CN104758053A - Alignment module of motion central point of minimally-invasive surgery instrument - Google Patents
Alignment module of motion central point of minimally-invasive surgery instrument Download PDFInfo
- Publication number
- CN104758053A CN104758053A CN201410006200.8A CN201410006200A CN104758053A CN 104758053 A CN104758053 A CN 104758053A CN 201410006200 A CN201410006200 A CN 201410006200A CN 104758053 A CN104758053 A CN 104758053A
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- invasive surgery
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 230000035515 penetration Effects 0.000 abstract 3
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an alignment module of a motion central point of a minimally-invasive surgery instrument. The alignment module comprises a connecting piece, a buckling piece and an alignment piece; the connecting piece, the buckling piece and the alignment piece are combined in a buckling mode; the alignment piece is provided with an instrument penetration hole where the surgery instrument is inserted; and a projector is arranged in the same plane of the central line of the instrument penetration hole, and an angle is formed between light beams transmitted by the projector and the central line of the instrument penetration hole. By means of the structure, the positioning module of the minimally-invasive surgery instrument is simple in mechanism and high in positioning accuracy.
Description
Technical field
The present invention relates to endoscopy surgery apparatus that is a kind of and Minimally Invasive Surgery, refer in particular to a kind of para-position module of centre of motion point of Minimally Invasive Surgery apparatus.
Background technology
Along with the progress of Medical Technology, new surgical technic is constantly weeded out the old and bring forth the new.Allow the surgical technic that patient obtains fast, the little recovery time again of risk is short be the target that medical circle is pursued always, the Minimally Invasive Surgery (MinimallyInvasiveSurgery) be in fashion in recent years is one of them, such as laparoscopic surgery, it utilizes endoscope image technology and micro-shape operating theater instruments, patient can be performed a surgical operation without the need to first forming huge wound, not only make patient's blood loss significantly reduce, also can fully recover rapidly because wound is little.
But, when doctor carries out laparoscopic surgery, endoscope image module and operating theater instruments module need be used to stretch in patient body simultaneously, and perform the operation by endoscope viewing, thus, necessarily mechanical arm assists doctor to grip or operates related equipment just can perform the operation.And Minimally Invasive Surgery is due to the restriction of otch; operating theater instruments need rotate around insertion point or move; RemoteofCenterMotion; RCM (remote centre of motion) mechanism just can provide a relatively-stationary insertion point (RCM point) position for operating theater instruments; when Minimally Invasive Surgery apparatus being inserted human body to facilitate doctor; guarantee that the centre of motion point of robot itself is superimposed with each other with the invasion point of health; with the scope avoiding the wound of human body to expand wound because of operating theater instruments swing process, so then lose spirit and the effect of Minimally Invasive Surgery.
Hold above-mentioned, be directed to RemoteofCenterMotion on Minimally Invasive Surgery apparatus, RCM (remote centre of motion) mechanism technology, just as U.S. Publication No. 5697939 Patent Case, disclose a kind of operating theater instruments and there are two projection light source apparatus on instrument holder, can to project multiple labelling in relevant position with it human body, and go out the position of the RCM point in human body by projection mark.
Above-mentioned technology is the mode utilizing optical projection, need be superimposed with each other by the projection image of left and right two projection light source apparatus, projection mark goes out the position of RCM point with it the human body, therefore needs to use more mechanism fix two projection light source apparatus and have the problem that element is various, mechanism is complicated, angle adjustment is loaded down with trivial details.In addition, this mode is by with it the image projecting of projection light source apparatus to human body, but the plane of human body surface non-flat forms, therefore easily cause image distortion after projection, cause the gross error of RCM point location.
In view of this, the present inventor does not attain perfect caused many disappearances and inconvenience in the design of above-mentioned Minimally Invasive Surgery apparatus structure, and deeply conceives, and active research improvement has a fling at and development and Design goes out this case.
Summary of the invention
The object of the present invention is to provide the positioning module of the Minimally Invasive Surgery apparatus that a kind of mechanism is simple, positioning precision is high.
In order to reach above-mentioned purpose, solution of the present invention is:
A kind of para-position module of centre of motion point of Minimally Invasive Surgery apparatus, comprise: a connecting piece, a fastener and a para-position part, be combined with each other by snap between this connecting piece, fastener and para-position part, this para-position part is provided with an apparatus perforating plugged for an operating theater instruments, and be provided with a projector in the same plane of the centrage of this apparatus perforating, center wire clamp one angle of the light beam that this projector is launched and this apparatus perforating is arranged, and is positioned at same plane.
Above-mentioned para-position part is also provided with a projector perforating plugged for this projector, and the centrage of this apparatus perforating and projector perforating is positioned at same plane, and two center wire clamp one angles are arranged.
After adopting said structure, the positioning module of Minimally Invasive Surgery apparatus of the present invention is by the setting of this para-position module, to simplify prior art configurations challenge, and doctor can change operating theater instruments rapidly by the buckle structure of para-position module, to improve overall versatility, and the projection of this RCM point is positioned in operating theater instruments, therefore, mechanism of the present invention is simple, positioning precision is high, therefore inaccurate problem can not be had with it as prior art is projected in human body, therefore the present invention complete solve foregoing problem point.
