CN216136024U - Special puncture surgical robot system for pleuroperitoneal cavity - Google Patents
Special puncture surgical robot system for pleuroperitoneal cavity Download PDFInfo
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- CN216136024U CN216136024U CN202121808046.8U CN202121808046U CN216136024U CN 216136024 U CN216136024 U CN 216136024U CN 202121808046 U CN202121808046 U CN 202121808046U CN 216136024 U CN216136024 U CN 216136024U
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Abstract
The application provides a special puncture surgical robot system for pleuroperitoneal cavity, and an embodiment comprises a puncture surgical robot, an end effector, an operating table and an operating table base. A puncture surgical robot is used for realizing the function of positioning a puncture point in a plane. The end effector is in driving connection with the puncture surgical robot and is used for pose adjustment in a puncture point space; the operating bed is used for the lying support and the horizontal positioning of a patient during operation; and the operating table base is in driving connection with the puncture robot and is used for supporting the puncture surgical robot system and realizing the movement and the positioning of the puncture surgical robot in the vertical direction. By applying the technical scheme of the utility model, the size of the puncture surgical robot can be reduced, higher rigidity can be obtained, the manufacturing cost and the installation difficulty can be reduced, the specificity of the robot can be improved, the decoupling of the movement in the vertical direction and the horizontal plane and the posture adjustment of the puncture point to a certain degree can be realized by colleagues, and the design difficulty of a control algorithm can be reduced.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a special puncture surgical robot system for pleuroperitoneal cavity.
Background
In minimally invasive surgery, radioactive particle implantation surgery and some surgical operations requiring percutaneous puncture intervention, the puncture operation is manually operated by doctors, the required technical level is high, the difficulty is high, surgeons with abundant experience are often required to perform the operation, the requirement on the surgeons for implementing the accurate puncture operation is high, the time and money cost for training and culturing professional surgeons is high, and the more popularization is difficult to obtain in hospitals with relatively poor medical facilities.
With the development of the robot technology, a new technology for completing a puncture operation with the assistance of a robot is developed, a general articulated robot is mostly adopted for positioning and adjusting an end effector in a traditional robot-assisted puncture operation, but in practice, problems of overlarge volume, joint swelling, strict installation requirements, poor specificity and the like often occur in the general robot and related medical instruments when the general robot and the related medical instruments aim at specific surgical operation types because of over-emphasized universality, and meanwhile, the requirements of operation implementation on collision prevention, path planning and other problems are complicated, meanwhile, the manufacturing cost of the general robot is high, and the medical cost of a patient is increased invisibly.
In order to solve the problems of overlarge volume and poor specificity of a general robot, some surgical robots adopt a serial or complex space parallel robot to realize the positioning action of puncture, but the serial robot has poor structural rigidity and complex control of collision prevention and path planning, and the complex space parallel robot improves the overall rigidity but has great difficulty in working space analysis and motion control.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a special puncture surgical robot system for pleuroperitoneal cavity, which aims to solve the technical problems of poor specificity, large size, insufficient rigidity, complex positioning and puncture flow and control and the like of a puncture surgical robot.
The embodiment of the application provides a special puncture surgical robot of pleuroperitoneal cavity, include: the puncture operation robot is used for realizing the puncture operation function; the end effector is in driving connection with the puncture surgical robot and is used for realizing the movement of the puncture surgical robot system special for the pleuroperitoneal cavity in a vertical plane in a working space; the operating bed is used for the lying support and the horizontal positioning of a patient during operation; and the operating table base is used for supporting the puncture surgical robot system and realizing the linear motion and the positioning of the puncture surgical robot in the vertical direction.
In an embodiment of the present application, a puncture surgical robot includes: the robot main body is arranged above the operating bed and is used for translation of a needle feeding point of the special puncture surgical robot system for the pleuroperitoneal cavity in a horizontal plane in a working space, rotary motion around the vertical axial direction and needle feeding pose adjustment of puncture action; and the ring gear transmission mechanism is in driving connection with the robot main body and is used for transmitting the rotary motion of the robot main body around the vertical axial direction to the end effector.
