CN111643190A - Control device of split type minimally invasive surgery robot - Google Patents
Control device of split type minimally invasive surgery robot Download PDFInfo
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- CN111643190A CN111643190A CN202010521837.6A CN202010521837A CN111643190A CN 111643190 A CN111643190 A CN 111643190A CN 202010521837 A CN202010521837 A CN 202010521837A CN 111643190 A CN111643190 A CN 111643190A
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000001356 surgical procedure Methods 0.000 claims abstract description 14
- 239000000523 sample Substances 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000002432 robotic surgery Methods 0.000 description 3
- 241000405147 Hermes Species 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004377 microelectronic Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007675 cardiac surgery Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- YQGOJNYOYNNSMM-UHFFFAOYSA-N eosin Chemical compound [Na+].OC(=O)C1=CC=CC=C1C1=C2C=C(Br)C(=O)C(Br)=C2OC2=C(Br)C(O)=C(Br)C=C21 YQGOJNYOYNNSMM-UHFFFAOYSA-N 0.000 description 1
- 238000011902 gastrointestinal surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
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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
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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
- A61B34/72—Micromanipulators
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a control device of a split type minimally invasive surgery robot, which comprises a base, a telescopic column and an adjusting mechanism, wherein the lower parts of two ends of the base are provided with rollers, the inner sides of the rollers are distributed with stop blocks, an inner frame is arranged inside a cross beam, a threaded rod is distributed in the middle of the inner frame, the middle of the threaded rod is connected with a sliding block, the lower end of the sliding block is fixed with a connecting rod, the lower end of the connecting rod is provided with a connecting frame, the lower end of the connecting frame is distributed with a probe lamp, the adjusting mechanism is arranged on the lower parts of two ends of the connecting frame, and the other end of the adjusting mechanism. This split type minimal access surgery robot's controlling means is provided with hydraulic stem, drive motor and threaded rod, can adjust the whole height of device through the hydraulic stem, can adjust the transverse position of cutter through the threaded rod to can adjust and change different cutters through adjustment mechanism, bring the convenience for the staff.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgery auxiliary equipment, in particular to a control device of a split type minimally invasive surgery robot.
Background
Since the last 90 s, robot-assisted minimally invasive surgery has gradually become a significant trend. The successful clinical application of surgical robotic systems, represented by the AESOP, ZUES and Da Vinic (Da vinci) systems, has led to great interest in the medical and scientific communities at home and abroad. At that time, minimally invasive surgical robots, represented by davinci, are becoming leading edges and research hotspots in the international robot field. The system integrates a plurality of emerging subjects, and realizes minimally invasive, intelligent and digital surgical operation. By 2010, the da vinci minimally invasive surgery robot has been widely applied all over the world, and the surgery types include urology, obstetrics and gynecology, cardiac surgery, thoracic surgery, hepatobiliary surgery, gastrointestinal surgery, otorhinolaryngology and other disciplines.
Wherein the classification of the surgical robot is: 1. da vinci robotic minimally invasive surgery system (DaVinci). The da vinci robot minimally invasive surgery system is an intelligent surgery platform widely applied worldwide, is approved by the Food and Drug Administration (FDA) in the united states in 2000, and becomes an intelligent endoscopic minimally invasive surgery system for clinical surgery. The system mainly comprises a console system, an operating arm system and an imaging system.
2. Zeus robotic surgery system (Zeus). Zeus robotic surgery system was successfully developed in 1998 by Mr. Mazerland, American, Hispanic. Mainly comprises an Esso (Aeshop) acoustic control endoscope positioner, a Hermes (Hermes) acoustic control center, a Zeus (Zeus) robot surgical system (a left mechanical arm, a right mechanical arm, an operator operation console, a video console) and a Scotto bottom (Socrates) remote cooperative system.