Accompanying drawing explanation
The axonometric chart of Fig. 1 to be the present invention be para-position part of the para-position module of the centre of motion point of Minimally Invasive Surgery apparatus;
The para-position module of centre of motion point, the system diagram of operating theater instruments of Fig. 2 to be the present invention be Minimally Invasive Surgery apparatus;
The para-position module of centre of motion point, the constitutional diagram of operating theater instruments of Fig. 3 to be the present invention be Minimally Invasive Surgery apparatus;
Para-position module, operating theater instruments, the Linear transmission module of Fig. 4 to be the present invention be centre of motion point of Minimally Invasive Surgery apparatus and help the constitutional diagram driving module.
Symbol description
1 helps driving module 2 Linear transmission module 3 para-position module
31 connecting piece 311 linking part 312 first holding sections
3121 first guide groove 3122 connecting hole 32 fasteners
321 support surface 322, convergence part 3211 guide blocks
323 first buckle 324 second buckle 33 para-position parts
331 second holding section 3,311 second guide groove 3,312 first end faces
3313 second end face 332 contraposition part 3321 apparatus perforatings
3322 projector perforating 33211,33221 centrages
3323 adjustment seam 3324 locking hole 4 projectors
5 operating theater instruments 51 intubate portion 6 locking parts
Q angle 100 RCM point.
Detailed description of the invention
In order to explain technical scheme of the present invention further, below by specific embodiment, the present invention will be described in detail.
Refer to shown in Fig. 1 to Fig. 3, graphic for a preferred embodiment of the present invention, the present invention is a kind of para-position module of centre of motion point of Minimally Invasive Surgery apparatus, this para-position module 3 comprises: a connecting piece 31, one fastener 32 and a para-position part 33, this connecting piece 31, be combined with each other by snap between fastener 32 and para-position part 33, in the present embodiment, this connecting piece 31 has one first holding section 312, this first holding section 312 has the first guide groove 3121 and connecting hole 3122, this first guide groove 3121 is interconnected with connecting hole 3122, and this first guide groove 3121 makes this first holding section 312 in ㄇ type shape, and this connecting hole 3122 is located at the both sides of this ㄇ type respectively, as shown in Figure 2, this fastener 32 is by convergence part 321, guide block 322, first buckle 323 and the second buckle 324 form, the two ends of this convergence part 321 are connected with this guide block 322 and the second buckle 324 respectively, defining the end face that this second buckle 324 is connected with this convergence part 321 is support surface 3211, this guide block 322 other end is connected with this first buckle 323, this first buckle 323 and the second buckle 324 are arranged by two intervals respectively to be had elastic strip cylinder and forms, the end of two these cylinders is convexly equipped with a fixture block respectively, this para-position part 33 has one second holding section 331, this second holding section 331 has one second guide groove 3311, the two ends of this second guide groove 3311 are defined as the first end face 3312 and the second end face 3313 respectively.In this connecting piece 31, fastener 32 and 33 assembly of para-position part time, this fixture block is made to be placed in this connecting hole 3122 after this first buckle 323 is inserted in this first guide groove 3121, this guide block 322 is located in this first guide groove 3121 simultaneously, so namely completes the assembly between this connecting piece 31 and fastener 32; And this para-position part 33 to make this fixture block be placed in this second end face 3313, simultaneously this first end face 3312 after this second guide groove 3311 is sheathed on this second buckle 324 bonded to each other with this support surface 3211, to promote the stability combined between this para-position part 33 and fastener 32.So, assembly operation between this connecting piece 31, fastener 32 and para-position part 33 is namely completed.
Refer to shown in Fig. 2 and Fig. 3, this para-position part 33 is provided with apparatus perforating 3321 and a projector perforating 3322, and this apparatus perforating 3321 and the centrage 33211,33221 of projector perforating 3322 are positioned at same plane and two centrages 33211,33221 press from both sides an angle Q arranges, this apparatus perforating 3321 provides an operating theater instruments 5 to plug wherein, be an endoscope in this operating theater instruments 5 of the present embodiment, for making firm the fixing of operating theater instruments 5, the present embodiment is provided with an adjustment seam 3323 along this apparatus perforating 3321, this apparatus perforating 3321 is made to form a C type structure, and this contraposition part 332 is provided with the locking hole 3324 that runs through this adjustment seam 3323, this locking hole 3324 provides locking part 6 spiral shell to establish wherein, this adjustment can be made to stitch 3323 reduce when locking part 6 is locked tighter, allow the reduced of this apparatus perforating 3321 simultaneously, and then the intubate portion 51 of this operating theater instruments 5 of packing is to obtain preferably fixed effect.This projector perforating 3322 provides a projector 4 to plug wherein, is a RF transmitter in this projector 4 of the present embodiment, and it can by a red spot projection in this intubate portion 51, and as shown in Figure 4, and the point that infrared ray projects is RCM point 100; This projector perforating 4 set by the present embodiment is omissible because this projector 4 be can with the one-body molded manufacture of this para-position part 33; But first must set the angle Q of the angle of light beam that this projector 4 sends and this operating theater instruments 5, to avoid RCM point 100 inaccurate, be 15 ° in this angle Q of the present embodiment.
