CN107320178A - A kind of medical science backup actuating device - Google Patents
A kind of medical science backup actuating device Download PDFInfo
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- CN107320178A CN107320178A CN201710683947.0A CN201710683947A CN107320178A CN 107320178 A CN107320178 A CN 107320178A CN 201710683947 A CN201710683947 A CN 201710683947A CN 107320178 A CN107320178 A CN 107320178A
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- positioning unit
- disk assembly
- drive disk
- driver element
- actuating device
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- 230000009471 action Effects 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 6
- 230000001954 sterilising effect Effects 0.000 claims description 5
- 238000004659 sterilization and disinfection Methods 0.000 claims description 4
- 239000007937 lozenge Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 19
- 238000009825 accumulation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 208000019155 Radiation injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of medical science backup actuating device, including：Principal arm, positioning unit and apparatus driver element, the near-end of positioning unit is fixedly connected with principal arm, positioning unit can stretch with respect to principal arm, unit of transposing includes extensible member, multiple degrees of freedom movable part and the first locking member, first locking member can lock extensible member and multiple degrees of freedom movable part simultaneously, apparatus driver element is located at the distal end of positioning unit, it is detachably connected with it, apparatus driver element includes motor apparatus, apparatus fixed component and apparatus drive disk assembly, operating theater instruments is fixed on apparatus driver element by apparatus fixed component, apparatus drive disk assembly is adaptive to the operating theater instruments of different shape and height, under the driving of motor apparatus, action is passed into operating theater instruments.The device has preferable adaptivity so that patient can easily carry out one man operation to the operating theater instruments of operating theater instruments or no-fix after positioning.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of medical science backup actuating device.
Background technology
Compared to traditional operation method, mechanical arm auxiliary or robotic assisted surgery operation have become surgical operation
One of focus of development, such as endoscope micro-wound, minimally invasive spine surgical, cardiovascular interventional operation.Due to surgeon
Both hands need to manipulate operating theater instruments, and must keep sterile, when needing to operate multiple operating theater instruments simultaneously, it is necessary to assistant
Help, now, if borrowing mechanical arm or robot assisted operation, will greatly save manpower and operating time.And intervene skill
The development of art so that increasing surgical operation is needed in the operation in-house operation with X-ray auxiliary irradiation, with operation
Time and the accumulation of number of times, the amount of radiation that patient is born also in accumulation, when amount for surgical is larger, are easily caused irreversible to patient
The radiation injury turned, now, if borrowing the auxiliary operation of mechanical arm or robot, will greatly reduce such a injury.
A kind of device for being used to keep surgical operating instrument is described in patent CN200910127112.2, is driven with flexible
The dynamic device includes：Bearing；The the first flexible level carried by bearing, the first flexible level can complete the relative to bearing
One motion；Second flexible level, the second flexible level can complete second relative to the first flexible level and move；And drive system,
The drive system is operated to drive the first and second motions, to perform the first motion and the in the first telescopic element
Two telescopic elements perform second and moved simultaneously, wherein telescopic drive be operably supported another device and mobile another device so as to
The motion is surrounded centered on a bit, or each telescopic element is all arc.Technology described in this patent, though with certain
Practicality, but when described device carry out first and second move when, its arc telescopic element space-consuming is larger, and its end
End is with operating theater instruments when being connected, and free degree regulation needs, by adjusting apart from end near-end ball-joint arm farther out, then to lock
It is fixed, because device volume is larger, joint arm lengths length and there is constant weight, it is impossible to realize the one-handed performance device so as to in art
Operating theater instruments after positioning carries out position automatic adjusument.
The content of the invention
In view of the drawbacks described above of prior art, it is an object of the invention to provide a kind of medical science backup actuating device, the doctor
Learning backup actuating device has preferable adaptivity so that patient can be to the hand of operating theater instruments or no-fix after positioning
Art apparatus, easily carries out one man operation.
