CN107951565A - A kind of laparoscopic surgery robot architecture centered on holding handel - Google Patents

Abstract

The present invention provides a laparoscopic surgery robot structure with the mirror arm as the center, adopting three instrument arms with the mirror arm as the center of the encircling structure (the instrument arm has eight degrees of freedom, and the mirror arm has six degrees of freedom) , so that the four arms can realize the positioning requirements of various complex shapes in clinical operations in space, various clinical patient postures can be adapted after adjustment, there are redundant degrees of freedom, the three arms do not interfere with each other, and various complex vision The orientation can be easily realized; the four arms adopt a modular structure, which is simple and convenient to disassemble and install, safe and reliable; this structure runs smoothly, accurately positioned, has better dexterity, and can safely complete more delicate and complex operations. The visual effect of the orientation has been significantly improved; the structure is simple, the design is novel and reasonable, the cost is low, and it is easy to popularize and use.

Description

A laparoscopic surgery robot structure centered on the mirror-holding arm

technical field

The invention relates to the technical field of medical devices, in particular to a laparoscopic surgery robot structure centered on a mirror-holding arm.

Background technique

With the widespread application of traditional laparoscopic techniques, modern surgery has entered the era of minimally invasive surgery. Minimally invasive surgery refers to operations performed using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Minimally invasive surgery has the advantages of less trauma, less pain, and quick postoperative recovery. It is conducive to improving the quality of surgical operations and reducing medical costs. Compared with traditional surgery, it is undoubtedly a revolutionary progress. It is hailed as the development direction of surgery in the 21st century. One is the cutting-edge technology that combines electronic display systems with high-tech surgical instruments and traditional surgical operations. However, the limitations of traditional laparoscopic equipment greatly limit the further development of minimally invasive surgery. For example, in clinical operations, equipment placement often interferes, and some placements cannot meet the requirements of some special operations, and the visual effect is not ideal. The structure is complicated, the cost is high, and it is not easy to popularize and apply.

Contents of the invention

1. In order to solve the above-mentioned technical defects, the technical solution adopted in the present invention is to provide a laparoscopic surgery robot structure centered on the mirror arm, which includes a base, handrails, lifting columns, a first support arm, and a second support arm , a rotating disk, an instrument arm and a mirror arm, the lifting column is connected to the base, and the lifting of the base is realized through the expansion and contraction of the lifting column; the armrest is connected with the lifting column, and the The handrail realizes the dragging of the lifting column; the first support arm is connected to the lifting column and can freely rotate around the lifting column; the second support arm is connected to the first support arm; And the second support arm can freely rotate relative to the first support arm, the rotating disk is connected with the second support arm, and can freely rotate around the second support arm; the instrument arm and the The mirror-holding arms are respectively connected to the rotating disk, and the position adjustment of different positions is realized under the drive of the rotating disk, and there are three instrument arms, and the three instrument arms are formed centering on the mirror-holding arm Surrounding structure.

Preferably, each instrument arm includes a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint and an eighth joint.

Preferably, the first joint and the eighth joint are sliding joints; the second joint is a telescopic joint; the third joint and the seventh joint are pitch joints; the fourth joint, the The fifth joint and the sixth joint are rotary joints.

Preferably, the mirror-holding arm includes a ninth joint, a tenth joint, an eleventh joint, a twelfth joint, a thirteenth joint, and a fourteenth joint.

Preferably, the ninth joint is a telescopic joint; the tenth joint, the eleventh joint, and the twelfth joint are rotation joints; the thirteenth joint is a pitch joint; The four joints are sliding joints.

Compared with the prior art, the beneficial effects of the present invention are: the present invention provides a laparoscopic surgery robot structure centered on the mirror arm, adopting three instrument arms with an encircling structure centered on the mirror arm (the instrument arm has eight degrees of freedom, and the mirror-holding arm has six degrees of freedom), so that the four arms can realize the positioning requirements of various complex shapes in clinical operations in space, and various clinical patient postures can be adapted after adjustment, with redundant freedom. High degree, the three arms do not interfere with each other, and various complex visual orientations can be easily realized; the four arms adopt a modular structure, which is easy to disassemble and install, safe and reliable; this structure runs smoothly, accurately positions, and has better dexterity , can safely complete more delicate and complex operations, and the visual effects in various directions have been significantly improved; the structure is simple, the design is novel and reasonable, the cost is low, and it is easy to promote and use.