Refer to shown in Fig. 3 and Fig. 4, this connecting piece 31 has a linking part 311, and this linking part 311 and a Linear transmission module 2 are arranged in pairs or groups fixing, makes this connecting piece 31 can make linear displacement with this Linear transmission module 2, and then drives operating theater instruments linear displacement.
Above-described embodiment and accompanying drawing non-limiting product form of the present invention and style, any person of an ordinary skill in the technical field, to its suitable change done or modification, all should be considered as not departing from patent category of the present invention.
Claims (2)
1. the para-position module of the centre of motion point of a Minimally Invasive Surgery apparatus, it is characterized in that, comprise: a connecting piece, a fastener and a para-position part, be combined with each other by snap between this connecting piece, fastener and para-position part, this para-position part is provided with an apparatus perforating plugged for an operating theater instruments, and being provided with a projector in the same plane of the centrage of this apparatus perforating, center wire clamp one angle of the light beam that this projector is launched and this apparatus perforating is arranged, and is positioned at same plane.
2. the para-position module of the centre of motion point of Minimally Invasive Surgery apparatus as claimed in claim 1, it is characterized in that: this para-position part is also provided with a projector perforating plugged for this projector, the centrage of this apparatus perforating and projector perforating is positioned at same plane, and two center wire clamp one angles are arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410006200.8A CN104758053B (en) | 2014-01-07 | 2014-01-07 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410006200.8A CN104758053B (en) | 2014-01-07 | 2014-01-07 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104758053A true CN104758053A (en) | 2015-07-08 |
| CN104758053B CN104758053B (en) | 2018-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410006200.8A Active CN104758053B (en) | 2014-01-07 | 2014-01-07 | The contraposition module of the centre of motion point of Minimally Invasive Surgery apparatus |
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Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01236046A (en) * | 1988-03-17 | 1989-09-20 | Kenichirou Sugita | Head operation supporter |
| US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| US5697939A (en) * | 1992-08-20 | 1997-12-16 | Olympus Optical Co., Ltd. | Apparatus for holding a medical instrument in place |
| US5697393A (en) * | 1995-04-21 | 1997-12-16 | Mirlisena, Sr.; John Raymond | Adjustable anti-freeze faucet assembly |
| US5957933A (en) * | 1997-11-28 | 1999-09-28 | Picker International, Inc. | Interchangeable guidance devices for C.T. assisted surgery and method of using same |
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| WO2007114975A2 (en) * | 2006-01-25 | 2007-10-11 | Intuitive Surgical, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
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| JP2009125783A (en) * | 2007-11-27 | 2009-06-11 | Yaskawa Electric Corp | Robot system |
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| EP2612616A1 (en) * | 2012-01-06 | 2013-07-10 | Samsung Electronics Co., Ltd | Surgical robot and method for controlling the same |
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-
2014
- 2014-01-07 CN CN201410006200.8A patent/CN104758053B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01236046A (en) * | 1988-03-17 | 1989-09-20 | Kenichirou Sugita | Head operation supporter |
| US5697939A (en) * | 1992-08-20 | 1997-12-16 | Olympus Optical Co., Ltd. | Apparatus for holding a medical instrument in place |
| US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| JP2009148888A (en) * | 1993-10-01 | 2009-07-09 | Massachusetts Inst Of Technol <Mit> | Force-sensitive tactile interface |
| US5697393A (en) * | 1995-04-21 | 1997-12-16 | Mirlisena, Sr.; John Raymond | Adjustable anti-freeze faucet assembly |
| CN1243690A (en) * | 1997-08-27 | 2000-02-09 | 北京航空航天大学 | Cerebrosurgical operation equipment system with robot and its implement method |
| US5957933A (en) * | 1997-11-28 | 1999-09-28 | Picker International, Inc. | Interchangeable guidance devices for C.T. assisted surgery and method of using same |
| US20070093792A1 (en) * | 1998-12-08 | 2007-04-26 | Intuitive Surgical Inc. | In vivo accessories for minimally invasive robotic surgery |
| WO2007114975A2 (en) * | 2006-01-25 | 2007-10-11 | Intuitive Surgical, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
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| US20130338679A1 (en) * | 2007-05-04 | 2013-12-19 | Technische Universiteit Eindhoven | Surgical Robot |
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| CN101390763A (en) * | 2008-10-31 | 2009-03-25 | 天津大学 | Robot body system for assisting minimally invasive surgery |
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| WO2013018985A1 (en) * | 2011-08-03 | 2013-02-07 | (주)미래컴퍼니 | Surgical robot system |
| US20130053648A1 (en) * | 2011-08-24 | 2013-02-28 | Mako Surgical Corporation | Surgical Tool for Selectively Illuminating a Surgical Volume |
| EP2612616A1 (en) * | 2012-01-06 | 2013-07-10 | Samsung Electronics Co., Ltd | Surgical robot and method for controlling the same |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104758053B (en) | 2018-01-05 |
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