CN104523306A - Approximate telecentric fixed-point mechanism for minimally invasive surgery operation - Google Patents

Abstract

The invention discloses an approximate telecentric fixed point mechanism for minimally invasive surgery, comprising: a first motor, which is detachably installed on the first motor mounting plate; a second motor, which is installed through the second motor The plate is arranged below the first motor, and a tooth portion is also arranged on the second motor mounting plate; one end of the first rod is fixedly connected with the output shaft of the second motor, and the other end is provided with a tooth portion the second rod, one end of which is pivotally connected to the first rod; the third rod, one end of which is pivotally connected to the second rod, and the third rod is fixedly provided with ribs, the The rib is fixedly arranged in the middle of the third rod; the terminal surgical instrument is set on the third rod through the rib to slide. The invention can approximately realize the movement of the distal fixed point of the terminal surgical instrument, has a compact structure, has a larger working space during the surgical operation, is convenient to control, and can better meet the actual needs of minimally invasive surgery.

Description

An Approximate Telecentric Fixed Point Mechanism for Minimally Invasive Operations

Technical field:

The invention relates to the technical field of medical instruments, and more specifically relates to an approximate telecentric fixed point mechanism.

Background technique:

Minimally invasive surgery is performed using modern medical instruments and related equipment. In minimally invasive surgery, it is often necessary to use various instruments to complete the operation. The telecentric fixed point mechanism is the core mechanism in the minimally invasive surgical instrument device. The existing telecentric fixed point mechanism is based on a parallelogram mechanism. As the main body, there are problems such as large structural size, complex structure, and difficult control, which are not conducive to the implementation of minimally invasive surgery.

Invention content:

The purpose of the present invention is to address the deficiencies of the prior art, and to provide an approximate telecentric fixed point mechanism for minimally invasive surgical operations, which can approximately realize the telecentric fixed point movement of the terminal surgical instrument, and has a compact structure. The working space in the surgical operation process is large, and the control is convenient, which can better meet the actual needs of minimally invasive surgery.

Technical solutions of the present invention are as follows:

An approximate telecentric fixed point mechanism for minimally invasive surgical operations, comprising:

The first motor is detachably installed on the first motor mounting plate;

The second motor is arranged below the first motor through a second motor mounting plate, the second motor is detachably mounted on the second motor mounting plate, and the second motor mounting plate is connected to the second motor mounting plate The output shaft of the first motor is fixedly connected, and a tooth portion is also arranged on the mounting plate of the second motor;

The first rod, one end of which is fixedly connected with the output shaft of the second motor, and the other end is provided with a tooth portion, the first rod is provided with a first transmission unit; the first transmission unit includes the The first transmission gear meshed with the tooth portion of the second motor mounting plate, the first primary pulley meshed with the first transmission gear, the first slave pulley arranged at the tooth portion end of the first rod, and the sleeve a first timing belt provided on the first primary pulley and the first secondary pulley;

The second rod, one end of which is fixedly connected with the output shaft of the first driven pulley, the second rod is provided with a second transmission unit; the second transmission unit includes a connection with the first rod The second transmission gear meshed with the teeth, the second main pulley meshed with the second transmission gear, the second driven pulley arranged at the other end of the second rod and sleeved on the second Secondary timing belts on the primary and secondary pulleys;

The third rod, one end of which is fixedly connected with the output shaft of the second slave pulley, the third rod is fixedly provided with ribs, and the ribs are fixedly arranged in the middle of the third rod and extending along the length direction of the third rod;

The terminal surgical instrument is slidably arranged on the third rod through the rib.

As a preference of the above technical solution, the longitudinal section of the second motor mounting plate is in an inverted "L" shape.

As a preference of the above technical solution, a short pin shaft and a long pin shaft are provided on the end of the first rod close to the second motor mounting plate, and the first transmission gear is sleeved on the short pin shaft , the first primary pulley is sheathed on the long pin shaft.

As a preference of the above technical solution, a short pin shaft and a long pin shaft are provided on the end of the second rod close to the teeth of the first rod, and the second transmission gear is sleeved on the short pin shaft , the second primary pulley is sheathed on the long pin shaft.

