CN114081588A - Accurate automatic skin taking device for skin flap transplantation - Google Patents

Accurate automatic skin taking device for skin flap transplantation Download PDF

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Publication number
CN114081588A
CN114081588A CN202111404180.6A CN202111404180A CN114081588A CN 114081588 A CN114081588 A CN 114081588A CN 202111404180 A CN202111404180 A CN 202111404180A CN 114081588 A CN114081588 A CN 114081588A
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skin
taking
taking device
block
driving
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CN202111404180.6A
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CN114081588B (en
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陆东宁
张琬琛
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Zhejiang Provincial Peoples Hospital
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Zhejiang Provincial Peoples Hospital
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/322—Skin grafting apparatus
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Plastic & Reconstructive Surgery (AREA)
  • Transplantation (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an accurate automatic skin taking device for skin flap transplantation, which comprises a medical manipulator mechanism, wherein a placing box is arranged at the bottom of the manipulator mechanism, recording equipment is placed in the placing box, a connecting rod is connected to the bottom of the medical manipulator mechanism, a skin taking device is arranged at the bottom of a first driving structure, the accurate automatic skin taking device for skin flap transplantation can rapidly record the shape and the size of a position needing skin grafting through the arranged recording equipment, the arranged skin taking device can cut the skin of a patient under the driving of a medical mechanical claw mechanism to realize skin grafting, the arranged skin taking device can simultaneously realize skin taking on the skin with irregular and regular patterns, the skin taking efficiency is high, the arranged skin taking device can drive a skin grafting knife to move, the skin taking knife can keep a fixed distance with the skin in the skin taking process, the position of the skin taking knife can be constantly adjusted, avoid the skin knife to contact with the skin too deeply, a large amount of tissues are stuck on the taken skin.

Description

Accurate automatic skin taking device for skin flap transplantation
Technical Field
The invention relates to the technical field of medical treatment, in particular to an accurate automatic skin taking device for skin flap transplantation.
Background
The skin flap is formed by skin with blood supply and subcutaneous adipose tissue attached to the skin flap, during the process of forming and transferring the skin flap, a part of the skin flap is connected with the body, the connected part is called a pedicle part to maintain the blood supply, other parts are separated from the body on the surface and the deep surface, after the skin flap is transferred to another wound surface, the blood circulation of the pedicle part is still used for supplying nutrition temporarily, after a wound surface blood vessel in a flap receiving area grows into the skin flap, after new blood circulation is established, the pedicle part is cut off, the whole process of transferring the skin flap is completed, the skin flap is also called the pedicle-carrying skin flap, but the pedicle is not required to be cut off after transferring a local skin flap or an island-shaped skin flap.
After the skin flap is transplanted, the skin is required to be taken from the skin grafting end for skin grafting and covering, at the moment, the skin is required to be taken from the abdomen, the hip and other parts of a patient, in order to achieve the same size of the skin as the lost skin, the taken skin is not adhered with a superficial fascia and only epidermis dermis is reserved, when in operation at present, a surgeon is required to measure the size, the skin is taken from other positions, at present, a skin taking device is required to be used for taking the skin from the patient, but the skin taking device can only take the skin with a regular shape, the existing skin taking device can not carry out accurate skin taking, the irregular skin taking also requires the doctor to measure the size, when in skin taking, because the skin thicknesses of different people are different and the skin taking body position has a certain radian, a large amount of subcutaneous tissues can be adhered to the skin taken out by the existing skin taking device and the doctor, and finally, subcutaneous tissues are scraped and removed by the operation, this process can be time and energy intensive for the physician. Therefore, an accurate automatic skin taking device for skin flap transplantation is provided.
Disclosure of Invention
The invention aims to provide an accurate automatic skin taking device for skin flap transplantation, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an accurate automatic skin taking device for skin flap transplantation comprises a medical manipulator mechanism, wherein a placing box is arranged at the bottom of the manipulator mechanism, and recording equipment capable of recording skin position graphs is placed inside the placing box;
the bottom of the medical manipulator mechanism is movably connected with a connecting rod, the bottom of the connecting rod is provided with a first driving structure, and the bottom of the first driving structure is provided with a skin taking device capable of accurately taking skin of a patient;
get skin equipment including setting up the mobile device in first drive structure bottom, the mobile device bottom is provided with can carry out the device of getting skin of accurate getting skin to getting skin position outer lane and inner circle.
