CN114668508A

CN114668508A - Hand-operated transport vehicle of miniaturized remote operation robot

Info

Publication number: CN114668508A
Application number: CN202210281902.1A
Authority: CN
Inventors: 牛海涛; 焦伟; 苑航; 褚光迪; 秦斐; 郑冀鲁; 张昭
Original assignee: Affiliated Hospital of University of Qingdao
Current assignee: Affiliated Hospital of University of Qingdao
Priority date: 2022-03-22
Filing date: 2022-03-22
Publication date: 2022-06-28

Abstract

The invention discloses a slave hand transport cart of a miniaturized remote operation robot, belonging to the technical field of medical instruments. The slave hand transport vehicle of the miniaturized remote operation robot provided by the invention has the advantages that the size of the existing robot is miniaturized, the flexibility is high, the transportation and the protection are convenient, and meanwhile, the brake mechanism is arranged, so that the whole slave hand transport vehicle can realize automatic positioning when in use, the error of operation caused by the shaking of equipment is avoided, and the safety of the operation is improved.

Description

Hand-operated transport vehicle of miniaturized remote operation robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a slave hand transport vehicle of a miniaturized remote operation robot.

Background

With the continuous development of medical science, the use of surgical robots is more and more extensive, and doctors operate in an operating room in the past to control the surgical robots to perform surgical operation. The doctor sits in front of master hand robot, through watching the 3D image display, operates master hand robot, and various operation operations are carried out from hand operation robot arm to accurate control.

With the development of communication technology, remote operation has become a reality, and the use of the same slave in different hospitals can be realized at present under the support of network technology. Since the surgical robot is expensive, if the surgical robot can be miniaturized, portable and remote, high-end medical instrument sharing can be realized, and the application scene of the existing surgical robot can be extended. The existing robot is heavy in hand, large in size, time-consuming and labor-consuming in moving, and becomes a neck clamping problem which limits the sharing and application scenes of the robot. Therefore, how to miniaturize, carry and network-remoter the slave hand of the surgical robot so as to realize sharing and expand the application scene of the surgical robot, so that the slave mobile robot can be conveniently and quickly transported and enters the surgical state as soon as possible to cure the patient becomes a problem to be solved urgently. The technical problem is solved by the scheme.

Disclosure of Invention

The invention aims to provide a slave hand transport cart of a miniaturized remote operation robot, which solves the technical problems of large size, poor flexibility and difficulty in transportation and protection of the conventional slave hand transport robot, and is also provided with a brake mechanism, so that the whole slave hand transport cart can realize automatic positioning when in use, avoids errors in operation caused by shaking of equipment, and increases the safety of the operation.

The utility model provides a miniaturized remote operation robot from hand transport vechicle, bottom plate, vertical setting including the level setting are in solid fixed cylinder, telescopic setting on the bottom plate are in lift post, the level setting in the solid fixed cylinder are in the diaphragm on lift capital end and setting are in the robot below diaphragm one end is from the hand, the lateral part of solid fixed cylinder still is provided with the U type lid that is used for the protection, the open slot orientation of U type lid gu fixed cylinder sets up, the robot is in from the separable setting of hand in the U type lid.

The bottom of the lifting column is connected with a third electric push rod, the top end of the lifting column is provided with a second electric push rod, the third electric push rod is vertically arranged, the second electric push rod is horizontally arranged, and the telescopic end of the second electric push rod is connected with the robot slave hand.

The one end of diaphragm is provided with and holds the chamber, the inside that holds the chamber is provided with the motor, the diaphragm up end is provided with the display screen, the one end of display screen articulates hold the top in chamber, the motor is connected with the hinge axis.

The bottom end of the U-shaped cover is provided with a roller, the bottom end of the inner end face of the U-shaped cover is connected with a first electric push rod, and the first electric push rod is arranged at the bottom end of the fixed cylinder;

and two inner side surfaces of the U-shaped cover are respectively contacted with two outer side surfaces of the fixed cylinder.

The limiting blocks are arranged on the edges of two inner side surfaces of the U-shaped cover respectively, limiting grooves are arranged on two outer side surfaces of the fixed cylinder respectively, and the limiting blocks are slidably embedded in the limiting grooves.