As a preference of the above technical solution, the tooth portion is in the shape of a 180° arc. the

As a preference of the above technical solution, the length of the rib is 1/2 of the length of the third bar, and the distance between the lower end of the rib and the free end of the third bar is 1/2 of the length of the third bar. 1/4 of the length, and the distance between the upper end of the rib and the other end of the third rod is 1/4 of the length of the third rod.

As a preference of the above technical solution, the cross-section of the rib is rectangular.

As a preference of the above technical solution, the first transmission gear is synchronized with the first primary pulley; the first primary pulley is synchronized with the first driven pulley; the second transmission gear is synchronized with the The second primary pulley is synchronized; the second primary pulley is synchronized with the second secondary pulley.

The beneficial effect of the present invention is that: driven by the first motor, the first rod can realize the rotary motion around the shaft of the first motor, and the first rod can also rotate up and down under the drive of the second motor; the second The rod can rotate relative to the first rod, and the transmission ratio of its movement can be precisely controlled by the first transmission gear and the first main pulley of the first transmission unit. The third rod can move relative to the second rod, and the transmission ratio of its movement can be precisely controlled by the second transmission gear and the second main pulley of the second transmission unit; the terminal surgical instrument can slide on the third rod , so that the terminal surgical instrument can be freely expanded and contracted. Through the precise transmission ratio control of the first transmission unit and the second transmission unit, during the rotation process of the first rod, the second rod and the third rod, the terminal surgical instrument can realize the approximate telecentric fixed point movement.

Compared with the parallelogram mechanism in the prior art, the present invention effectively reduces the size of the mechanism by setting a reasonable reduction ratio, and at the same time can meet the requirement of the telecentric fixed point during the operation. The reduction ratio mentioned above is the reduction ratio between the first transmission gear and the first main pulley and the reduction ratio between the second transmission gear and the second main pulley.

Therefore, the present invention can meet the approximation requirements of minimally invasive surgery on the telecentric fixed point. It has the advantages of compact structure, large working space, precise transmission ratio, convenient control, and can better meet the actual requirements of clinical operations. .

Description of drawings:

The following drawings are only intended to illustrate and explain the present invention schematically, and do not limit the scope of the present invention. in:

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of the second motor mounting plate of the present invention;

Fig. 3 is a structural schematic diagram of the first bar of the present invention;

Fig. 4 is the structural representation of the second bar of the present invention;

Fig. 5 is a structural schematic diagram of a third bar of the present invention;

Fig. 6 is a schematic structural view of the first transmission unit of the present invention;

Fig. 7 is a schematic structural view of the second transmission unit of the present invention;

Fig. 8 is a schematic diagram of the rod length of the present invention.

In the figure, 10, the first motor; 11, the first motor mounting plate; 20, the second motor; 21, the second motor mounting plate; 30, the first rod; 40, the second rod; 50, the third rod 51, ribs; 60, terminal surgical instruments; 70, the first transmission unit; 71, the first transmission gear; 72, the first main pulley; 73, the first synchronous belt; 74, the first slave pulley; 80, the second transmission unit; 81, the second transmission gear; 82, the second main pulley; 83, the second synchronous belt; 84, the second driven pulley; 90, the tooth part.

Detailed ways:

Embodiment: The embodiment of the present invention is illustrated by specific specific examples below. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The descriptions "below", "top", "bottom", etc. are defined in the usual sense, e.g., with reference to the definition of the direction of gravity, the direction of gravity is below, the opposite direction is above, similarly above is top Or the top, and what is below is the bottom or the bottom; the description of "first", "second" and "third" mentioned in this embodiment is for the convenience of description, and has nothing to do with the importance of parts, It is not intended to limit the practicable scope of the present invention, and the change or adjustment of the relative relationship shall also be regarded as the practicable scope of the present invention without substantially changing the technical content.

As shown in Figure 1, an approximate telecentric fixed point mechanism for minimally invasive surgical operations includes:

The first motor 10 is detachably installed on the first motor mounting plate 11 .