Preferably, the recording device is placed on a recording rod inside the placing box, and the output end of the recording rod is provided with a positioning piece.
Preferably, the first driving structure comprises a driving motor arranged at the bottom of the connecting rod, and the output end of the driving motor is connected with the mobile device.
Preferably, the mobile equipment comprises a support frame arranged at the output end of the driving motor, a support groove is formed in the bottom of the support frame, a double-end motor is arranged in the support groove, two ends of the double-end motor are both connected with screw rods, and one end, far away from the double-end motor, of each screw rod is rotatably connected with the inside of the support groove;
the movable blocks are sleeved on the outer sides of the screw rods and are connected with the inner portions of the supporting grooves in a sliding mode, and driving pieces capable of driving the leather taking device to move are arranged at the bottoms of the two movable blocks.
Preferably, the driving part comprises a plurality of sections of electric telescopic rods movably connected with the bottom of the moving block, and the bottom of each section of electric telescopic rod is provided with a fixed shell;
a first electromagnet block is arranged at the top inside the fixed shell, a pressure sensor is arranged at the bottom of the first electromagnet block, a plastic spring is arranged at the bottom of the pressure sensor, a pressing block is arranged at the bottom of the plastic spring, and a second electromagnet block is arranged outside the pressing block;
the bottom of the pressing block is provided with a moving ball;
a first connecting block and a second connecting block are arranged on the outer side of the second electromagnet block, and connecting grooves which are respectively connected with the outer side of the first connecting block and the outer side of the second connecting block in a sliding manner are arranged on the outer side of the fixed shell;
the first connecting block and the second connecting block are both connected with the skin taking device.
Preferably, the skin taking device comprises an outer ring skin taking piece and a skin taking piece, wherein the outer ring skin taking piece and the skin taking piece are used for respectively taking skins of the outer ring and the middle part of the skin taking position;
the outer ring leather taking piece and the leather taking piece are connected with the first connecting block and the second connecting block respectively.
Preferably, concentrate and get the skin spare including setting up the recess on the second connecting block, and the inside sliding connection connecting plate of two recesses, the support frame inboard is provided with the spacing groove with connecting rod both ends sliding connection, be provided with on the connecting plate and concentrate getting the skin subassembly of getting the skin to getting the skin position.
Preferably, the skin spare is got to the outer lane includes the regulation pole with first connecting block swing joint, and adjusts the pole bottom and be provided with the U-shaped board, the U-shaped board outside is provided with driving motor, the driving motor output is connected with the dwang, the dwang both ends all are connected with the U-shaped board rotation, be provided with on the dwang and get the dermatotome fixed plate, and get dermatotome fixed plate bottom and get dermatotome swing joint.
Compared with the prior art, the invention has the beneficial effects that:
1. the structure of the invention records the shape and the size of the position needing skin grafting rapidly through the arranged recording equipment, the arranged skin taking equipment can cut the skin of a patient to realize skin grafting under the driving of the medical mechanical claw mechanism, and the arranged skin taking equipment can simultaneously realize skin taking of the skin with irregular and regular patterns, and the skin taking efficiency is high.
2. The skin taking device arranged in the structure can drive the skin grafting knife to move, the skin taking knife can keep a fixed distance with the skin in the skin taking process, the position of the skin taking knife is adjusted constantly, the skin taking knife is prevented from being too deep in contact with the skin, and a large amount of tissues are adhered to the taken skin.