3. The eosin sonically controlled robotic surgery assistance system (Aesop). The surgical assistant system Aeshop 1000 of the Ito acoustic-controlled robot is also successfully developed by the American Mars corporation of Mr. Yoghorn in 1994 in 10 months and the second generation Aeshop 2000 in 1996 in 11 months. Most of the four-generation Aeshop 3000 is still used in China hospitals, and the weight of the four-generation Aeshop 3000 is about 17 kg. The robot mainly comprises a mechanical palm, a mechanical arm, a mechanical body and a computer voice recognition system.
Minimally invasive surgery is a procedure that is performed by surgeons without causing a large wound to the patient, mainly through modern medical instruments such as endoscopes, laparoscopes and thoracoscopes and various imaging techniques. The patient does not need to be operated, only 1-3 small holes with the diameter of 0.5-1 cm are needed to be opened on the patient, all the subsequent operations are carried out through the pipelines, the same steps as the open operation are completed under the image monitoring by a special lengthened surgical instrument, and a control device is needed to be used for controlling the minimally invasive surgical robot when the minimally invasive surgical robot is operated and controlled, so a control device of the split type minimally invasive surgical robot is needed.
With the rapid development of computer and microelectronic technologies and medical science, medical robots of various purposes are more and more widely applied in the medical field. In the field of surgical operations, some operations often cause errors and even medical accidents due to over fatigue because of long operation time and high working strength. Split type minimal access surgery robot in market is mostly all not convenient for control operation for comparatively inconvenient in the use, and be difficult to change the operation cutter, make to have certain limitation, brought troublesome problem for medical staff's use, for this reason, we provide a split type minimal access surgery robot's controlling means.
Disclosure of Invention
The present invention is directed to a control device for a split-type minimally invasive surgical robot, which solves the above-mentioned problems in the prior art, and provides a minimally invasive surgical technique that enables a surgeon to perform an operation without causing a large wound on a patient through modern medical devices such as an endoscope, a laparoscope, and a thoracoscope and various imaging techniques. The patient does not need to open a knife, only 1-3 small holes with the diameter of 0.5-1 cm are needed to be opened on the patient, all the subsequent operations are carried out through the pipelines, a special lengthened surgical instrument is used for completing the steps the same as those of the open operation under the image monitoring, a control device is needed to be used for controlling the minimally invasive surgical robot when the minimally invasive surgical robot is operated and controlled, and the medical robots with various purposes are more and more widely applied in the medical field along with the rapid development of computers, microelectronic technologies and medical science. In the field of surgical operations, some operations often cause errors and even medical accidents due to over fatigue because of long operation time and high working strength. Split type minimal access surgery robot in market is mostly not convenient for control operation for comparatively inconvenient in the use, and be difficult to change the operation cutter, make to have certain limitation, brought troublesome problem for medical staff's use.
In order to realize the above-mentioned lateral position that can adjust the cutter through the threaded rod, and can adjust and change different cutters through adjustment mechanism, it is convenient to bring the convenience for the staff, be convenient for drive the threaded rod through drive motor's effect and rotate, thereby be convenient for drive the slider and slide in the crossbeam, thereby it is convenient to bring the regulation of lower part operation cutter, be convenient for dismantle the change to minimal access surgery cutter through annular mounting and set screw, make the device can install fixedly to arbitrary minimal access surgery cutter, strengthen the device's practicality greatly, and still can adjust the live length of adjusting lever, it is convenient to bring for medical staff's use, finally guarantee that the device has the stability ability of preferred when using, avoid the device to receive the collision and produce the danger of empting, and the mesh.
The invention provides the following technical scheme: a control device of a split type minimally invasive surgery robot comprises a base, a telescopic column and an adjusting mechanism, wherein rollers are arranged at the lower parts of two ends of the base, and the inner side of the roller is distributed with a stop block, the upper end of the middle part of the base is fixed with a support column, the middle part of the support column is provided with a hydraulic rod, the telescopic column is distributed at the upper part of the support column, and the top end of the telescopic column is fixed with a mounting frame, the inside of the mounting frame is provided with a transmission motor, a cross beam is distributed on one side of the mounting frame, the inside of the cross beam is provided with an inner frame, a threaded rod is distributed in the middle part of the inner frame, a sliding block is connected in the middle part of the threaded rod, a connecting rod is fixed at the lower end of the sliding block, a connecting frame is arranged at the lower end of the connecting rod, and the lower end of the connecting frame is distributed with the exploring lamps, the adjusting mechanism is arranged at the lower parts of the two ends of the connecting frame, and the other end of the adjusting mechanism is distributed with the minimally invasive surgery cutter.