The purpose of the present invention is achieved through the following technical solutions：
A kind of medical science backup actuating device, including：Principal arm, positioning unit and apparatus driver element, the positioning unit
Near-end is fixedly connected with the principal arm, and the positioning relatively described principal arm of unit can stretch, and the positioning unit includes flexible
Part, multiple degrees of freedom movable part and the first locking member, first locking member can lock the extensible member simultaneously
With the multiple degrees of freedom movable part, the apparatus driver element is located at the distal end of the positioning unit, with the positioning unit
Be detachably connected, the apparatus driver element include motor apparatus, apparatus fixed component and apparatus drive disk assembly, operating theater instruments by
The apparatus fixed component is fixed on the apparatus driver element, and the apparatus drive disk assembly is adaptive to different shape and height
The operating theater instruments of degree, under the driving of the motor apparatus, operating theater instruments is passed to by action.
The purpose of the present invention can also be realized further by the following technical programs：
In one embodiment, one end of the apparatus drive disk assembly is connected with the motor apparatus, and the apparatus is passed
The other end of dynamic component is provided with the connection member being connected with the operating theater instruments, and the connection member is nonelastic, length energy
Enough it is adjusted.
In one preferred embodiment, the connection member is drive link, the institute under the driving of the motor apparatus
Stating drive link can be moved to close to and contact operating theater instruments, and transmission is realized in transmission action.
In one embodiment, one end of the apparatus drive disk assembly is detachably connected with the motor apparatus, described
The second locking member is additionally provided with apparatus driver element, when being in the lock state, the apparatus drive disk assembly and the motor
Device cooperates to, in transmission driving force, operate after second locking member unblock, the apparatus drive disk assembly with it is described
Motor apparatus can be relatively moved, and the apparatus drive disk assembly can be moved manually to desired position.
In one embodiment, positioning unit and the principal arm are coaxial, on the unit of transposing setting groove or
Track, the groove or track and the principal arm diameter parallel.
In one preferred embodiment, the extensible member and the principal arm are coaxial, and the extensible member includes the
One extensible member and the second extensible member, second extensible member are coaxially socketed in first extensible member, and can be described
State axial movement in the first extensible member.
In one preferred embodiment, first locking member is also to be set in lock-screw, the positioning unit
The first keeper, the second keeper and the 3rd keeper are equipped with, the distal portions of first keeper are arranged on described
Inside two extensible members, for spacing, second keeper is wedge, the near-end of the 3rd keeper be provided with it is described
The lozenges that second keeper matches, the distal end of the 3rd keeper is provided with to match with the multiple degrees of freedom movable part
The face of conjunction, above-mentioned part is engaged, and realizes the lock-screw once while locking the extensible member and the multiple degrees of freedom
Movable part.
In one embodiment, the multiple degrees of freedom movable part is ball-joint.
In one embodiment, connection unit is additionally provided with the positioning unit, the connection unit is located at described
Transpose between unit and the apparatus driver element, the near-end of the connection unit is fixed or detachably with the positioning unit
Connection, the distal end of the connection unit is detachably connected with the apparatus driver element.
In one embodiment, guide groove or slide rail, the apparatus drive disk assembly are set on the apparatus driver element
Moved along the guide groove or slide rail.
In one embodiment, the apparatus driver element is primary sterilization consumptive material.
Compared with the existing technology, the advantage of above-mentioned technical proposal is：
1. technical scheme, on the basis of the multiple degrees of freedom movable part of positioning unit, while adding one
Individual extensible member, and the first locking member can lock extensible member and multiple degrees of freedom part, particularly multiple degrees of freedom portion simultaneously
When part is ball-joint, the structural volume is smaller than common mechanical joint, and floor space is small, can easily be expendable locked so that early stage
Position between mechanical arm and operating theater instruments coordinates more efficient and convenient, and operation is more easy, facilitates doctor one man operation, singlehanded
Locking, reduces patient's number, saves operating room space, reduces operating time.
2. technical scheme, apparatus driver element employs detachable scheme with single unit system, by the apparatus
Driver element is set to primary sterilization consumptive material, on the one hand facilitates patient to operate, and operating time is reduced, while apparatus driver element
There can be more models to set, so that patient selects classification and model；On the other hand, sterile working reduces the possibility of pollution
Property, it is to avoid the generation for having bacterium infection and cross-infection caused by cleaning is improper.
3. technical scheme, the structure design on apparatus drive disk assembly, can cause it high with different shape
The operating theater instruments of degree can be adapted to connection, while realizing transmission, a variety of operations of auxiliary operation can be corresponded to by realizing a table apparatus
The scheme of apparatus.