Drawings
FIG. 1 is a schematic front view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the skin removing device of the present invention;
FIG. 3 is a schematic view of the rear view structure of the skin removing device of the present invention;
FIG. 4 is a schematic side view of the skin removing device according to the present invention;
FIG. 5 is a bottom view of the structural support of the present invention;
FIG. 6 is a schematic front view of the skin removing device according to the present invention;
FIG. 7 is a side cross-sectional structural view of the structural driver of the present invention;
FIG. 8 is a schematic view of the deployment configuration of the structural driving member of the present invention;
FIG. 9 is a rear sectional view of the skin collecting member of the present invention;
FIG. 10 is a cross-sectional side view of a skin collecting member of the present invention.
In the figure: 1-a manipulator mechanism; 2-placing a box; 20-a recording device; 3-a connecting rod; 31-a first drive configuration; 4-a skin-removing device; 5-a mobile device; 6-a skin taking device; 21-a recording rod; 22-a positioning sheet; 32-a drive motor; 50-a support frame; 51-a support slot; 52-a double-head motor; 53-screw rod; 54-a moving block; 7-a drive member; 70-a plurality of sections of electric telescopic rods; 71-a stationary shell; 72-a first electromagnet block; 73-a pressure sensor; 74-a plastic spring; 75-briquetting; 76-a second electromagnet block; 77-moving ball; 78-a first connection block; 79-second connecting block; 80-connecting grooves; 60-taking leather pieces from the outer ring; 61-collecting leather articles; 62-grooves; 63-connecting plate; 64-a limit groove; 65-a skin-removing component; 66-adjusting rod; 67-U shaped plate; 68-a drive motor; 69-rotating the rod; 6 a-a dermatome fixing plate; 90-a drive gear; 91-moving the gear.
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. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-10, the present invention provides a technical solution: an accurate automatic skin taking device for skin flap transplantation comprises a medical manipulator mechanism 1, a placing box 2 is arranged at the bottom of the manipulator mechanism 1, and a recording device 20 capable of recording the skin position figure is arranged in the placing box 2, the recording device 20 is arranged on a recording rod 21 in the placing box 2, and the output end of the recording rod 21 is provided with a positioning piece 22, the positioning piece is connected with the existing medical manipulator mechanism 1 through the existing technology, when in use, a worker is required to hold the recording rod 21 by hand to drive the recording rod 21 to move along the outer side of the flap transplantation, therefore, the positioning chip can transmit the shape and the size to the control equipment of the medical manipulator mechanism 1 through the prior art, the medical manipulator mechanism 1 can move according to the size of the figure size transmitted by the positioning chip, and the size of the skin grafting figure can be rapidly recorded;
the bottom of the medical manipulator mechanism 1 is movably connected with a connecting rod 3 through a bolt, a first driving structure 31 is arranged at the bottom of the connecting rod 3, the first driving structure 31 comprises a driving motor 32 fixed at the bottom of the connecting rod 3 through a motor frame,
the output end of the driving motor 32 is fixed with a skin-taking device 4 which can accurately take the skin of a patient, the skin-taking device 4 comprises a mobile device 5 connected with the driving motor 32, the bottom of the mobile device 5 is provided with a skin-taking device 6 which can accurately take the skin of the outer ring and the inner ring of the skin-taking position,
when the figure and the size of the skin grafting on the patient are recorded through the positioning chip, the medical manipulator mechanism 1 drives the connecting rod 3 and the driving motor 32 to move, the driving motor 32 drives the skin taking device 4 to move, if the figure of the skin taking position is an irregular figure, the medical manipulator mechanism 1 drives the moving device 5 and the skin taking device 6 to move along the outer ring of the figure through the connecting rod 3 and the driving motor 32, the skin taking device 4 firstly takes the skin of the outer ring of the skin taking position, then the driving motor 32 drives the moving device 5 and the skin taking device 6 to rotate, the direction of the driving device is adjusted, then the skin taking device 6 takes the skin of the middle part, and the skin taking efficiency is high;
the mobile device 5 comprises a support frame 50 fixed at the output end of the driving motor 32, a support groove 51 is formed in the bottom of the support frame 50, a double-headed motor 52 is fixed inside the support groove 51, screw rods 53 are fixed at both ends of the double-headed motor 52, and one end of each screw rod 53 far away from the double-headed motor 52 is rotatably connected with the inside of the support groove 51 through a bearing;
the outer side of the lead screw 53 is sleeved with a moving block 54 in a threaded manner, the outer side of the moving block 54 is connected with the inside of the supporting groove 51 in a sliding manner, driving pieces 7 capable of driving the leather taking device 6 to move are arranged at the bottoms of the two moving blocks 54, the lead screws 53 at the two ends of the lead screws can be driven to rotate through the double-end motor 52 according to the leather taking size when the leather taking device is used, the directions of the threads on the two lead screws 53 are opposite, the two moving blocks 54 can drive the two driving pieces 7 to move oppositely or oppositely, the lead screws 53 drive the moving blocks 54 to slide in the supporting groove 51, the two moving blocks 54 drive the two driving pieces 7 to move, the driving pieces 7 can move along the outer ring of the leather taking position, and the driving pieces 7 drive the leather taking device 6 to move to achieve leather taking.