The hand transport vehicle further comprises a brake mechanism for positioning the slave hand transport vehicle;

the braking mechanism is provided with two braking mechanisms which are respectively arranged on two sides of the fixed cylinder, the braking mechanism comprises a moving part and a fixed part, the moving part is arranged on the outer side surface of the U-shaped cover, the fixed part is arranged on the bottom plate, and the moving part is in separable contact with the ground.

The moving part comprises a moving block fixedly arranged at the bottom end of the U-shaped cover, an L-shaped rod which is vertically arranged and the bottom end of which is connected with the upper end of the moving block, and a sliding rod which can slide up and down and is arranged on the L-shaped rod, the top end of the sliding rod is obliquely provided with a magnet block, and the magnet block is connected with the fixed part;

The L-shaped rod comprises a vertical part and a horizontal part, the vertical part is connected with the moving block, and the sliding rod penetrates through the horizontal part from top to bottom.

The fixed part comprises a magnet bar obliquely arranged above the magnet block, a support connected with the magnet bar and a cross bar which is horizontally arranged and one end of which is connected with the bottom end of the support, the upper end surface and the lower end surface of the cross bar are provided with strip-shaped through holes, the bottom end of the sliding bar can vertically penetrate through the strip-shaped through holes, and the other end of the cross bar penetrates through a sliding hole arranged on the moving block;

the magnet piece actuation is in the below of magnet strip, and can along the magnet strip slides from top to bottom.

The robot slave hand comprises an adjusting block and a connecting rod assembly arranged at the bottom end of the adjusting block, and the connecting rod assembly is provided with three connecting rods in parallel;

the connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, an arc-shaped column, a fourth connecting rod, a fifth connecting rod, a lateral part and a sixth connecting rod, wherein one end of the first connecting rod is hinged to the lower portion of the adjusting block, one end of the second connecting rod is hinged to the other end of the first connecting rod, one end of the third connecting rod is hinged to the other end of the second connecting rod, the arc-shaped column is arranged at the other end of the third connecting rod, one end of the fourth connecting rod is hinged to the fourth connecting rod, one end of the fifth connecting rod is hinged to the other end of the fourth connecting rod, and the lateral part of the fifth connecting rod is hinged to the other end of the fifth connecting rod.

The bottom of slide bar is provided with the sheet rubber, the contact of sheet rubber and ground detachable.

The invention achieves the following remarkable effects:

(1) the robot is arranged on the lifting column from the hand and matched with the U-shaped cover for protection, when the robot is used, the robot is lifted from the hand to a high position by using the lifting column, when the robot is used, the robot is lowered into the U-shaped cover from the hand by using the lifting column, the robot is protected from the hand, meanwhile, the U-shaped cover is arranged on the bottom plate, and the bottom end of the bottom plate is provided with the universal wheels, so that the whole robot is the same as a moving trolley from the hand, the robot has stronger flexibility, the transportation process is greatly facilitated, the size of the device is reduced, and the robot is beneficial to miniaturization;

(2) the braking mechanism is arranged and matched with the U-shaped cover, when the U-shaped cover moves, the magnet block moves along the magnet strip under the matching action of the wedge-shaped block, and meanwhile, the bottom end of the sliding rod penetrates through the long through hole and is in contact with the ground;

(3) be provided with the display screen, when using, utilize the effect of motor for the display screen is opened, and the people's of being convenient for remote observation, the display screen covers the back on the diaphragm simultaneously, still has the effect of covering the protection.

Drawings

Fig. 1 is a schematic structural view of a hand transport vehicle in embodiment 1 of the present invention.

Fig. 2 is a schematic structural view of a horizontal plate and a display screen in embodiment 1 of the invention.

Fig. 3 is a schematic view of a connection structure of the lifting column in embodiment 1 of the present invention.

Fig. 4 is a schematic structural view of a U-shaped cover and a braking mechanism in embodiment 1 of the present invention.

Fig. 5 is a schematic structural view of a U-shaped cover in embodiment 1 of the present invention.

Fig. 6 is a schematic structural view of a brake mechanism in embodiment 1 of the present invention.