4. technical scheme, is provided with the second locking member on apparatus drive disk assembly, apparatus can be driven
Part drives in motor and changed between manual actuation, and conversion time is short, and conversion regime is convenient, it is possible to achieve patient couple
The artificial operation of drive disk assembly, is moved to desired position, adds the operability and practicality of device, and patient also may be used
Apparatus drive disk assembly is quickly moved to position corresponding with operating theater instruments manually, connection transmission is realized.
5. technical scheme so that patient can make in the region of out operating-room or remote C-arm X-ray machine
Remote-controlled operation is carried out to existing commercialized product with the medical science backup actuating device in the present invention, patient is reduced in surgical procedure
The irradiation accumulation received, improves the operation technique environment of patient, ensures the health of patient.
6. technical scheme, employs motor etc. as type of drive, with more preferable precision and stability, carries
High surgical quality and success rate, also allow for the data observation in surgical procedure and record.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is a kind of general structure schematic diagram of medical science backup actuating device of the present invention；
Fig. 2 is a kind of use schematic diagram of medical science backup actuating device of the present invention；
Fig. 3 is an embodiment schematic diagram of positioning unit of the present invention；
Fig. 4 is an embodiment schematic diagram of the first extensible member of the present invention；
Fig. 5 is an embodiment schematic diagram of the first locking member of the present invention；
Fig. 6 is the structural representation of the distal portions of the second extensible member of the present invention；
Fig. 7 is the structural representation of an embodiment of the first keeper of the present invention；
Fig. 8 is the structural representation of an embodiment of the second keeper of the present invention；
Fig. 9 is the embodiment schematic diagram that the 3rd keeper of the present invention coordinates with ball-joint；
Figure 10 is that the assembling that the first keeper of the present invention, the second keeper and the 3rd keeper and ball-joint coordinate is cutd open
Face schematic diagram；
Figure 11 is an embodiment schematic diagram of ball-joint of the present invention；
Figure 12 is an embodiment schematic diagram of connection unit of the present invention and the apparatus driver element；
Figure 13 is Figure 12 top view；
Figure 14 is another embodiment schematic diagram of connection unit of the present invention；
Figure 15 is another embodiment schematic diagram of ball-joint of the present invention；
Figure 16 is another embodiment schematic diagram of connection unit of the present invention；
Figure 17 is an embodiment schematic diagram of apparatus driver element of the present invention；
Figure 18 is Figure 17 side view；
Figure 19 is Figure 17 front view；
Figure 20 is another embodiment schematic diagram of apparatus driver element of the present invention；
Figure 21 is an embodiment schematic diagram of apparatus drive disk assembly of the present invention；
Figure 22 and Figure 23 are apparatus drive disk assembly operation principle schematic diagrams of the present invention；
Figure 24 to Figure 29 is other embodiment schematic diagrams of apparatus drive disk assembly of the present invention；
When Figure 30 is that the second locking member of the present invention is in released state, the apparatus drive disk assembly, the motor
The side elevational cross-section schematic diagram of structural relation between device and second locking member；
When Figure 31 is that the second locking member of the present invention is in the lock state, the apparatus drive disk assembly, the motor
The side elevational cross-section schematic diagram of structural relation between device and second locking member；
When Figure 32 is that the second locking member of the present invention is in released state, the apparatus drive disk assembly, the motor
The top cross-sectional view of structural relation between device and second locking member；
When Figure 33 is that the second locking member of the present invention is in the lock state, the apparatus drive disk assembly, the motor
The top cross-sectional view of structural relation between device and second locking member；
Figure 34 is the diagrammatic cross-section that the screw mandrel and the 3rd connection assist are in released state；
Figure 35 is the diagrammatic cross-section that the screw mandrel and the 3rd connection assist are in the lock state.
Embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, develop simultaneously embodiment referring to the drawings, right
The present invention is further described.Close to ground it is lower section in the present invention, is top away from ground, what it is close to patient is remote
End, is near-end away from patient, and the term of such as " first " and " second " etc can be used for description various parts, but these
Part is certainly not limited to above-mentioned term, and above-mentioned term is only used for making a distinction a part and miscellaneous part.
The term used in this manual is only used for describing specific embodiment, and is not intended to the limitation present invention.