Description of drawings

In order to illustrate the technical solutions in the various embodiments of the present invention more clearly, the following will briefly introduce the accompanying drawings used in the description of the embodiments.

Fig. 1 is the structural diagram of a kind of laparoscopic surgery robot structure centering on the mirror arm in Embodiment 1 of the present invention;

Fig. 2 is a three-dimensional principle view of a laparoscopic surgery robot structure centered on the mirror arm in Embodiment 1 of the present invention;

3 is a two-dimensional top view of a laparoscopic surgery robot structure centered on the mirror arm in Embodiment 1 of the present invention;

Fig. 4 is a structural diagram of the instrument arm in Example 1 of the present invention;

Fig. 5 is a structural diagram of the mirror arm in Embodiment 1 of the present invention;

Fig. 6 is a structural diagram of a laparoscopic surgical robot centered on the mirror-holding arm in Embodiment 2 of the present invention.

The numbers in the figure indicate:

1-instrument arm; 11-the first joint; 12-the second joint; 13-the third joint; 14-the fourth joint; 15-the fifth joint; 16-the sixth joint; 17-the seventh joint; 18-the third joint Eight joints; 2-arm holding mirror; 21-ninth joint; 22-tenth joint; 23-eleventh joint; 24-twelfth joint; 25-thirteenth joint; 26-fourteenth joint; 3 -lifting column; 4-big arm; 5-small arm; 6-base; 7-rotary disc; 8-armrest.

Detailed ways

The above and other technical features and advantages of the present invention will be described in more detail below in conjunction with the accompanying drawings.

Example 1

Please refer to Figure 1, Figure 2 and Figure 3,

Fig. 1 is the structural diagram of a kind of laparoscopic surgery robot structure centered on the mirror arm in the present embodiment;

Fig. 2 is a three-dimensional principle view of a laparoscopic surgical robot structure centered on the mirror arm in the present embodiment;

Fig. 3 is a two-dimensional top view of the structure of a laparoscopic surgical robot centered on the mirror-holding arm in this embodiment.

This embodiment provides a laparoscopic surgery robot structure centered on the mirror arm, which includes an instrument arm 1, a mirror arm 2, a lifting column 3, a first support arm 4, a second support arm 5, a base 6, a rotating Disc 7 and armrest 8. The lifting column 3 is connected with the base 6, which can realize the process of raising and lowering the whole equipment; the handrail 8 is connected with the lifting column 3, and is used to realize the push-pull process of the whole equipment; the first The support arm 4 is connected with the lifting column 3, and can freely rotate around the lifting column 3; the second support arm 5 is connected with the first support arm 4, and the second support arm 5 is relatively The first support arm 4 can rotate freely, the rotating disk 7 is connected with the second support arm 5, and can freely rotate around the second support arm 5, the instrument arm 1 and the mirror-holding arm 2 They are respectively connected with the rotating disk 8, driven by the rotating disk 8, the instrument arm 1 and the mirror holding arm 2 can be adjusted in different positions.

Please see Figure 4,

Fig. 4 is a structural diagram of the instrument arm in this embodiment.

The instrument arm 1 includes a first joint 11, a second joint 12, a third joint 13, a fourth joint 14, a fifth joint 15, a sixth joint 16, a seventh joint 17 and an eighth joint 18. The joint 11 and the eighth joint 18 are sliding joints, the second joint 12 is a telescopic joint, the third joint 13 and the seventh joint 17 are pitch joints, the fourth joint 14, the first The fifth joint 15 and the sixth joint 16 are rotary joints, and the eight degrees of freedom can realize the positioning adjustment in eight orientations.

Please see Figure 5,

Fig. 5 is a structural diagram of the mirror arm in this embodiment.

The mirror-holding arm 2 includes a ninth joint 21, a tenth joint 22, an eleventh joint 23, a twelfth joint 24, a thirteenth joint 25, and a fourteenth joint 26, and the ninth joint 21 is a telescopic joint , the tenth joint 22, the eleventh joint 23, and the twelfth joint 24 are rotation joints, the thirteenth joint 25 is a pitch joint; the fourteenth joint 26 is a sliding joint, 6 Six degrees of freedom can be adjusted in 6 orientations.