Preferably, the telescopic column forms a telescopic structure through the hydraulic rod and the support column, and the telescopic column and the support column are distributed on the same vertical line.
Preferably, a transmission structure is formed between the transmission motor and the threaded rod, and the threaded rod is movably connected with the cross beam.
Preferably, the sliding block and the front part of the cross beam form a sliding structure through a threaded rod, and the sliding block and the connecting rod form a fixed connection.
Preferably, the adjusting mechanism comprises an outer sleeve, a U-shaped opening, an annular fixing piece, a fixing screw and an adjusting rod, the U-shaped opening is formed in the outer wall of one end of the outer sleeve, the annular fixing piece is distributed on the outer portion of one end of the outer sleeve, the two ends of the annular fixing piece are connected with the fixing screw, and the adjusting rod is distributed in the outer sleeve.
Preferably, the adjusting rod forms an adjustable structure with the outer sleeve through the annular fixing piece and the fixing screw, and the adjusting rod and the outer sleeve are distributed in a concentric circle shape.
Preferably, the lateral wall sliding connection of support column has a sliding cylinder, the lateral wall fixedly connected with connecting plate of sliding cylinder, the equal fixed mounting in bottom of connecting plate has two installed parts and second pneumatic cylinder, and the second pneumatic cylinder is located the middle part of two installed parts, the output fixedly connected with backup pad of second pneumatic cylinder.
Preferably, the rotating frame is rotatably connected to the mounting part, a sliding groove is formed in the rotating frame, connecting columns are arranged on two sides of the supporting plate, and the connecting columns are connected in the sliding groove in a matched sliding mode.
Preferably, the side wall of the sliding cylinder is fixedly connected with a connecting disc, a first hydraulic cylinder is fixedly mounted at the top end of the base, and the output end of the first hydraulic cylinder is fixedly connected to the bottom end of the connecting disc.
Preferably, the upper end of the side wall of the supporting column is fixedly connected with a limiting ring, and the limiting ring is positioned above the sliding cylinder.
Compared with the prior art, the invention has the beneficial effects that: the control device of the split minimally invasive surgery robot is provided with a hydraulic rod, a transmission motor and a threaded rod, the overall height of the control device can be adjusted through the hydraulic rod, the transverse position of a cutter can be adjusted through the threaded rod, and different cutters can be adjusted and replaced through an adjusting mechanism, so that convenience is brought to workers;
the control device of the split minimally invasive surgery robot is provided with a threaded rod, and the threaded rod is convenient to drive to rotate under the action of a transmission motor, so that a sliding block is convenient to drive to slide in a cross beam, and the adjustment of a surgical tool at the lower part is convenient;
the control device of the split minimally invasive surgery robot is provided with the annular fixing piece and the fixing screws, and the minimally invasive surgery cutters can be conveniently detached and replaced through the annular fixing piece and the fixing screws, so that the device can be used for installing and fixing any minimally invasive surgery cutter, the practicability of the device is greatly enhanced, the using length of the adjusting rod can be adjusted, and convenience is brought to the use of medical staff;
this controlling means of split type minimal access surgery robot is provided with the slip cylinder, the connecting plate, the second pneumatic cylinder, the backup pad, when using the device, can drive the connection pad through first pneumatic cylinder and carry out the lifting movement, then the connection pad drives the slip cylinder and carries out the lifting movement, thereby the slip cylinder drives the connecting plate and goes up and down, then make the connecting plate move down, utilize the second pneumatic cylinder to drive the backup pad move down simultaneously, the backup pad slides in the sliding tray at the in-process of moving down through the spliced pole simultaneously, thereby make the backup pad support subaerial, finally guarantee that the device has the stability ability of preferred when using, avoid the device to receive the danger that the collision production was emptyd.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic view of an adjusting mechanism according to the present invention;
FIG. 4 is a schematic diagram of the work flow structure of the central control module according to the present invention;
FIG. 5 is an enlarged view of portion A of FIG. 2 according to the present invention.