In this specification, it should be appreciated that the term of such as " comprising ", " being provided with " and " having " etc, which is intended to mean that, is disclosed in specification
In feature, quantity, step, operation, element, part or its presence combined, and be not intended to exclusion and there may be or increase by one
Individual or multiple different features, quantity, step, operation, element, part or its possibility combined.
Below with reference to some embodiments of the present invention are described in detail in accompanying drawing.Identical accompanying drawing mark is used in all of the figs
Note represents identical or corresponding component, and omits the repeated description to identical component.
As shown in figure 1, a kind of medical science backup actuating device 1, including principal arm 100, positioning unit 200 and apparatus driver element
300, the near-end of the principal arm 100 is fixedly connected with (not shown) with movable case, is positioned over the attached of sick bed 3 as shown in Figure 2
Near position, the distal end of the principal arm 100 is fixedly connected with the near-end of the positioning unit 200, and the positioning unit 200 is with respect to institute
Stating principal arm 100 can stretch, and the apparatus driver element 300 is located at the distal end of the positioning unit 200, detachably connects with it
Connect, for being connected with operating theater instruments 2 as shown in Figure 2, aid in it to be operated near sick bed 3.
As shown in figure 3, the positioning unit 200 and the principal arm are coaxial, the positioning unit 200 includes extensible member
210th, the locking member 230 of multiple degrees of freedom movable part 220 and first, the extensible member 210 and the principal arm are coaxial, described to stretch
Contracting part 210 includes the first extensible member 211 and the second extensible member 212, and second extensible member 212 is coaxially socketed in described the
It in one extensible member 211, and can be moved axially in first extensible member 211, realize and stretch, in another embodiment
(not shown), the extensible member can include the 3rd extensible member, realize three coaxial sockets so that the positioning unit shrinks
Entire length is shorter afterwards, and space-consuming is smaller；Groove or track 214 are additionally provided with the positioning unit 200, with the main shaft
Diameter parallel, in this embodiment, the multiple degrees of freedom movable part 220 are ball-joint, positioned at as shown in Figure 6 described the
In the distal portions of two extensible members 212, multiple degrees of freedom activity is realized, as shown in Figure 3 and Figure 4, is also set on the positioning unit 200
Positioning light 213 is equipped with, such as infrared light, visible laser facilitate patient to be in advance moved to the medical science backup actuating device
Operating theater instruments neighbouring position.
As shown in figure 5, in one embodiment, first locking member 230 is institute in lock-screw, with such as Fig. 3
Second extensible member 212 shown is translated relative to first extensible member 211 along the groove or track 214 together, described
When first locking member 230 is locked, the relative position between first extensible member 211 and second extensible member 212 is consolidated
It is fixed；As shown in Figure 7 to 9, the first keeper 240 (Fig. 7), the second keeper 250 (Fig. 8) are additionally provided with the positioning unit
With the 3rd keeper 260 (Fig. 9), as shown in Figure 10, the distal portions of first keeper 240 are arranged on described second and stretched
Inside contracting part 212, for spacing, second keeper 250 is wedge, and the near-end of the 3rd keeper 260 is provided with
The lozenges matched with the wedge, the distal end of the 3rd keeper 260 is provided with to be engaged with the ball-joint 220
Face, above-mentioned part is engaged with the lock-screw 230 as shown in Figure 5, when the lock-screw 230 carries out locking action
When, to it is described positioning unit inside compress second keeper 250, meanwhile, active force is transferred to the 3rd keeper
260, so as to reach the ball-joint 220, under the interaction of above-mentioned parts, first locking member 230 realizes one
It is secondary while the stretching motion and the multiple degrees of freedom that lock between first extensible member 211 and second extensible member 212 are lived
Dynamic component 220, that is, realize the lock-screw once while locking the extensible member 210 and the multiple degrees of freedom movable part
220.When the multiple degrees of freedom movable part 220 is ball-joint, the structural volume is smaller than common mechanical joint, floor space
It is small, and can easily be expendable locked so that the position between early stage mechanical arm and operating theater instruments coordinates more efficient and convenient, operation
It is more easy, facilitate doctor one man operation, one hand locking reduces patient's number, saves operating room space, reduces operating time.
