convenient operation and contribution to improving the stability of the tool.
Drawings
Fig. 1 is a schematic overall structure diagram of a robot active support for assisting minimally invasive surgery according to embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a connecting frame of a robot active bracket for assisting minimally invasive surgery according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a reinforcing rod of a robot active support for assisting minimally invasive surgery according to embodiment 2 of the present invention.
In the figure: the device comprises a fixing plate 1, a transverse guide rail 2, a longitudinal guide rail 3, a sliding block 4, a threaded rod 5, a connecting rod 6, an adjusting rod 7, a rotating sleeve 8, a connecting frame 9, a fixing arm 10, a moving frame 11, a lead screw 12, a driving motor 13, a lantern ring 14, a connecting arm 15, a viewing mirror 16 and a reinforcing rod 17.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1
Referring to fig. 1-2, a robot initiative support for assisting minimally invasive surgery, including fixed plate 1, the outer wall welding of one side of fixed plate 1 has transverse guide 2, and the inner wall sliding connection of transverse guide 2 has removal frame 11, the top outer wall both sides of removal frame 11 have fixed arm 10 and longitudinal rail 3 through the fix with screw respectively, and the inner wall sliding connection of longitudinal rail 3 has slider 4, the outer wall of one side of slider 4 has connecting rod 6 through hinged joint, and one side outer wall of connecting rod 6 and one side outer wall of fixed arm 10 all have rotation cover 8 through hinged joint, the inner wall sliding connection who rotates cover 8 has link 9, and open the top outer wall of link 9 has the fixed orifices.
In the invention, a screw rod mounting hole is formed in the inner wall of one side of the transverse guide rail 2, a screw rod 12 is sleeved on the inner wall of the screw rod mounting hole, and the outer wall of the screw rod 12 is connected to the inner wall of the movable frame 11 through threads.
In the invention, a driving motor 13 is fixed on the outer wall of one side of the transverse guide rail 2 through a screw, and an output shaft of the driving motor 13 is fixed on the outer wall of one end of a screw rod 12 through a coupler.
According to the invention, the outer wall of the top of the longitudinal guide rail 3 is provided with a threaded rod mounting hole, the inner wall of the threaded rod mounting hole is sleeved with a threaded rod 5, and the outer wall of the threaded rod 5 is connected to the inner wall of the sliding block 4 through threads.
In the invention, the outer wall of the top of the rotating sleeve 8 is provided with an adjusting rod mounting hole, the inner wall of the adjusting rod mounting hole is sleeved with the adjusting rod 7, and the outer wall of the adjusting rod 7 is connected with the inner wall of the connecting frame 9 through threads.
In the invention, the two sides of the outer wall of the bottom of the connecting frame 9 are both connected with connecting arms 15 through hinges, and the outer walls of one ends of the two connecting arms 15 are both welded with lantern rings 14.
During the use, fix fixed plate 1 on the operating table through the screw, fix the operation instrument inside the back at the inside fixed orifices of link 9, rotate two linking arms 15, through two lantern ring 14 centre gripping operation instrument, through two lantern ring 14 of bolted connection, start driving motor 13 and drive lead screw 12 and rotate and promote and remove 11 lateral shifting of frame, it promotes link 9 longitudinal movement to rotate regulation pole 7, it promotes slider 4 and removes to rotate threaded rod 5, connecting rod 6 drives and rotates cover 8 and rotate, thereby adjust the position and the angle of link 9.
Example 2
Referring to fig. 3, a robot active support for assisting minimally invasive surgery, a reinforcing rod 17 is welded on the outer wall of one side of a fixed arm 10 and the outer wall of the opposite side of a longitudinal guide rail 3, and an observation mirror 16 is connected on the outer wall of one side of the reinforcing rod 17 through a ball hinge.
The observation angle is adjusted by rotating the observation mirror 16, and the position of the surgical tool is observed by using the observation mirror 16, so that the moving precision of the surgical tool is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a robot initiative support for assisting minimal access surgery, includes fixed plate (1), its characterized in that, one side outer wall welding of fixed plate (1) has transverse guide (2), and the inner wall sliding connection of transverse guide (2) has removal frame (11), the top outer wall both sides of removing frame (11) have fixed arm (10) and longitudinal rail (3) through the fix with screw respectively, and the inner wall sliding connection of longitudinal rail (3) has slider (4), one side outer wall of slider (4) has connecting rod (6) through hinged joint, and one side outer wall of connecting rod (6) and fixed arm (10) all have through hinged joint and rotate cover (8), the inner wall sliding connection who rotates cover (8) has link (9), and the top outer wall of link (9) is opened there is the fixed orifices.