The driving piece 7 comprises a plurality of sections of electric telescopic rods 70 movably connected with the bottom of the moving block 54 through threads, and fixed shells 71 are fixed at the bottoms of the plurality of sections of electric telescopic rods 70;
a first electromagnet block 72 is fixed at the top inside the fixed shell 71, a pressure sensor 73 is arranged at the bottom of the first electromagnet block 72, a plastic spring 74 is fixed at the bottom of the pressure sensor 73, a pressing block 75 is fixed at the bottom of the plastic spring 74, and a second electromagnet block 76 is fixed outside the pressing block 75;
a moving ball 77 is fixed at the bottom of the pressing block 75, and the moving ball 77 can rotate 360 degrees;
a first connecting block 78 and a second connecting block 79 are fixed on the outer side of the second electromagnet block 76, and a connecting groove 80 which is respectively connected with the outer side of the first connecting block 78 and the outer side of the second connecting block 79 in a sliding manner is arranged on the outer side of the fixed shell 71;
the first connecting block 78 and the second connecting block 79 are both connected with the skinning device 6.
The skinning device 6 comprises an outer ring skinning piece 60 and a collecting skinning piece 61 which respectively skin-skinning the outer ring and the middle part of the skinning position;
the outer ring skin taking piece 60 and the inner ring skin taking piece 61 are fixedly connected with the outer sides of the first connecting block 78 and the second connecting block 79 respectively, the outer ring skin taking piece 60 can take skins of the outer ring at a skin taking position firstly, and then the inner ring skin taking piece carries out centralized skin taking on skins of the middle position.
Centralized skin piece 61 is including setting up the recess 62 on second connecting block 79, and two recess 62 internal sliding connection have a connecting plate 63, and support frame 50 inboard is provided with the spacing groove 64 with connecting rod 3 both ends sliding connection, is provided with on the connecting plate 63 to concentrate the skin of getting that gets the skin position and gets skin subassembly 65.
The outer ring skinning piece 60 comprises an adjusting rod 66 movably connected with a first connecting block 78 through a screw, a plurality of connecting holes are formed in the adjusting rod 66, different connecting holes are connected with the first connecting block 78 to control the installation height of the adjusting rod 66, the skinning knives of different models can be installed, a U-shaped plate 67 is fixed at the bottom of the adjusting rod 66, a driving motor 68 is fixed on the outer side of the U-shaped plate 67 through a motor frame, a rotating rod 69 is fixed at the output end of the driving motor 68, the two ends of the rotating rod 69 are rotatably connected with the inner side of the U-shaped plate 67, a skinning knife fixing plate 6a is arranged on the rotating rod 69, the bottom of the skinning knife fixing plate 6a is movably connected with the skinning knives, the skinning knives are movably connected with the bottom of the fixing plate through threads, and the skinning knives of different models can be conveniently replaced.