Fig. 7 is a schematic structural diagram of a slave hand of the robot in embodiment 1 of the present invention.

Fig. 8 is a schematic view of an installation structure of a display screen in embodiment 2 of the present invention.

Wherein the reference numerals are: 1. a base plate; 1-1, connecting columns; 2. a universal wheel; 3. a U-shaped cover; 3-1, electrically pushing the first rod; 3-2, a limiting block; 3-3, rolling wheels; 4. a moving block; 5. an L-shaped rod; 6. a cross bar; 6-1, a strip through hole; 7. a slide bar; 7-1, magnet block; 8. a support; 9. a magnet bar; 10. a fixed cylinder; 11. a lifting column; 11-1, a second electric push rod; 11-2, an electric push rod III; 12. a transverse plate; 12-1, a sliding groove; 13. a display screen; 13-1, a motor; 14. a slave robot hand; 14-1, a regulating block; 14-2, a first connecting rod; 14-3, a second connecting rod; 14-4, a third connecting rod; 14-5, arc-shaped columns; 14-6, a fourth connecting rod; 14-7, a fifth connecting rod; 14-8 and a sixth connecting rod.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present solution is described below by way of specific embodiments.

Example 1

Referring to fig. 1, a hand-operated transport cart of a miniaturized remote operation robot comprises a bottom plate 1, a fixed cylinder 10, a telescopic lifting column 11, a horizontal plate 12 and a robot slave hand 14, wherein the bottom plate 1 is horizontally arranged, the fixed cylinder 10 is vertically arranged on the bottom plate 1, the lifting column 11 is telescopically arranged in the fixed cylinder 10, the horizontal plate 12 is horizontally arranged at the top end of the lifting column 11, the robot slave hand 14 is arranged below one end of the horizontal plate 12, a U-shaped cover 3 used for protection is further arranged on the side portion of the fixed cylinder 10, an open slot of the U-shaped cover 3 is arranged towards the fixed cylinder 10, and the robot slave hand 14 is detachably arranged in the U-shaped cover 3.

Referring to fig. 3, the bottom end of the lifting column 11 is connected with an electric push rod III 11-2, the top end of the lifting column 11 is provided with an electric push rod II 11-1, the electric push rod III 11-2 is vertically arranged, the electric push rod II 11-1 is horizontally arranged, and the telescopic end of the electric push rod II 11-1 is connected with a slave robot hand 14.

In the present embodiment, the numbers "one", "two" and "three" such as the electric putter one 3-1, the electric putter two 11-1, the electric putter three 11-2 are arranged in order for illustration only, and do not refer to other meanings, and thus the description is made.

Referring to fig. 2, one end of the transverse plate 12 is provided with a containing cavity, a motor 13-1 is arranged inside the containing cavity, a display screen 13 is arranged on the upper end face of the transverse plate 12, one end of the display screen 13 is hinged to the top end of the containing cavity, and the motor 13-1 is connected with the hinge shaft.

Referring to fig. 4 and 5, the bottom end of the U-shaped cover 3 is provided with a roller 3-3, the bottom end of the inner end face of the U-shaped cover 3 is connected with a first electric push rod 3-1, and the first electric push rod 3-1 is arranged at the bottom end of the fixed cylinder 10;

two inner side surfaces of the U-shaped cover 3 are respectively contacted with two outer side surfaces of the fixed cylinder 10.

The U-shaped cover 3 is pushed to move back and forth under the action of the electric push rod I3-1.

The two inner side edges of the U-shaped cover 3 are respectively provided with a limiting block 3-2, the two outer side surfaces of the fixed cylinder 10 are respectively provided with a limiting groove, and the limiting blocks 3-2 are embedded in the limiting grooves in a sliding manner.

The limiting groove and the limiting block 3-2 are arranged, so that the stability of the movement of the U-shaped cover 3 is kept.

The hand transport vehicle further comprises a braking mechanism for positioning the slave hand transport vehicle;

referring to fig. 6, the two braking mechanisms are respectively disposed at both sides of the fixed cylinder 10, and each braking mechanism includes a moving portion disposed on the outer side surface of the U-shaped cover 3 and a fixed portion disposed on the base plate 1, and the moving portion is detachably in contact with the ground.

