CN104523309B - Intraperitoneal traction surgical robot for minimally invasive surgery - Google Patents
Intraperitoneal traction surgical robot for minimally invasive surgery Download PDFInfo
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- CN104523309B CN104523309B CN201510036194.5A CN201510036194A CN104523309B CN 104523309 B CN104523309 B CN 104523309B CN 201510036194 A CN201510036194 A CN 201510036194A CN 104523309 B CN104523309 B CN 104523309B
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- connecting rod
- gear
- leading screw
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 20
- 238000007912 intraperitoneal administration Methods 0.000 title abstract 4
- 210000000683 abdominal cavity Anatomy 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract 2
- 238000001356 surgical procedure Methods 0.000 description 6
- 238000002357 laparoscopic surgery Methods 0.000 description 5
- 210000000323 shoulder joint Anatomy 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 210000003815 abdominal wall Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000007486 appendectomy Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0281—Abdominal wall lifters
Abstract
The invention discloses an intraperitoneal traction surgical robot for minimally invasive surgery, relates to a robot for minimally invasive surgery and aims at solving the problems that an existing surgical instrument is liable to being interfered in a surgical process, meanwhile, the flexibility in movement and the freedom of the surgical instrument in the surgical process are relatively poor and the existing surgical robot has large volume and expensive price. The intraperitoneal traction surgical robot comprises a housing, a swing mechanism, a telescopic mechanism and a clamping mechanism, wherein the swing mechanism comprises a first motor, a first bevel gear, a second bevel gear and a shoulder rotating connecting rod; the telescopic mechanism comprises a second motor, a first cylindrical gear, a second cylindrical gear, a first screw pair and a sleeve; the clamping mechanism comprises a third motor, a second screw pair, a first connecting rod, a second connecting rod, a third connecting rod and pliers; and the swing mechanism, the telescopic mechanism and the clamping mechanism are arranged in the housing. The intraperitoneal traction surgical robot disclosed by the invention is used for minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of robot for Minimally Invasive Surgery.
Background technology
Laparoscopic surgery has lot of advantages, quickly grows, and has become a milestone of surgical operation.It is in courage
The art formula of first-selection has been had become as in the operation such as capsulectomy, appendectomy.However, laparoscopic surgery there is also some lacking
Fall into, the intrinsic flexibility of laparoscopic surgical instruments leads to its operating difficulties, lacks vision and touch feedback, to the operation band of doctor
To perplex.Additionally, surgeon wishes the advantage by the number reducing operative incision to play laparoscopic surgery further, from
And the single-hole laparoscopic surgery that has been born (less) and through natural cavity laparoscopic surgery (notes).Less is capable of body surface no
Substantially the ideal effect of operative scar, significant for patient, but also just because of single hole, leads to operating space to be subject to
Limit, thus greatly limit its range of application.Notes can be described as finally pursuing a goal of Minimally Invasive Surgery, it
Do not need to open operative incision in body surface.But in order to realize this target, it is necessary for the internal organ upper shed on natural cavity path,
This can lead to greatly difficulty, be accompanied by the danger such as leakage simultaneously.Therefore, for current technology level, less ratio
Notes has higher feasibility.
With the continuous progress of robot subject, it is expanded to medical science.From the maturation initially with industrial robot
Technology solve the problems, such as perform the operation in precision positioning and realize auxiliary operation, the rapid progress of operating robot technology till now,
Only have passed through short decades.Operating robot eliminates and trembles, and realizes motion scaling, can increase extra joint to improve hand
The advantages of flexibility of art operation, compensate for the deficiency of conventional laparoscopic operation to a certain extent.Above-mentioned operating robot due to
Volume is larger, and the freedom of movement and flexibility are poor, and operating theater instruments is passed through stamp card and entered in the patient, exists certain each other
Interference.Especially Leonardo da Vinci's operating robot, becomes the outstanding representative of operating robot.But they also have high cost,
Bulky heavy, the shortcomings of nevertheless suffer from otch and constrain.In order to fundamentally solve operating theater instruments by asking that otch constrains
Topic, people start to be devoted to the research of internal robot.
Content of the invention
The present invention is to carry out easily disturbing in surgical procedure for solving existing operating theater instruments, the total hand of surgical procedure simultaneously
The mobile flexibility of the art apparatus and poor and existing operating robot volume of freedom is big, expensive problem, Jin Erti
For a kind of for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery.