In the figure: 1. a base; 2. a roller; 3. a stopper block; 4. a support pillar; 5. a hydraulic lever; 6. a telescopic column; 7. installing a frame; 8. a drive motor; 9. a cross beam; 10. an inner frame; 11. a threaded rod; 12. a slider; 13. a connecting rod; 14. a connecting frame; 15. a light is detected; 16. an adjustment mechanism; 1601. an outer sleeve; 1602. a U-shaped opening; 1603. a ring-shaped fixing member; 1604. a set screw; 1605. adjusting a rod; 17. a minimally invasive surgical knife; 18. a sliding cylinder; 19. a connecting disc; 20. a first hydraulic cylinder; 21. a connecting plate; 22. a mounting member; 23. a rotating frame; 24. a second hydraulic cylinder; 25. a support plate; 26. connecting columns; 27. a sliding groove; 28. a limit ring.
Detailed Description
In order to adjust the whole height of the device by a hydraulic rod, adjust the transverse position of a cutter by a threaded rod and adjust and replace different cutters by an adjusting mechanism, thereby bringing convenience to workers, the threaded rod is convenient to drive to rotate by the action of a transmission motor, thereby facilitating the sliding of a slide block in a cross beam, thereby facilitating the adjustment of a lower surgical cutter, the minimally invasive surgical cutter is convenient to disassemble and replace by an annular fixing piece and a fixing screw, so that the device can mount and fix any minimally invasive surgical cutter, the practicability of the device is greatly enhanced, the use length of an adjusting rod can be adjusted, thereby bringing convenience to the use of medical staff, the connecting disc is driven to lift by a first hydraulic cylinder, and then the connecting disc drives a sliding cylinder to lift and move, the sliding cylinder drives the connecting plate to lift, then the connecting plate moves downwards, the second hydraulic cylinder drives the supporting plate to move downwards, and meanwhile, the supporting plate slides in the sliding groove through the connecting column in the downward moving process, so that the supporting plate is supported on the ground, the device is finally guaranteed to have better stability in use, and the technical problem that the device is prevented from falling due to collision is solved. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a control device of a split type minimally invasive surgery robot comprises a base 1, rollers 2, stop blocks 3, support columns 4, hydraulic rods 5, telescopic columns 6, a mounting frame 7, a transmission motor 8, a cross beam 9, an inner frame 10, a threaded rod 11, a sliding block 12, a connecting rod 13, a connecting frame 14, a detection lamp 15, an adjusting mechanism 16, an outer sleeve 1601, a U-shaped opening 1602, an annular fixing piece 1603, a fixing screw 1604, an adjusting rod 1605 and a minimally invasive surgery cutter 17, wherein the rollers 2 are arranged on the lower portions of two ends of the base 1, the stop blocks 3 are distributed on the inner sides of the rollers 2, the support columns 4 are fixed to the upper ends of the middle of the base 1, the hydraulic rods 5 are arranged in the middle of the support columns 4, the telescopic columns 6 are distributed on the upper portions of the support columns 4, the mounting frame 7 is fixed to the top ends of the telescopic columns 6, the telescopic columns 6 form a telescopic structure through the hydraulic rods 5 and the, the telescopic column 6 is driven to be lifted and adjusted conveniently under the action of the hydraulic rod 5, so that the height of the whole device is adjusted conveniently, and the minimally invasive surgery cutter 17 is used more accurately;