The structure of the skin taking assembly 65 and the outer ring skin taking piece 60 are basically viewed, the outer ring skin taking assembly 65 is mainly described in the claims in the scheme, the skin taking assembly 65 is described in the specification, the driving motor 68 on the skin taking assembly 65 is fixed on the top of the U-shaped plate 67 through a motor frame, the output end of the driving motor 68 is fixed with the driving gear 90, the bottom of the driving gear 90 is connected with the moving gear 91 in a meshing manner, the center of the moving gear 91 is fixed with the rotating rod 69, and the driving gear 90 and the driving gear are arranged because the skin taking knife used by the skin taking assembly 65 is larger, so that the U-shaped frame plate on the skin taking assembly 65 is larger, and the driving motor 68 is prevented from contacting with the moving ball 77.
When the skin of the regular transplantation graph is required to be taken:
the double-headed motor 52 drives the two moving balls 77 to move to two sides of a skin taking position, then the skin taking knife is arranged on the skin taking assembly 65, the two moving balls 77 are driven by the driving motor 68 to rotate between the two moving balls 77, then the skin taking knife is driven by the clamping jaws of the medical machine to move, when the skin taking knife moves, the moving balls 77 move along the skin surface of a patient, when the skin of the patient changes in an arc shape, the moving balls 77 drive the plastic springs 74 to compress or extend, so that the pressure of the plastic springs 74 on the pressure sensor 73 changes, the change of the pressure sensor 73 can transmit the changed value to a control device for controlling the current change of the first magnet and the second magnet 76 through the existing transmission device, thereby the size of the suction force between the first magnet block 72 and the second magnet block 76 can be adjusted, and the rising or falling of the second magnet block 76 can be controlled, it is known that the pressure value of the plastic spring 74 to the pressure sensor 73 is kept at a value, so that the second electromagnet block 76 can drive the second connecting block 79 to ascend or descend when ascending or descending, the second connecting block 79 can drive the second connecting plate 63 to ascend or descend, the second connecting plate 63 can drive the adjusting rod 66 and the U-shaped plate 67 to ascend or descend, and the U-shaped plate 67 can drive the dermatome to move, so that the contact distance between the dermatome and the skin of a patient is controlled to be consistent, and therefore, the phenomenon that the dermatome is excessively thick when being in contact with the skin of the patient at different positions and the skin of the patient is excessively adhered to the taken skin, and the use angle of the dermatome can be adjusted by the driving motor 68 when the dermatome is just used;
when peeling the irregular figure:
move on the article of one of them multisection electric telescopic rod 70 drive whole fixed shell 71 bottom, and make and remove ball 77 and patient's skin contact, then medical machine gripper mechanism 1 drives surplus fixed shell 71 and removes ball 77 and removes along the outside of skin, thereby can make the outer lane get skin piece 60 go up small-size get the skin and remove along the outer lane of getting the skin position under medical machine gripper mechanism 1's effect, will get the skin of the outer lane of skin position and take off, then two remove balls 77 and remove the outside of getting the skin size, utilize and get skin subassembly 65 and concentrate the skin of surplus and take off, it is efficient to get the skin.
In the present embodiment, the type Y80M1-2 is preferred for the driving motor 32, the circuit operation is the conventional circuit, and the circuits and control involved in the present invention are the prior art, and will not be described herein.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. The utility model provides a skin flap is transplanted with accurate automatic ware of getting skin, includes medical manipulator mechanism (1), its characterized in that: a placing box (2) is arranged at the bottom of the manipulator mechanism (1), and a recording device (20) capable of recording the skin position graph is placed in the placing box (2);
the bottom of the medical manipulator mechanism (1) is movably connected with a connecting rod (3), a first driving structure (31) is arranged at the bottom of the connecting rod (3), and a skin taking device (4) capable of accurately taking skin of a patient is arranged at the bottom of the first driving structure (31);
get skin equipment (4) including setting up mobile device (5) in first drive structure (31) bottom, mobile device (5) bottom is provided with can carry out the accurate device (6) of getting the skin of getting skin position outer lane and inner circle.
2. The precise automatic skin-taking device for skin flap transplantation according to claim 1, wherein: the recording device (20) is placed on a recording rod (21) inside the placing box (2), and a positioning sheet (22) is arranged at the output end of the recording rod (21).