The second motor 20, which is arranged under the first motor 10 through the second motor mounting plate 21, the second motor 20 is detachably installed on the second motor mounting plate 21, the second motor The mounting plate 21 is fixedly connected with the output shaft of the first motor 10; as shown in FIG. The section is inverted "L" shape.

The first rod 30, as shown in Fig. 1, Fig. 3 and Fig. 6, one end is fixedly connected with the output shaft of the second motor 20, and the other end is provided with a tooth portion 90, and the first rod 30 is provided with There is a first transmission unit 70; the first transmission unit 70 includes a first transmission gear 71 meshing with the tooth portion 90 of the second motor mounting plate 21, a first transmission gear 71 meshing with the first transmission gear 71 The primary pulley 72 , the first secondary pulley 74 arranged at the tooth end of the first rod 30 , and the first timing belt sleeved on the first primary pulley 72 and the first secondary pulley 74 73; wherein, one end of the first rod 30 close to the second motor mounting plate 21 is provided with a short pin shaft and a long pin shaft, and the first transmission gear 71 is sleeved on the short pin shaft, so The first primary pulley 72 is sheathed on the long pin shaft.

The second rod 40, as shown in Fig. 1, Fig. 4 and Fig. 7, one end of which is fixedly connected with the output shaft of the first slave pulley 74, and the second rod 40 is provided with a second transmission unit 80 The second transmission unit 80 includes a second transmission gear 81 meshing with the tooth portion 90 of the first rod 30, a second primary pulley 82 meshing with the second transmission gear 81, and a The second slave pulley 84 at the other end of the second rod 40 and the second timing belt 83 sleeved on the second primary pulley 82 and the second slave pulley 84; wherein, the second rod One end of the member 40 close to the tooth portion 90 of the first rod 30 is provided with a short pin and a long pin, the short pin is sleeved with the second transmission gear 81, and the long pin is sleeved with There is the second primary pulley 82 .

The third rod 50, as shown in Fig. 1 and Fig. 5, one end thereof is fixedly connected with the output shaft of the second slave pulley 84, and the third rod 50 is fixedly provided with ribs 51, and the protruding The rib 51 is fixedly arranged in the middle of the third rod 50 and extends along the length direction of the third rod 50; wherein, the length of the raised rib 51 is half of the length of the third rod 50 One, the distance between the lower end of the rib 51 and the free end of the third rod 50 is 1/4 of the length of the third rod 50, and the distance between the upper end of the rib 51 and the other end of the third rod 50 The distance is 1/4 of the length of the third rod 50, and the cross section of the rib 51 is rectangular.

The terminal surgical instrument 60 , as shown in FIG. 1 , is slidably disposed on the third rod 50 through the rib 51 . The tooth portion 90 described in this embodiment is in the shape of an arc of 180°. The first transmission gear 71 is synchronized with the first main pulley 72; the first main pulley 72 is synchronized with the first slave pulley 74; the second transmission gear 81 is synchronized with the second main pulley The pulleys 82 are synchronized; the second primary pulley 82 is synchronized with the second secondary pulley 84 .

See shown in Fig. 8, thick solid line represents the bar length of the parallelogram mechanism in the existing telecentric fixed point mechanism, and its length is R, and dotted line represents the bar length of the approximate far center fixed point mechanism of the present invention, and its bar The length is r, under the premise of realizing the same telecentric fixed point, the rod length R of the parallelogram mechanism is relatively long, while the rod length r of the approximate telecentric fixed point mechanism is relatively short, occupying a smaller volume, and the mechanism more compact. It can be seen that the mechanism rod of the present invention is relatively short, which overcomes the problem of large structural size of the telecentric fixed point, and makes the structure more compact under the premise of meeting the requirements of minimally invasive surgery, so that there is no problem during the operation. Larger operating space. Moreover, the structure is simplified to a certain extent and is easy to control, and the movement of the distal fixed point of the end of the instrument can be approximated.