a transmission motor 8 is arranged in the mounting frame 7, a cross beam 9 is distributed on one side of the mounting frame 7, an inner frame 10 is arranged in the cross beam 9, threaded rods 11 are distributed in the inner frame 10, a sliding block 12 is connected to the middle of each threaded rod 11, a connecting rod 13 is fixed to the lower end of each sliding block 12, a transmission structure is formed between each transmission motor 8 and each threaded rod 11, the threaded rods 11 and the cross beam 9 are movably connected, each sliding block 12 and the cross beam 9 form a sliding structure through the threaded rods 11, each sliding block 12 and each connecting rod 13 are fixedly connected, the threaded rods 11 are driven to rotate under the action of the transmission motor 8, and therefore the sliding blocks 12 are driven to slide in the cross beams 9 conveniently, and convenience is brought to adjustment of a lower surgical tool;
the lower end of the connecting rod 13 is provided with a connecting frame 14, the lower end of the connecting frame 14 is distributed with a probe lamp 15, an adjusting mechanism 16 is arranged at the lower part of the two ends of the connecting frame 14, the other end of the adjusting mechanism 16 is distributed with a minimally invasive surgery cutter 17, the adjusting mechanism 16 comprises an outer sleeve 1601, a U-shaped opening 1602, an annular fixing member 1603, a fixing screw 1604 and an adjusting rod 1605, the outer wall of one end of the outer sleeve 1601 is provided with the U-shaped opening 1602, the outer part of one end of the outer sleeve 1601 is distributed with the annular fixing member 1603, the two ends of the annular fixing member 1603 are connected with the fixing screw 1604, the inner part of the outer sleeve 1601 is distributed with the adjusting rod 1605, the adjusting rod 1605 forms an adjustable structure through the annular fixing member 1603 and the fixing screw 1604 and the outer sleeve 1601, the adjusting rods 1605 and the outer, the device can mount and fix any minimally invasive surgery cutter 17, greatly enhances the practicability of the device, can adjust the use length of the adjusting rod 1605, and brings convenience to the use of medical staff.
The side wall of the supporting column 4 is connected with a sliding cylinder 18 in a sliding mode, the side wall of the sliding cylinder 18 is fixedly connected with a connecting plate 21, the bottom end of the connecting plate 21 is fixedly provided with two installation parts 22 and a second hydraulic cylinder 24, the second hydraulic cylinder 24 is located in the middle of the two installation parts 22, the output end of the second hydraulic cylinder 24 is fixedly connected with a supporting plate 25, a rotating frame 23 is rotatably connected in the installation parts 22, a sliding groove 27 is formed in the rotating frame 23, connecting columns 26 are arranged on two sides of the supporting plate 25, the connecting columns 26 are matched and slidably connected in the sliding grooves 27, the side wall of the sliding cylinder 18 is fixedly connected with a connecting plate 19, the top end of the base 1 is fixedly provided with a first hydraulic cylinder 20, the output end of the first hydraulic cylinder 20 is fixedly connected to the bottom end of the connecting plate; slide cylinder 18 slides on the side wall of support column 4, so that slide cylinder 18 can slide on the side wall of support column 4, and then first hydraulic cylinder 20 is used for driving connecting disc 19 to move, so that connecting disc 19 can drive slide cylinder 18 to move.
The connecting plate 21 can be driven to move up and down in the process of moving up and down through the sliding barrel 18, then the second hydraulic cylinder 24 is utilized to drive the supporting plate 25 to perform a supporting function, and the supporting plate 25 moves downwards and slides in the sliding groove 27 through the connecting column 26, so that the second hydraulic cylinder 24 can be protected by the rotating frame 23.