In an embodiment of the present application, an end effector includes: the annular connecting frame is arranged on the robot main body and is used for mounting and rotationally driving the end effector; the arc-shaped guide rail is arranged on the annular connecting frame and is used for adjusting and positioning the angle of the needle feeding point in the rotating motion direction around the horizontal axial direction; the needle insertion driving part is arranged on the arc-shaped guide rail and is used for driving the puncture action to be realized; the puncture operation needle is used for realizing puncture action, realizing percutaneous puncture, delivering a therapeutic substance to an affected part and taking out a detection block from the body of a patient.
In the embodiment of this application, the operation table includes: the operating bed board is used for supporting a patient in the operation process and adjusting the body position according to the operation requirement; the translational sliding plate is fixedly installed with the operating bed plate and is used for supporting the operating bed plate and adjusting the position in the horizontal direction.
In an embodiment of the present application, an operating table base includes: the operating bed guide rail is used for driving the operating bed to move and position in the horizontal direction; and the robot mounting arm is used for driving the puncture surgical robot to move and position in the vertical direction.
In an embodiment of the present application, a robot main body includes: the robot translation table is in driving connection with the end effector through a ring gear transmission mechanism and is used for supporting and moving the end effector; the P connecting rod, the R-P hinge and the P sliding block form a PRP mechanism, the robot translation platform is fixedly connected with the P connecting rod, and the movement and the positioning in the horizontal direction are realized through the movement of the PRP mechanism; the slide block guide rail is a lead screw guide rail and is used for supporting and realizing the translation of the PRP mechanism in a plane so as to realize the movement and the positioning of the translation table and the end effector of the robot in a horizontal plane; and the driving motor is in driving connection with the slide block guide rail and is used for driving the power of the movement of the P slide block on the slide block guide rail.
In one embodiment, the robot body is provided on the side of the operating table.
In one embodiment, the PRP mechanism contained in the robot main body is an NPRP mechanism consisting of N groups of PRP mechanisms, wherein N is more than or equal to 3, and the layout of the PRP mechanisms is not limited to a uniform horizontal plane.
The utility model combines the characteristics of the pleuroperitoneal cavity puncture operation, introduces a series-parallel mixed 3PRP mechanism, realizes the positioning of needle inserting points in space by vertically moving an arm and the 3PRP mechanism, and realizes the posture adjustment and the needle inserting movement in the needle inserting direction by an end effector. The decoupling of the movement in the vertical direction and the horizontal plane and the adjustment of the posture of the puncture point to a certain degree is realized, and the design difficulty of a control algorithm is reduced. In addition, the robot provided by the utility model has the advantages of small size, low manufacturing cost, good specificity and simple installation and control.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:
FIG. 1 is a schematic structural view of a robot system for thoracoabdominal cavity dedicated surgical operation according to the present disclosure;
FIG. 2 is an exploded view of the robot system for thoracoabdominal cavity dedicated surgical intervention;
FIG. 3 is a schematic structural view of an end effector of the robot system for thoracoabdominal cavity dedicated surgery according to the present invention;
FIG. 4 is a top view of the robot system for thoracic and abdominal cavity dedicated surgery;
FIG. 5 is a partial cross-sectional view of a top view of the robot system for thoracic and abdominal cavity dedicated paracentesis surgery in the present case;
FIG. 6 is a side view of the robot system for thoracic and abdominal cavity dedicated surgery;
FIG. 7 is a schematic structural view of an operating bed of the robot system for thoracic and abdominal cavity dedicated surgery in the present case;
fig. 8 is a side view of the operating bed of the robot system for thoracic and abdominal cavity dedicated puncture surgery.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
As shown in fig. 1 and 2, the embodiment of the robot system for thoracoabdominal cavity dedicated puncture surgery of the present invention includes a puncture surgery robot 100, an end effector 200, an operating table 300, and an operating table base 400. The end effector 200 is drivingly connected to the puncture surgical robot 100, is a functional body of a puncture needle insertion movement of the puncture surgical robot 100, and is used for realizing a rotational movement of a needle insertion point in a vertical plane in a working space of the dedicated puncture surgical robot system for the pleuroperitoneal cavity around a horizontal axis direction, a posture adjustment of the needle insertion point, and a needle insertion movement. The operating bed 300 is mounted on an operating table base 400 for lying support and horizontal positioning of the patient during the operation. The operation table base 400 is installed on the ground in the operation room, and is used to support the puncture operation robot system, and is an installation base for the puncture operation robot 100 and the operation table 300, and is used to realize the linear motion and the positioning in the vertical direction of the puncture operation robot 100.