In one embodiment, it is removable between the apparatus driver element 300 and the positioning unit in order to realize
Unload and be additionally provided with connection unit 250 as shown in figure 12 on connection, the positioning unit, positioned at the apparatus driver element 300
Between the positioning unit, as shown in figure 9, the distal end of the ball-joint 220 is provided with helicitic texture 221, with such as Figure 12 institutes
The near-end of the connection unit shown is being fixedly connected for screw thread detachable or screw thread plus glue, the connection unit 250 it is remote
End is detachably connected with the apparatus driver element 300.In another embodiment, as shown in figure 11, the multiple degrees of freedom
The distal end of movable part 220 is bending rod member, increases its movable scope.
In one embodiment, as shown in Figure 12 and Figure 13, the apparatus driver element 300 consumes for primary sterilization
Material, including shell 310, motor apparatus, apparatus fixed component 320 and apparatus drive disk assembly 330, the motor apparatus are located at described
Inside shell 310, the apparatus drive disk assembly 330 is adaptive to the operating theater instruments of different shape and height, in motor dress
Under the driving put, action is passed into the operating theater instruments, in another embodiment, the motor apparatus is motor.Such as
Shown in Figure 14, in order to realize being detachably connected for the apparatus driver element and the connection unit 250, the connection unit
The groove 251 positioned at distal portions and the handle 252 positioned at both sides are provided with 250, the groove 251 drives with the apparatus
The plunger (not shown) that the inside of unit 300 is set coordinates, and realization is detachably connected.The (not shown) in other embodiments,
The connection unit is detachably connected using the modes such as conventional buckle, turn buckle, realization.In another embodiment, such as
Shown in Figure 15, the distal end of the ball-joint 220 is elastic cutting 221, as shown in figure 16, is provided with the connection unit 250
The groove 253 and the convenient handle 252 held cooperated with the elastic cutting 221, under the cooperation of above-mentioned part, the ball
Realize that plug is detachably connected with the connection unit 250 in joint 220.
In one embodiment, as shown in Figures 17 to 19, in order to being adapted to the operation of different shape and height
Apparatus, realizes and is provided with guide groove or slide rail 350, the apparatus fixed component 320 on transmission, the apparatus driver element 300
It is as shown in figure 18 plug buckle structure, is detachably connected with the operating theater instruments that patient uses, the apparatus drive disk assembly 330
One end is fixedly connected with the electric machine, and the other end is provided with drive link 340, and fixed and movement is realized by the motor,
It can be moved under the driving of the motor along guide groove as shown in figure 19 or slide rail 350 in the direction of arrow as shown in figure 18, it is real
Now close to and contact operating theater instruments, transmission action.This embodiment is advantageous in that, in art, patient by backup actuating device with
When operating theater instruments carries out position cooperation with fixing, do not limited by operating theater instruments original height and apparatus shape, realize one
Device can correspond to the scheme of a variety of operating theater instruments of auxiliary operation.In another embodiment, as shown in figure 20, the apparatus
Driver element 300 is another model classification of disposable sterilizing consumptive material, and the guide groove 350 drives single along the apparatus
Member 300 is laterally set, and the apparatus drive disk assembly 330 is neck, is detachably connected with operating theater instruments, patient can be according to reality
The demand of operational motion, selects the model classification of the apparatus driver element.