3. The precise automatic skin-taking device for skin flap transplantation according to claim 1, wherein: the first driving structure (31) comprises a driving motor (32) arranged at the bottom of the connecting rod (3), and the output end of the driving motor (32) is connected with the mobile equipment (5).
4. The precise automatic skin-taking device for skin flap transplantation according to claim 1, wherein: the mobile equipment (5) comprises a support frame (50) arranged at the output end of the driving motor (32), a support groove (51) is formed in the bottom of the support frame (50), a double-end motor (52) is arranged in the support groove (51), two ends of the double-end motor (52) are connected with screw rods (53), and one end, far away from the double-end motor (52), of each screw rod (53) is rotatably connected with the inside of the support groove (51);
the outer side of the lead screw (53) is sleeved with a moving block (54), the outer side of the moving block (54) is connected with the inner part of the supporting groove (51) in a sliding mode, and driving pieces (7) capable of driving the leather taking device (6) to move are arranged at the bottoms of the two moving blocks (54).
5. The precise automatic skin-taking device for skin flap transplantation according to claim 4, wherein: the driving piece (7) comprises a plurality of sections of electric telescopic rods (70) movably connected with the bottom of the moving block (54), and the bottom of each section of electric telescopic rod (70) is provided with a fixed shell (71);
a first electromagnet block (72) is arranged at the top inside the fixed shell (71), a pressure sensor (73) is arranged at the bottom of the first electromagnet block (72), a plastic spring (74) is arranged at the bottom of the pressure sensor (73), a pressing block (75) is arranged at the bottom of the plastic spring (74), and a second electromagnet block (76) is arranged outside the pressing block (75);
the bottom of the pressing block (75) is provided with a moving ball (77);
a first connecting block (78) and a second connecting block (79) are arranged on the outer side of the second electromagnet block (76), and connecting grooves (80) which are respectively connected with the outer side of the first connecting block (78) and the outer side of the second connecting block (79) in a sliding manner are arranged on the outer side of the fixed shell (71);
the first connecting block (78) and the second connecting block (79) are both connected with the skin taking device (6).
6. The precise automatic skin-taking device for skin flap transplantation according to claim 1, wherein: the skin taking device (6) comprises an outer ring skin taking piece (60) and a collection skin taking piece (61) which are used for taking skins of the outer ring and the middle part of the skin taking position respectively;
the outer ring leather taking piece (60) and the leather taking piece (61) are respectively connected with the first connecting block (78) and the second connecting block (79).
7. The precise automatic skin-taking device for skin flap transplantation according to claim 6, wherein: leather goods (61) are got including setting up recess (62) on second connecting block (79) in the collection, and two inside sliding connection connecting plates (63) of recess (62), support frame (50) inboard be provided with connecting rod (3) both ends sliding connection's spacing groove (64), be provided with on connecting plate (63) and carry out the skin subassembly (65) of getting the skin of concentrating the skin position.
8. The precise automatic skin-taking device for skin flap transplantation according to claim 6, wherein: leather clothing (60) are got to the outer lane include with first connecting block (78) swing joint adjust pole (66), and adjust pole (66) bottom and be provided with U-shaped plate (67), the U-shaped plate (67) outside is provided with driving motor (68), driving motor (68) output is connected with dwang (69), dwang (69) both ends all rotate with U-shaped plate (67) and are connected, be provided with on dwang (69) and get dermatotome fixed plate (6 a), and get dermatotome fixed plate (6 a) bottom and get dermatotome swing joint.
CN202111404180.6A 2021-11-24 2021-11-24 Accurate automatic skin taking device for skin flap transplantation Active CN114081588B (en)

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Application Number Priority Date Filing Date Title
CN202111404180.6A CN114081588B (en) 2021-11-24 2021-11-24 Accurate automatic skin taking device for skin flap transplantation

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Application Number Priority Date Filing Date Title
CN202111404180.6A CN114081588B (en) 2021-11-24 2021-11-24 Accurate automatic skin taking device for skin flap transplantation

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CN114081588B CN114081588B (en) 2023-06-27

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Citations (11)

* Cited by examiner, † Cited by third party
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