The two brake mechanisms are connected with each other through the connecting columns 1-1, and the connecting columns 1-1 are arranged on the bottom plate 1, so that the positioning stability can be guaranteed.

The moving part comprises a moving block 4 fixedly arranged at the bottom end of the U-shaped cover 3, an L-shaped rod 5 which is vertically arranged and the bottom end of which is connected with the upper end of the moving block 4, and a sliding rod 7 which can slide up and down and is arranged on the L-shaped rod 5, the top end of the sliding rod 7 is obliquely provided with a magnet block 7-1, and the magnet block 7-1 is connected with the fixed part;

the L-shaped bar 5 includes a vertical portion connected to the moving block 4 and a horizontal portion through which the sliding bar 7 passes up and down.

The fixed part comprises a magnet bar 9 obliquely arranged above the magnet block 7-1, a support 8 connected with the magnet bar 9 and a cross bar 6 which is horizontally arranged and one end of which is connected with the bottom end of the support 8, the upper end surface and the lower end surface of the cross bar 6 are provided with strip-shaped through holes 6-1, the bottom end of the sliding bar 7 can vertically penetrate through the strip-shaped through holes 6-1, and the other end of the cross bar 6 penetrates through a sliding hole arranged on the moving block 4;

the magnet block 7-1 is attracted below the magnet bar 9 and can slide up and down along the magnet bar 9.

During operation, the moving block 4 moves under the action of the U-shaped cover 3, the two sides of the U-shaped cover 3 gradually cover the fixed cylinder 10, meanwhile, the magnet block 7-1 moves obliquely downwards along the magnet strip 9, the sliding rod 7 penetrates through the long through hole 6-1 and moves downwards until the sliding rod contacts with the ground, and the larger the pulling force of the electric push rod I3-1 is, the larger the friction force between the sliding rod 7 and the ground is, and the positioning of the device is facilitated.

The inclination of magnet strip 9 is suitable, and under the drive effect of U type lid 3, slide bar 7 is along rectilinear motion, because under the effect of the extrusion force of magnet strip 9 and frictional force, slide bar 7 must can the downstream, and under the limiting displacement of L type pole 5, the bottom of slide bar 7 also must pass rectangular through-hole 6-1 to final and ground contact.

Referring to fig. 7, the slave hand 14 of the robot comprises an adjusting block 14-1 and a connecting rod assembly arranged at the bottom end of the adjusting block 14-1, wherein the connecting rod assembly comprises three connecting rods arranged side by side;

the connecting rod assembly comprises a first connecting rod 14-2, one end of which is hinged below the adjusting block 14-1, a second connecting rod 14-3, one end of which is hinged with the other end of the first connecting rod 14-2, a third connecting rod 14-4, one end of which is hinged with the other end of the second connecting rod 14-3, an arc-shaped column 14-5 arranged at the other end of the third connecting rod 14-4, a fourth connecting rod 14-6, one end of which is hinged with the arc-shaped column 14-5, a fifth connecting rod 14-7, one end of which is hinged with the other end of the fourth connecting rod 14-6, and a sixth connecting rod 14-8, the side part of which is hinged with the other end of the fifth connecting rod 14-7.

The slave robot hand 14 is actually the prior art, and is not significant for solving the technical problems of the present technical solution, and only the general structure of the slave robot hand 14 will be described.

The bottom of slide bar 7 is provided with the sheet rubber, the separable contact of sheet rubber and ground.

The rubber sheet is arranged to increase the friction force with the ground.

Note:

the remote operation robot in the scheme is mainly used for laparoscopic surgery, and the conception improvement design is carried out on the existing remote abdominal operation robot system from a hand transport vehicle. It has two kinds of modes of operation and control of local operation function and teleoperation function. The surgical robot refers to a doctor for performing minimally invasive surgery on a patient with the aid of a mechanical system.