As shown in FIG. 3, an embodiment of end effector 200 includes an annular attachment frame 210, an arcuate guide track 220, an insertion needle drive unit 230, and a surgical needle 240. The annular connecting frame 210 is a connecting part of the puncture surgical robot, the arc-shaped guide rails 220 are arranged in a staggered manner with the annular connecting frame 210, and the needle insertion driving part 230 moves along the arc-shaped guide rails 220 to realize the angle adjustment of the needle insertion point. The puncture operation needle 240 is driven by the needle insertion driving part 230 to realize needle insertion movement.
The puncture surgical robot shown in fig. 3-6 comprises a robot main body 110 and a ring gear transmission mechanism 120, wherein the robot main body 110 comprises a robot translation table 111, a P link 112, an R-P hinge 113, a P slider 114, a slider guide 115 and a drive motor 116. The ring gear transmission 120 includes a driven gear 121 and a driving gear 122.
As shown in fig. 7-8, the surgical bed 300 includes a surgical bed plate 310 and a translational slide plate 320. Table base 400 includes table rails 410, robot mounting arm 420, and table mounting base 430.
In the process of performing the puncture surgery, the patient is placed on the operation table 300, and the position of the patient in the direction along the operation table is preliminarily adjusted by the translational sliding plate 320, so that the lesion position is included in the working space range of the puncture surgery robot 100; then, the position of the focus is detected by utilizing CT or nuclear magnetic resonance, the needle inserting point is generally the intersection point of the focus on the skin of the patient in the straight line direction of the puncture operation needle, and a doctor adjusts the needle inserting point and the needle inserting direction on a computer; after the relevant detection information is obtained, the puncture surgical robot 100 translates up and down on the robot mounting arm 420 according to the calibrated position information, and adjusts the needle feeding point to the correct height position; under the driving of the driving motor 116, the robot main body 110 realizes the adjustment of the needle feeding point position in the horizontal direction through the associated translational motion of the P connecting rod 112, the R-P hinge 113P and the slider 114 on the slider guide rail 115, thereby realizing the arrival of the needle feeding point at the correct position.
After the needle feeding point is adjusted to the correct position, the end effector 200 is driven by the motor to rotate on the annular connecting frame 210 along with the driven gear 121 and the driving gear 122 in the horizontal plane; meanwhile, the needle insertion driving part 230 and the puncture surgical needle 240 move along the arc-shaped guide rail 220, so that the annular connecting frame 210 rotates in a vertical plane, and further the posture of the needle insertion point is adjusted.
After the position and posture of the needle insertion point are adjusted to the correct posture, the puncture surgical needle 240 is driven by the needle insertion driving part 230 to realize needle insertion movement and puncture to a preset lesion position.
Claims (9)
1. The utility model provides a special puncture surgery robot system of pleuroperitoneal cavity which characterized in that includes:
the puncture surgical robot (100) consists of a robot main body (110) and a ring gear transmission mechanism (120), wherein a basic motion mechanism of the robot main body (110) consists of a plurality of groups of PRP serial and parallel mixing mechanisms which are staggered in a plane;
the end effector (200) consists of an annular connecting frame (210), an arc-shaped guide rail (220), a needle inserting driving part (230) and a puncture surgical needle (240), and is in driving connection with the puncture surgical robot (100) through an annular gear transmission mechanism (120); the operating bed (300) consists of an operating bed board (310) and a translational sliding board (320), and is used for the lying support and the horizontal positioning of a patient during operation;
the operating table base (400) is composed of an operating table guide rail (410), a robot mounting arm (420) and an operating table mounting base (430), and is a mounting base for the puncture operation robot (100) and the operating table (300) and a vertical motion guide for the puncture operation robot.
2. The pleuroperitoneal cavity dedicated surgical robot system as claimed in claim 1, wherein said surgical robot (100) comprises:
the robot main body (110) is a main body structure of the puncture surgical robot (100) and is a main functional body for coordinate calibration, space motion and puncture positioning of the puncture surgical robot;
and the ring gear transmission mechanism (120) is in driving connection with the robot main body (110) and the end effector (200).