In other embodiments, as shown in figure 21, one end and the motor apparatus of the apparatus drive disk assembly 330
Connection, the other end, which is provided with the connection member 360 being connected with operating theater instruments, the apparatus drive disk assembly 330, is additionally provided with the
One connection assist 341 and the second connection assist 342, first connection assist 341 are located at the apparatus drive disk assembly
330 side, is fixedly connected with one end of the connection member 360, and second connection assist 342 is passed positioned at the apparatus
Another side of dynamic component 330, inside sets elastic hole, and the connection member 360 is inelastic soft with certain length
Matter plastic ties, at it on one end of second connection assist 342, are provided with multiple spaced apart circular convex
Rise, size is engaged with above-mentioned elastic hole.As shown in figure 22, this end of the connection member 360 is bypassed into the surgical device
Tool 2, the elastic hole through on second connection assist 342, chi between described circular protrusions and the elastic hole
Very little cooperation so that the connection member 360 can only realize that length can be adjusted to direction one-way movement as indicated in the figures by an arrow
And the length after being adjusted can be fixed, take up the rear operating theater instruments 2 and be fixed on the apparatus drive disk assembly
On 330.As shown in figure 23, then, the motor apparatus drives the apparatus drive disk assembly 330, then drives institute fixed thereto
Operating theater instruments 2 is stated, is moved upwards along the direction of arrow as shown, realizes auxiliary operation.In another embodiment, with above-mentioned reality
The difference for applying mode is, as shown in figure 24, first connection assist 341 and second connection assist 342
All fixed with the adjustable length of connection member 360.In another embodiment, with the difference of above-mentioned embodiment
It is, as illustrated in figs. 25 and 26, band structure 361 is provided with the connection member 360, with second connection assist
The clamping matching set in 342 is used, realize length can be adjusted and be adjusted after length can be fixed.At other
In embodiment, it is with the difference of above-mentioned embodiment, as shown in figure 27, the connection member 360 is inelastic
Rope, can be wound on second connection assist 342 and fix, also can be as shown in figure 28, be fixed after finishing using gland, also
Can be as shown in figure 29, second connection assist 342 is rotary structure, and the connection member is adjusted by rotation mode
360 length.Technical scheme in above-described embodiment, can realize that the apparatus drive disk assembly is adaptive to different shape and height
The operating theater instruments of degree, and realize auxiliary operation.
In another embodiment, as shown in figure 30, the motor apparatus includes screw mandrel 380, the apparatus driving section
One end of part 330 is detachably connected with the screw mandrel 380 by the 3rd connection assist 331, the 3rd connection assist tool
There is certain elasticity, in one embodiment, be made of plastic material, be additionally provided with the apparatus driver element 300
Second locking member 370, as shown in Figure 30 and Figure 32, when rotating second locking member 370 to released state, described the
Separated between three connection assists 331 and the screw mandrel 380 to state as shown in figure 34, now second locking member 370
Still as shown in figure 30 with the 3rd connection assist 331, part is contacted so that the apparatus drive disk assembly 330 with
The motor apparatus can be relatively moved, and the apparatus drive disk assembly 330 can be with second locking member 370 and described
Three connection assists 331 are moved along the above-below direction of the screw mandrel 380 together, are moved manually to desired position；As schemed
Shown in 31 and Figure 33, when rotating second locking member 370 to lock-out state, the 3rd connection assist 331 and institute
State and be clamped to state as shown in figure 35 between screw mandrel 380, so that the apparatus drive disk assembly 330 matches with the motor apparatus
Close, in order to transmit driving force, the apparatus drive disk assembly 330 can be moved under the driving of the motor apparatus.This
Embodiment is planted, apparatus drive disk assembly can be made to be driven in motor and changed between manual actuation, and conversion time is short, turns
Change that mode is convenient, artificial operation of the patient to drive disk assembly can be realized, desired position is moved to, adds device
Apparatus drive disk assembly also quickly can be moved to position corresponding with operating theater instruments by operability and practicality, patient manually
Put, realize connection transmission.
Technical scheme so that patient can use in the region of out operating-room or remote C-arm X-ray machine
Medical science backup actuating device in the present invention carries out remote-controlled operation to existing commercialized product, reduces patient in surgical procedure
Accumulation is irradiated, improves the operation technique environment of patient, the health of patient is ensured.
Finally it should be noted that the foregoing is only the preferred embodiment of the present invention, not to limit this
Invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it should be included in this hair
Within bright protection domain.
Claims (10)
1. a kind of medical science backup actuating device (1), it is characterised in that driven including principal arm (100), positioning unit (200) and apparatus
Moving cell (300), the near-end of the positioning unit (200) is fixedly connected with the principal arm (100), the positioning unit (200)
Relatively described principal arm (100) can stretch, and the positioning unit (200) includes extensible member (210), multiple degrees of freedom movable part
(220) and the first locking member (230), first locking member (230) can lock simultaneously the extensible member (210) and
The multiple degrees of freedom movable part (220), the apparatus driver element (300) is located at the distal end of the positioning unit (200), with
The positioning unit (200) is detachably connected, and the apparatus driver element (300) includes motor apparatus, apparatus fixed component
(320) and apparatus drive disk assembly (330), operating theater instruments by the apparatus fixed component (320) be fixed on the apparatus drive it is single
On first (300), the apparatus drive disk assembly (330) is adaptive to the operating theater instruments of different shape and height, in the horse
Up under the driving of device, action is passed into the operating theater instruments.