Wherein, long-range abdominal cavity operation robot comprises five parts: the remote abdominal cavity surgery robot comprises a doctor operating table, a patient operating table, a master end remote control box, a slave end remote control box and a three-dimensional endoscope camera system, wherein the doctor operating table is called as a master hand, the patient operating table is the slave hand mentioned in the scheme, in practical application, the master end remote control box, the slave end remote control box and the three-dimensional endoscope camera system are mutually supported to work in a different place from the doctor operating table (the master hand), the master end remote control box, the slave end remote control box and the three-dimensional endoscope camera system are all the prior art, detailed description is omitted, and other parts which are not mentioned in the scheme are regarded as the prior art and are not detailed.

The specific working process of the invention is as follows:

because the universal wheels 2 are arranged at the bottom of the transport cart, the transport cart is pushed to the place where a patient is located, the controller is started, the motor 13-1 and each electric push rod are controlled to work, at the moment, the lifting column 11 is lifted, the display screen 13 is opened, and when the surgical robot is completely exposed, the U-shaped cover 3 is folded, so that the fixing cylinder 10 is covered by the U-shaped cover 3, and under the remote control action of a doctor operating master hand, because each part of the surgical robot starts to work, the remote surgical situation of the doctor can be displayed on the display;

when the U-shaped cover 3 approaches the fixed cylinder 10 under the action of the electric push rod I3-1, the brake mechanism works, and the sliding rod 7 descends and is tightly contacted with the ground, so that friction braking is realized; therefore, from this perspective, the motion of the U-shaped cover 3 produces two technical effects, one is space saving, and the other is to drive the brake mechanism to work, so that the bottom of the sliding rod 7 is tightly attached to the ground, and the whole device is prevented from moving under the action of friction force.

The electric push rod II 11-1 is arranged and connected with the adjusting block 14-1, the sliding groove 12-1 is formed in the bottom end of the transverse plate 12, the adjusting block 14-1 can move along the sliding groove 12-1, and the horizontal position of the slave hand 14 of the robot can be adjusted.

During actual work, the surgeon performs the operation, only the two hands of the surgeon do not touch the patient, and the robot system is only a platform for assisting the operation and does not automatically perform any action. During operation, a surgeon sits in front of a doctor operating table, and holds the handle with two hands to operate the doctor mechanical arm to synchronously control instruments on the patient mechanical arm to execute various operation actions by watching the 3D image display. The specific structure of the slave hand is described in the scheme, so as to further explain the working process of the whole device, and the most important innovation point in the scheme is the receiving structure and the braking structure of the slave hand, so that a complete technical scheme is formed.

Example 2

Referring to fig. 8, the display screen can also be installed at the side part of the stand column, one end of the display screen is hinged at the edge part of the stand column, when the stand column is used, the display screen is arranged at one side surface of the stand column, and after the stand column is used, the side surface of the display screen is tightly attached to the side surface of the stand column.

The technical features of the present invention, which are not described in the present application, can be implemented by or using the prior art, and are not described herein again, and of course, the above description is not limited to the above examples, and the present invention is not limited to the above examples, and variations, modifications, additions and substitutions which can be made by those skilled in the art within the spirit of the present invention should also fall within the scope of the present invention.

Claims

1. The utility model provides a miniaturized remote operation robot from hand transport vechicle, includes bottom plate (1), the robot of level setting from hand (14), its characterized in that still includes vertical setting and is in fixed section of thick bamboo (10), the telescopic setting on bottom plate (1) is in lift post (11), the level setting in fixed section of thick bamboo (10) are in diaphragm (12) on lift post (11) top, the robot is in from hand (14) setting the below of diaphragm (12) one end, the lateral part of fixed section of thick bamboo (10) still is provided with U type lid (3) that are used for the protection, the open slot orientation of U type lid (3) fixed section of thick bamboo (10) set up, the robot is in from the separable setting of hand (14) in U type lid (3).

2. The slave hand transport cart of the miniaturized remote surgical robot according to claim 1, wherein a third electric push rod (11-2) is connected to the bottom end of the lifting column (11), a second electric push rod (11-1) is arranged at the top end of the lifting column (11), the third electric push rod (11-2) is vertically arranged, the second electric push rod (11-1) is horizontally arranged, and the telescopic end of the second electric push rod (11-1) is connected with the slave hand (14) of the robot.