Utilize the spacing ring 28 to fix the lateral wall at support column 4, thereby utilize the spacing ring 28 can carry on spacingly to sliding barrel 18, guarantee sliding barrel 18's normal use, wherein sliding barrel 18, connecting plate 19, second pneumatic cylinder 24, backup pad 25, when using the device, can drive connection pad 19 through first pneumatic cylinder 20 and carry out the elevating movement, then connection pad 19 drives sliding barrel 18 and carries out the elevating movement, thereby sliding barrel 18 drives connecting plate 21 and goes up and down, then make connecting plate 21 remove downwards, utilize second pneumatic cylinder 24 to drive backup pad 25 remove downwards simultaneously, backup pad 25 slides in sliding tray 27 through spliced pole 26 at the in-process that removes downwards, thereby make backup pad 25 support subaerial.
The working principle is as follows: for the control device of the split type minimally invasive surgery robot, the device is moved to a required place through the roller 2, then the position of the device is fixed through the stop block 3, then the minimally invasive surgery cutter 17 is detached and replaced by screwing the fixing screw 1604, then the length of the minimally invasive surgery cutter 17 is adjusted through the lifting adjusting rod 1605, the fixing screw 1604 is screwed and fixed after the adjustment is finished, then the hydraulic rod 5 in the supporting column 4 is started, so that the telescopic column 6 is lifted and adjusted under the action of the hydraulic rod 5, then the transmission motor 8 is started, the sliding block 12 is driven to slide in the cross beam 9 through the threaded rod 11 under the action of the transmission motor 8, and the connecting rod 13 drives the connecting frame 14 and the position of the lower cutter to be adjusted, the central control module is used for controlling the transmission motor 8, The hydraulic rod 5 and the searchlight 15 are switched on and off, and then the device can be used.
When the device is used, the connecting disc 19 can be driven to move up and down through the first hydraulic cylinder 20, then the connecting disc 19 drives the sliding cylinder 18 to move up and down, so that the sliding cylinder 18 drives the connecting plate 21 to move up and down, then the connecting plate 21 moves downwards, meanwhile, the second hydraulic cylinder 24 is utilized to drive the supporting plate 25 to move downwards, meanwhile, the supporting plate 25 slides in the sliding groove 27 through the connecting column 26 in the downward moving process, so that the supporting plate 25 is supported on the ground, finally, the device is guaranteed to have better stability when being used, and the risk of toppling over caused by collision is avoided.
In the description of the present application, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be further noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, a connection through an intermediate medium, and a connection between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to specific circumstances.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a controlling means of split type minimal access surgery robot, includes base (1), flexible post (6) and adjustment mechanism (16), its characterized in that: the improved structure of the automobile seat is characterized in that rollers (2) are arranged on the lower portions of two ends of the base (1), stop blocks (3) are distributed on the inner sides of the rollers (2), support columns (4) are fixed to the upper ends of the middle of the base (1), hydraulic rods (5) are arranged in the middle of the support columns (4), telescopic columns (6) are distributed on the upper portions of the support columns (4), installation frames (7) are fixed to the top ends of the telescopic columns (6), transmission motors (8) are installed inside the installation frames (7), cross beams (9) are distributed on one sides of the installation frames (7), inner frames (10) are arranged inside the cross beams (9), threaded rods (11) are distributed in the middle portions of the inner frames (10), sliding blocks (12) are connected to the middle portions of the threaded rods (11), connecting rods (13) are fixed to the lower ends of the sliding blocks (12), connecting rods (, and the lower end of the connecting frame (14) is distributed with a probe lamp (15), the adjusting mechanism (16) is arranged at the lower part of the two ends of the connecting frame (14), and the other end of the adjusting mechanism (16) is distributed with a minimally invasive surgery cutter (17).
2. The control device of the split minimally invasive surgery robot according to claim 1, characterized in that: the telescopic column (6) is of a telescopic structure formed between the hydraulic rod (5) and the support column (4), and the telescopic column (6) and the support column (4) are distributed on the same vertical line.
3. The control device of the split minimally invasive surgery robot according to claim 1, characterized in that: a transmission structure is formed between the transmission motor (8) and the threaded rod (11), and the threaded rod (11) is movably connected with the cross beam (9).