3. The robotic pleuroperitoneal cavity-specific surgical system as claimed in claim 1, wherein said end effector (200) comprises:
an annular link (210) drivingly connected to the robot body (110);
the arc-shaped guide rail (220) is provided with a guide groove and is arranged on the annular connecting frame (210);
the needle inserting driving part (230) is provided with a guide wheel and is in driving connection with the arc-shaped guide rail (220);
and a puncture operation needle (240) which is connected with the needle inserting driving component (230) in a driving way, realizes percutaneous puncture, sends the treatment substance to the affected part and takes out the detection block from the body of the patient.
4. The robotic puncture surgical system for thoracic and abdominal cavities according to claim 1, wherein the operating bed (300) comprises:
the operating bed board (310) is used for supporting a patient in the operation process and adjusting the body position according to the operation requirement;
the translational sliding plate (320) is fixedly installed with the operating bed plate (310) and is used for supporting the operating bed plate (310) and adjusting the position in the horizontal direction.
5. The robotic thoracoabdominal cavity specific puncture surgery system according to claim 1, wherein the operating table base (400) comprises:
the operating bed guide rail (410) is in driving connection with the translational sliding plate (320);
the robot mounting arm (420) is in driving connection with the puncture surgical robot (100) and is used for driving the puncture surgical robot (100) to move and position in the vertical direction;
and the operating bed mounting base (430) is used for supporting the special puncture surgical robot system for the operation of the thoracic cavity and abdominal cavity.
6. The robotic system for thoracoabdominal cavity dedicated surgical puncture according to claim 1, wherein the robot body (110) includes:
the robot translation table (111) is connected with the end effector (200) through a ring gear transmission mechanism (120) in a driving mode and used for supporting and moving the end effector (200);
the robot translation platform (111) is fixedly connected with the P connecting rod (112), and the movement and the positioning in the horizontal direction are realized through the movement of the PRP mechanism;
the sliding block guide rail (115) is a lead screw guide rail and is used for supporting and realizing the translation of the PRP mechanism in a plane, so that the robot translation table (111) and the end effector (200) can move and be positioned in the horizontal plane;
and the driving motor (116) is in driving connection with the slide block guide rail (115) and is used for driving the power of the movement of the P slide block (114) on the slide block guide rail (115).
7. The robotic thoracoabdominal cavity-specific puncture surgery system according to claim 1, wherein the ring gear transmission mechanism (120) comprises:
the driven gear (121) is fixedly connected with the end effector (200) and is used for realizing the rotary motion of the end effector (200) in a horizontal plane;
and the driving gear (122) is in driving connection with the driven gear (121) and is used for providing driving force for realizing the rotary motion of the end effector (200) in a horizontal plane.
8. The robot system for thoracoabdominal cavity dedicated puncture surgery according to claim 1, characterized in that, according to the needle access point set by the surgery, the puncture surgical robot (100) is driven by a computer controller through a robot main body (110) under the driving of a driving motor (116) to move to the set needle access point through the movement of a PRP mechanism combination composed of three groups of P connecting rod (112), R-P hinge (113) and P sliding block (114).
9. The robot system for thoracoabdominal cavity dedicated puncture surgery according to claim 1, characterized in that the number of PRP mechanisms included in the robot main body (110) is N, N ≧ 3, and the arrangement of the PRP mechanisms is not limited to only the same horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121808046.8U CN216136024U (en) | 2021-08-04 | 2021-08-04 | Special puncture surgical robot system for pleuroperitoneal cavity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121808046.8U CN216136024U (en) | 2021-08-04 | 2021-08-04 | Special puncture surgical robot system for pleuroperitoneal cavity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216136024U true CN216136024U (en) | 2022-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121808046.8U Active CN216136024U (en) | 2021-08-04 | 2021-08-04 | Special puncture surgical robot system for pleuroperitoneal cavity |
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| Country | Link |
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| CN (1) | CN216136024U (en) |
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2021
- 2021-08-04 CN CN202121808046.8U patent/CN216136024U/en active Active
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