During use, under the drive of the first motor 10, the first rod 30 can realize the rotary motion around the first motor shaft, and under the drive of the second motor 20, the first rod 30 can also realize the up and down rotation; 40 can rotate relative to the first rod 30 , and the transmission ratio of its movement can be precisely controlled by the first transmission gear 71 and the first primary pulley 72 of the first transmission unit 70 . The third rod 50 can move relative to the second rod 40, and the transmission ratio of its movement can be precisely controlled by the second transmission gear 81 and the second main pulley 82 of the second transmission unit 80; The third rod 50 is slid on, so that the terminal surgical instrument 60 can expand and contract freely. Through the precise transmission ratio control of the first transmission unit 70 and the second transmission unit 80, during the rotation of the first rod 30, the second rod 40, and the third rod 50, the terminal surgical instrument 60 can achieve approximately telecentricity. Move.

The examples are used to illustrate the present invention, but not to limit the present invention. Any person skilled in the art can modify the embodiments without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be listed in the claims of the present invention.

Claims (8)

1., for an approximate Yuan Xin fixed point mechanism for Minimally Invasive Surgery operation, it is characterized in that, comprising:

First motor (10), it is dismountable is installed on the first motor mounting plate (11);

Second motor (20), it is arranged on the below of described first motor (10) by the second motor mounting plate (21), described second motor (20) is dismountable to be installed on described second motor mounting plate (21), described second motor mounting plate (21) and the output shaft fixed connection of described first motor (10), described second motor mounting plate (21) is also provided with teeth portion (90);

First rod member (30), the output shaft fixed connection of its one end and described second motor (20), the other end is provided with teeth portion (90), and described first rod member (30) is provided with the first gear unit (70); Described first gear unit (70) comprises the first travelling gear (71) be meshed with the teeth portion (90) of described second motor mounting plate (21), the first main pulley (72) be meshed with described first travelling gear (71), is arranged on first of described first rod member (30) teeth portion end from belt wheel (74) and be set in described first main pulley (72) and described first from the first Timing Belt (73) belt wheel (74);

Second rod member (40), its one end and described first, from the output shaft fixed connection of belt wheel (74), described second rod member (40) is provided with the second gear unit (80); Described second gear unit (80) comprises the second travelling gear (81) be meshed with the teeth portion (90) of described first rod member (30), the second main pulley (82) be meshed with described second travelling gear (81), is arranged on second of described second rod member (40) other end from belt wheel (84) and be set in described second main pulley (82) and second from the second Timing Belt (83) belt wheel (84);

3rd rod member (50), its one end and described second is from the output shaft fixed connection of belt wheel (84), described 3rd rod member (50) is fixedly installed convex tendon (51), and described convex tendon (51) is fixedly installed on the middle part of described 3rd rod member (50) and the length direction along described 3rd rod member (50) extends;

End operating theater instruments (60), what it was slided by described convex tendon (51) is arranged on described 3rd rod member (50).

2., according to claim 1 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: the longitudinal cross-section of described second motor mounting plate (21) is inverted "L" shaped.

3. according to claim 1 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: described first rod member (30) is provided with short pin shaft and long pin shaft near one end of described second motor mounting plate (21), described short pin shaft is arranged with described first travelling gear (71), described long pin shaft is arranged with described first main pulley (72).

4. according to claim 1 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: described second rod member (40) is provided with short pin shaft and long pin shaft near one end of described first rod member (30) teeth portion (90), described short pin shaft is arranged with described second travelling gear (81), described long pin shaft is arranged with described second main pulley (82).

5. according to claim 1 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: described teeth portion (90) is in the arc-shaped of 180 °.

6. according to claim 1 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: the length of described convex tendon (51) is 1/2nd of described 3rd rod member (50) length, described convex tendon (51) lower end is 1/4th of described 3rd rod member (50) length apart from the distance of described 3rd rod member (50) free end, and described convex tendon (51) upper end is 1/4th of described 3rd rod member (50) length apart from the distance of described 3rd rod member (50) other end.

7., according to claim 6 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: the rectangular in cross-section shape of described convex tendon (51).

8., according to claim 1 for the approximate Yuan Xin fixed point mechanism of Minimally Invasive Surgery operation, it is characterized in that: described first travelling gear (71) is synchronous with described first main pulley (72); Described first main pulley (72) is synchronous from belt wheel (74) with described first; Described second travelling gear (81) is synchronous with described second main pulley (82); Described second main pulley (82) is synchronous from belt wheel (84) with described second.