4. The control device of the split minimally invasive surgery robot according to claim 1, characterized in that: the sliding block (12) and the cross beam (9) form a sliding structure in front of each other through the threaded rod (11), and the sliding block (12) is fixedly connected with the connecting rod (13).
5. The control device of the split minimally invasive surgery robot according to claim 1, characterized in that: adjustment mechanism (16) are including outer sleeve (1601), U type mouth (1602), annular fixing piece (1603), set screw (1604) and adjust pole (1605), U type mouth (1602) have been seted up to the one end outer wall of outer sleeve (1601), and the one end outside distribution of outer sleeve (1601) has annular fixing piece (1603), the both ends of annular fixing piece (1603) are connected with set screw (1604), the inside distribution of outer sleeve (1601) has adjust pole (1605).
6. The control device of the split minimally invasive surgery robot according to claim 5, characterized in that: the adjusting rod (1605) is adjustable through the annular fixing piece (1603), the fixing screw (1604) and the outer sleeve (1601), and the adjusting rod (1605) and the outer sleeve (1601) are distributed in a concentric circle mode.
7. The control device of the split minimally invasive surgery robot according to claim 1, characterized in that: the lateral wall sliding connection of support column (4) has a sliding barrel (18), the lateral wall fixedly connected with connecting plate (21) of sliding barrel (18), the equal fixed mounting in bottom of connecting plate (21) has two installed parts (22) and second pneumatic cylinder (24), and second pneumatic cylinder (24) are located the middle part of two installed parts (22), the output fixedly connected with backup pad (25) of second pneumatic cylinder (24).
8. The control device of the split minimally invasive surgical robot according to claim 7, wherein: rotating connection has rotating turret (23) in installed part (22), sliding tray (27) have been seted up in rotating turret (23), the both sides of backup pad (25) all are provided with spliced pole (26), spliced pole (26) match sliding connection in sliding tray (27).
9. The control device of the split minimally invasive surgical robot according to claim 7, wherein: the lateral wall fixedly connected with connection pad (19) of slide cartridge (18), the top fixed mounting of base (1) has first pneumatic cylinder (20), the output fixed connection of first pneumatic cylinder (20) is in the bottom of connection pad (19).
10. The control device of the split minimally invasive surgery robot according to claim 1, characterized in that: the upper end of the side wall of the supporting column (4) is fixedly connected with a limiting ring (28), and the limiting ring (28) is located above the sliding cylinder (18).
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| CN202010521837.6A CN111643190A (en) | 2020-06-10 | 2020-06-10 | Control device of split type minimally invasive surgery robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112294441A (en) * | 2020-11-30 | 2021-02-02 | 福建医科大学附属协和医院 | An ultrasound-visualized da Vinci surgical robotic arm |
| CN113967073A (en) * | 2021-11-09 | 2022-01-25 | 江苏吉穆智能科技有限公司 | Orthopedics-based surgical robot with positioning function |
| CN114010322A (en) * | 2021-11-16 | 2022-02-08 | 江苏省肿瘤医院 | Head and neck tumor surgery robot |
| CN118121313A (en) * | 2024-03-05 | 2024-06-04 | 江南大学 | Robot therapeutic device for brain glioma operation by low-temperature normal-pressure plasma |
-
2020
- 2020-06-10 CN CN202010521837.6A patent/CN111643190A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112294441A (en) * | 2020-11-30 | 2021-02-02 | 福建医科大学附属协和医院 | An ultrasound-visualized da Vinci surgical robotic arm |
| CN113967073A (en) * | 2021-11-09 | 2022-01-25 | 江苏吉穆智能科技有限公司 | Orthopedics-based surgical robot with positioning function |
| CN114010322A (en) * | 2021-11-16 | 2022-02-08 | 江苏省肿瘤医院 | Head and neck tumor surgery robot |
| CN118121313A (en) * | 2024-03-05 | 2024-06-04 | 江南大学 | Robot therapeutic device for brain glioma operation by low-temperature normal-pressure plasma |
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Application publication date: 20200911 |