2. The active bracket for a robot used for assisting minimally invasive surgery according to claim 1, wherein a screw rod mounting hole is formed in an inner wall of one side of the transverse guide rail (2), a screw rod (12) is sleeved on an inner wall of the screw rod mounting hole, and an outer wall of the screw rod (12) is connected to an inner wall of the movable frame (11) through threads.
3. The active robotic support for assisting minimally invasive surgery according to claim 2, characterized in that a driving motor (13) is fixed on the outer wall of one side of the transverse guide rail (2) through a screw, and the output shaft of the driving motor (13) is fixed on the outer wall of one end of the lead screw (12) through a coupling.
4. The active robot support for assisting minimally invasive surgery according to claim 1, wherein a threaded rod mounting hole is formed in the outer wall of the top of the longitudinal guide rail (3), a threaded rod (5) is sleeved on the inner wall of the threaded rod mounting hole, and the outer wall of the threaded rod (5) is connected to the inner wall of the sliding block (4) through threads.
5. The active robot support for assisting minimally invasive surgery according to claim 1, wherein an adjusting rod mounting hole is formed in the outer wall of the top of the rotating sleeve (8), an adjusting rod (7) is sleeved on the inner wall of the adjusting rod mounting hole, and the outer wall of the adjusting rod (7) is connected to the inner wall of the connecting frame (9) through threads.
6. Active robotic support for assisting minimally invasive surgery according to claim 5, characterized in that the connecting arms (15) are hinged on both sides of the bottom outer wall of the connecting frame (9), and a collar (14) is welded on the outer wall of one end of each of the two connecting arms (15).
7. The robotic active support for assisting minimally invasive surgery according to claim 1, characterized in that the fixed arm (10) and the outer wall of the opposite side of the longitudinal rail (3) are welded with a reinforcing rod (17), and the outer wall of one side of the reinforcing rod (17) is connected with a viewing mirror (16) through a ball hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910872596.7A CN110772322A (en) | 2019-09-16 | 2019-09-16 | Robot active bracket for assisting minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910872596.7A CN110772322A (en) | 2019-09-16 | 2019-09-16 | Robot active bracket for assisting minimally invasive surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110772322A true CN110772322A (en) | 2020-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910872596.7A Pending CN110772322A (en) | 2019-09-16 | 2019-09-16 | Robot active bracket for assisting minimally invasive surgery |
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| Country | Link |
|---|---|
| CN (1) | CN110772322A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202313715U (en) * | 2011-09-05 | 2012-07-11 | 周宁新 | Mechanical arm arrangement structure for minimally-invasive-surgery robot |
| CN205268284U (en) * | 2015-12-22 | 2016-06-01 | 山东科技大学 | Abdominal cavity minimal access surgery holds mirror robot |
| US20160346052A1 (en) * | 2007-05-04 | 2016-12-01 | Technische Universiteit Eindhoven | Surgical Robot |
| CN107019559A (en) * | 2016-11-16 | 2017-08-08 | 温州医科大学附属眼视光医院 | Full-automatic ophthalmologic operation robot |
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN108175508A (en) * | 2018-01-02 | 2018-06-19 | 廖容 | A kind of medical operating robot arm |
-
2019
- 2019-09-16 CN CN201910872596.7A patent/CN110772322A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160346052A1 (en) * | 2007-05-04 | 2016-12-01 | Technische Universiteit Eindhoven | Surgical Robot |
| CN202313715U (en) * | 2011-09-05 | 2012-07-11 | 周宁新 | Mechanical arm arrangement structure for minimally-invasive-surgery robot |
| CN205268284U (en) * | 2015-12-22 | 2016-06-01 | 山东科技大学 | Abdominal cavity minimal access surgery holds mirror robot |
| CN107019559A (en) * | 2016-11-16 | 2017-08-08 | 温州医科大学附属眼视光医院 | Full-automatic ophthalmologic operation robot |
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN108175508A (en) * | 2018-01-02 | 2018-06-19 | 廖容 | A kind of medical operating robot arm |
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| PB01 | Publication | ||
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Application publication date: 20200211 |