2. medical science backup actuating device according to claim 1, it is characterised in that the apparatus drive disk assembly (330)
One end is connected with the motor apparatus, and the other end of the apparatus drive disk assembly (330) is provided with to be connected with the operating theater instruments
The connection member (360) connect, the connection member (360) is nonelastic, and length can be adjusted.
3. medical science backup actuating device according to claim 1, it is characterised in that the apparatus drive disk assembly (330)
One end is detachably connected with the motor apparatus, and the second locking member is additionally provided with the apparatus driver element (300)
(370) when, being in the lock state, the apparatus drive disk assembly (330) cooperates to drive in transmission with the motor apparatus
Power, is operated after the second locking member (370) unblock, the apparatus drive disk assembly (330) being capable of phase with the motor apparatus
To movement, the apparatus drive disk assembly (330) can be moved manually to desired position.
4. medical science backup actuating device according to claim 1, it is characterised in that the positioning unit (200) with it is described
Principal arm (100) coaxially, groove or track (214), the groove or track (214) and institute is set on the positioning unit (200)
State principal arm (100) diameter parallel.
5. medical science backup actuating device according to claim 4, it is characterised in that the extensible member (210) with it is described
Coaxially, the extensible member (210) includes the first extensible member (211) and the second extensible member (212), described second to principal arm (100)
Extensible member (212) is coaxially socketed in first extensible member (211), and can be in the first extensible member (211) interior axle
To movement.
6. medical science backup actuating device according to claim 5, it is characterised in that first locking member (230) is
The first keeper (240), the second keeper (250) and the 3rd positioning are additionally provided with lock-screw, the positioning unit (200)
Part (260), the distal portions of first keeper (240) are arranged on the second extensible member (212) inside, for limiting
Position, second keeper (250) is wedge, and the near-end of the 3rd keeper (260) is provided with and the described second positioning
The lozenges that part (250) matches, the distal end of the 3rd keeper (260) is provided with and the multiple degrees of freedom movable part
(220) face being engaged, above-mentioned part is engaged, and realizes the lock-screw once while locking the extensible member (210)
With the multiple degrees of freedom movable part (220).
7. medical science backup actuating device according to claim 1, it is characterised in that the multiple degrees of freedom movable part
(220) it is ball-joint.
8. medical science backup actuating device according to claim 1, it is characterised in that also set on the positioning unit (200)
Connection unit (250) is equipped with, the connection unit (250) is located at the positioning unit (200) and the apparatus driver element
(300) between, the near-end of the connection unit (250) is fixed or is detachably connected, the company with the positioning unit (200)
The distal end of order member (250) is detachably connected with the apparatus driver element (300).
9. medical science backup actuating device according to claim 1, it is characterised in that on the apparatus driver element (300)
Guide groove or slide rail (350) are set, and the apparatus drive disk assembly (330) is moved along the guide groove or slide rail (350).
10. medical science backup actuating device according to claim 1, it is characterised in that the apparatus driver element (300) is
Primary sterilization consumptive material.
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| CN201710683947.0A CN107320178B (en) | 2017-08-11 | 2017-08-11 | Medical auxiliary operation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710683947.0A CN107320178B (en) | 2017-08-11 | 2017-08-11 | Medical auxiliary operation device |
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| CN107320178A true CN107320178A (en) | 2017-11-07 |
| CN107320178B CN107320178B (en) | 2023-10-27 |
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| CN109171982A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of operating robot control device with foot control |
| CN109925009A (en) * | 2017-12-15 | 2019-06-25 | 中国人民解放军第二军医大学 | Regulating device and surgical instrument for surgical instrument |
| CN113081086A (en) * | 2021-04-27 | 2021-07-09 | 极限人工智能有限公司 | Auxiliary surgical instrument |
| CN113288328A (en) * | 2021-06-02 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Osteotomy instrument |
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|---|---|
| CN107320178B (en) | 2023-10-27 |
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