There are three instrument arms 1, and the three instrument arms 1 form an encircling structure centered on the mirror-holding arm 2. This structure enables the four arms to meet the positioning requirements of various complex shapes in clinical operations in space. , Various clinical patient postures can be adapted after adjustment, with redundant degrees of freedom, the three arms do not interfere with each other, and various complex visual orientations can be easily realized; the four arms adopt a modular structure, which is simple, convenient and safe to disassemble and install Reliable; this structure runs smoothly, locates accurately, has better dexterity, can safely complete more delicate and complex operations, and the visual effects of various directions have been significantly improved; simple structure, novel and reasonable design, and low cost , which is convenient for promotion and use.

Example 2

Please see Figure 6,

Fig. 6 is a structural diagram of a laparoscopic surgical robot centered on the mirror-holding arm in this embodiment.

This embodiment provides a laparoscopic surgery robot structure centered on the mirror arm, which includes an instrument arm 1, a lifting column 3, a first support arm 4, a second support arm 5, a base 6, a rotating disk 7 and an armrest 8 . The lifting column 3 is connected with the base 6, which can realize the process of raising and lowering the whole equipment; the handrail 8 is connected with the lifting column 3, and is used to realize the push-pull process of the whole equipment; the first The support arm 4 is connected with the lifting column 3, and can freely rotate around the lifting column 3; the second support arm 5 is connected with the first support arm 4, and the second support arm 5 is relatively The first support arm 4 can rotate freely, the rotating disc 7 is connected with the second supporting arm 5, and can freely rotate around the second supporting arm 5, and the instrument arm 1 is connected with the rotating disc 8 , driven by the rotating disk 8, the instrument arm 1 can realize the adjustment of different positions.

The instrument arm 1 includes a first joint 11, a second joint 12, a third joint 13, a fourth joint 14, a fifth joint 15, a sixth joint 16, a seventh joint 17 and an eighth joint 18. The joint 11 and the eighth joint 18 are sliding joints, the second joint 12 is a telescopic joint, the third joint 13 and the seventh joint 17 are pitch joints, the fourth joint 14, the first The fifth joint 15 and the sixth joint 16 are rotary joints, and the eight degrees of freedom can realize the positioning adjustment in eight orientations.

The difference between this embodiment and Embodiment 1 is that the structure of a laparoscopic surgery robot centered on the mirror-holding arm provided by this embodiment does not actually have a mirror-holding arm, but any one of the three instrument arms Used as a mirror arm, this structure is suitable for some relatively simple or special operations, which can make the patient's trauma surface smaller, reduce the pain and the possibility of infection, and also reduce the operation difficulty of the operation .

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention.

Claims (5)

1. A laparoscopic surgery robot structure centered on the mirror arm, is characterized in that it comprises base, handrail, lifting column, first support arm, second support arm, rotating disc, instrument arm and mirror arm, The lifting column is connected to the base, and the lift relative to the base is realized through the expansion and contraction of the lifting column; the armrest is connected to the lifting column, and the dragging of the lifting column is realized through the armrest ; the first support arm is connected to the lifting column and can freely rotate around the lifting column, the second support arm is connected to the first support arm, and the second support arm is relatively to the The first support arm can rotate freely, the rotating disc is connected with the second supporting arm, and can freely rotate around the second supporting arm; the instrument arm and the mirror-holding arm are respectively connected with the rotating disc , under the drive of the rotating disk, the positioning adjustment of different positions is realized, and the number of the instrument arms is three, and the three instrument arms form an encircling structure centered on the mirror-holding arm. 2. The laparoscopic surgery robot structure centered on the mirror arm according to claim 1, wherein each said instrument arm comprises a first joint, a second joint, a third joint, a fourth joint, a first joint, and a second joint. Fifth joint, sixth joint, seventh joint and eighth joint. 3. The laparoscopic surgery robot structure centered on the mirror arm according to claim 2, wherein the first joint and the eighth joint are sliding joints; the second joint is a telescopic joint; The third joint and the seventh joint are pitch joints; the fourth joint, the fifth joint and the sixth joint are rotation joints. 4. The laparoscopic surgery robot structure centered on the mirror-holding arm according to claim 1, wherein the mirror-holding arm includes the ninth joint, the tenth joint, the eleventh joint, the twelfth joint, Thirteenth joint, fourteenth joint. 5. The laparoscopic surgery robot structure centered on the mirror arm according to claim 4, wherein the ninth joint is a telescopic joint; the tenth joint, the eleventh joint, the The twelfth joint is a rotation joint; the thirteenth joint is a pitch joint; the fourteenth joint is a sliding joint.