3. The slave hand-transport cart of a miniaturized tele-surgical robot as claimed in claim 2, characterized in that one end of the transverse plate (12) is provided with a receiving cavity, a motor (13-1) is arranged inside the receiving cavity, the upper end surface of the transverse plate (12) is provided with a display screen (13), one end of the display screen (13) is hinged on the top end of the receiving cavity, and the motor (13-1) is connected with the hinge shaft.

4. The slave hand-held transport cart of a miniaturized tele-surgical robot as claimed in claim 3, wherein the bottom end of the U-shaped cover (3) is provided with rollers (3-3), the bottom end of the inner end surface of the U-shaped cover (3) is connected with a first electric push rod (3-1), and the first electric push rod (3-1) is arranged at the bottom end of the fixed cylinder (10);

two inner side surfaces of the U-shaped cover (3) are respectively contacted with two outer side surfaces of the fixed cylinder (10).

5. The slave hand-operated vehicle of a miniaturized remote surgical robot according to claim 4, wherein the two inner side edges of the U-shaped cover (3) are respectively provided with a limiting block (3-2), the two outer side surfaces of the fixed cylinder (10) are respectively provided with a limiting groove, and the limiting blocks (3-2) are slidably embedded in the limiting grooves.

6. The slave hand truck of the miniaturized telesurgical robot of any one of claims 1 to 5, further comprising a brake mechanism for positioning the slave hand truck;

the braking mechanism is provided with two braking mechanisms which are respectively arranged on two sides of the fixed cylinder (10), the braking mechanism comprises a moving part and a fixed part, the moving part is arranged on the outer side surface of the U-shaped cover (3), the fixed part is arranged on the bottom plate (1), and the moving part is in separable contact with the ground.

7. The slave hand transport cart of the miniaturized tele-surgical robot of claim 6, wherein the moving part comprises a moving block (4) fixedly disposed at the bottom end of the U-shaped cover (3), an L-shaped rod (5) vertically disposed and having a bottom end connected with the upper end of the moving block (4), and a sliding rod (7) disposed on the L-shaped rod (5) and capable of sliding up and down, a magnet block (7-1) is obliquely disposed at the top end of the sliding rod (7), and the magnet block (7-1) is connected with the fixed part;

the L-shaped rod (5) comprises a vertical part and a horizontal part, the vertical part is connected with the moving block (4), and the sliding rod (7) penetrates through the horizontal part vertically.

8. The slave hand-held transport cart of the miniaturized telesurgical robot according to claim 6, wherein the fixed portion comprises a magnet bar (9) obliquely disposed above the magnet block (7-1), a support (8) connected with the magnet bar (9), and a cross bar (6) horizontally disposed and having one end connected with the bottom end of the support (8), the cross bar (6) has long through holes (6-1) formed on the upper and lower end surfaces thereof, the bottom end of the sliding bar (7) can vertically pass through the long through holes (6-1), and the other end of the cross bar (6) passes through a sliding hole formed on the moving block (4);

the magnet block (7-1) is attracted below the magnet strip (9) and can slide up and down along the magnet strip (9).

9. The slave hand transport cart of a miniaturized telesurgical robot according to any of the claims 1 to 8, characterized in that the slave hand (14) of the robot comprises an adjustment block (14-1), a linkage assembly arranged at the bottom end of the adjustment block (14-1), the linkage assembly having three side by side;

the connecting rod assembly comprises a first connecting rod (14-2) with one end hinged below the adjusting block (14-1), a second connecting rod (14-3) with one end hinged with the other end of the first connecting rod (14-2), a third connecting rod (14-4) with one end hinged with the other end of the second connecting rod (14-3), an arc-shaped column (14-5) arranged at the other end of the third connecting rod (14-4), a fourth connecting rod (14-6) with one end hinged with the arc-shaped column (14-5), a fifth connecting rod (14-7) with one end hinged with the other end of the fourth connecting rod (14-6), and a sixth connecting rod (14-8) with the side hinged with the other end of the fifth connecting rod (14-7).

10. The slave hand-held transport cart of a miniaturized tele-surgical robot of claim 8, characterized in that the bottom end of the sliding rod (7) is provided with a rubber sheet, which is detachably in contact with the ground.