The present invention is to solve the above problems to adopt the technical scheme that: tractive in the abdominal cavity for Minimally Invasive Surgery of the present invention
Operating robot includes housing, swing mechanism, telescoping mechanism and clamping device；
Housing is the cavity of closed at both ends, and swing mechanism includes the first motor, first bevel gear, second bevel gear and shoulder
Pivot link；
Telescoping mechanism includes the second motor, the first roller gear, the second roller gear, the first lead screw pair and sleeve；
Clamping device includes the 3rd motor, the second lead screw pair, first connecting rod, second connecting rod, third connecting rod and pliers；
First motor, first bevel gear and second bevel gear are arranged in housing, and the first motor is affixed with housing, the first electricity
First bevel gear is fixed with the output shaft of machine, first bevel gear is engaged with second bevel gear, on the gear shaft of second bevel gear
It is fixed with shoulder pivot link, shoulder pivot link passes housing and can swing on housing；
Second motor, the first roller gear, the second roller gear and sleeve are arranged in housing, and the second motor is solid with housing
Connect, the axial direction of the second motor is arranged in an axially parallel mode with the first motor, the first lead screw pair includes the first leading screw and the first screw, the
One leading screw is hollow structure, and sleeve is arranged in housing, and one end of the first leading screw passes housing, and the other end of the first leading screw slides
It is arranged in sleeve, the second roller gear is sleeved on the first screw and the second roller gear is rotatably connected on housing, second
First roller gear, the first roller gear and the engagement of the second roller gear are fixed with the output shaft of motor；
First connecting rod, second connecting rod, third connecting rod, the second lead screw pair and pliers are arranged in the cavity of the first leading screw, the
The axial direction of three motors is be arranged in parallel with the length direction of the first leading screw, and the 3rd motor stretches in sleeve and is slidably mounted on housing
Interior, lead screw pair includes the second leading screw and the second screw, and the output shaft of the 3rd motor is connected with one end of the second leading screw, the second screw
Can slide in the cavity of the first leading screw, the second screw is affixed with first connecting rod, one end of second connecting rod and the one of third connecting rod
End is all hinged with first connecting rod, the second connecting rod and third connecting rod arrangement in v shape, the other end of second connecting rod and third connecting rod another
One end is hinged with pliers corresponding shank, and the jaw of pliers passes one end of the first leading screw, and the fixing axle on jaw is fixedly mounted with
On the first leading screw.
The invention has the beneficial effects as follows: one, in the abdominal cavity for Minimally Invasive Surgery of the present invention, tractive operating robot passes through
Completely in abdominal cavity, the shoulder pivot link then passing through to hang is fixed on visual subject micro-incisions, is regarded by movement
Feel that main body can move the robot into target location, considerably increase mobile flexibility and the freedom of robot.Surgical procedure
In, doctor need not direct handheld machine people, but wirless transmitting and receiving module is passed through by operating outside handle and guidance panel
Control the operation of intelligent robot, thus the contact directly with patient for the doctor can be avoided, not only minimizing doctor catch general
Rate, can also reduce the error of the operating theater instruments end that doctor's hand shaking causes simultaneously by program module, and operating theater instruments is being entered
Easily disturb in row surgical procedure.Operating theater instruments end, equipped with pliers, can clamp tissue, and by robot shoulder joint and
Carpal cooperation tractive tissue, focal part is come out, is easy to doctor and is performed the operation.
2nd, adopt the Bevel Gear Transmission that the number of teeth is 1:1 at shoulder joint so that the transmission of whole robot is compacter, with
Stationarity in Shi Zengjia robot kinematics, wrist joint realizes the flexible of robot using the first leading screw auxiliary driving, passes through
A pair of roller gear drives the first lead screw pair, and the first roller gear is directly installed on the second spur gear wheel on the second motor and installs
On the first screw, the first screw is arranged in the first supporting baffle by bearing, the first spur gear wheel and the first screw phase
To fixation.First leading screw can reciprocatingly slide in sleeve, and sleeve is fixed in the second supporting baffle of housing, the 3rd supporting baffle
On circular hole be used for ensure axial axiality, three supporting baffle are fixed on housing by u-shaped groove and boss, thus ensureing
Stationarity in surgical procedure for the whole robot.
3rd, the first leading screw in the first lead screw pair is hollow, and the inside has special die cavity, is provided with the 3rd in die cavity
Motor, the second lead screw pair, linkage and pliers, the 3rd Motor drive the second lead screw pair promotes linkage to realize opening of pliers
Open and close are closed.Double-deck lead screw pair has certain technical difficulty in realization, but can transfer complex motion, due to axiality relatively
Height, therefore, the precision of end is also higher.The jaw of pliers can be changed as the case may be, thus answering of operation can be increased
Use scope.
4th, the present invention whole operating robot small volume, mechanism is simple, and integrated level is higher, the cost of whole robot
Low, and two pawls of end pliers can make different shapes according to specific operation, can be widely applied to need to separate
In the operation of tissue, and surgery cost is relatively low, has very strong application value.
Brief description
Fig. 1 is the perspective view of the present invention, and Fig. 2 is the perspective view that the present invention removes housing, and Fig. 3 is
The b direction view of Fig. 2, Fig. 4 is the top view of Fig. 3, and Fig. 5 is the perspective view of clamping device, and Fig. 6 is the office of clamping device
Portion's cross-sectional schematic.
Specific embodiment
Specific embodiment one: with reference to Fig. 1-Fig. 6 explanation, tractive hand in the abdominal cavity for Minimally Invasive Surgery of present embodiment
Art robot includes housing, swing mechanism, telescoping mechanism and clamping device；
Housing 1 is the cavity of closed at both ends, and swing mechanism includes the first motor 2, first bevel gear 3, second bevel gear 4 and
Shoulder pivot link 5；
Telescoping mechanism includes the second motor 6, the first roller gear 7, the second roller gear 8, the first lead screw pair 9 and sleeve
10；
Clamping device includes the 3rd motor 13, the second lead screw pair 14, first connecting rod 15, second connecting rod 16, third connecting rod 17
With pliers 18；
First motor 2, first bevel gear 3 and second bevel gear 4 are arranged in housing 1, and the first motor 2 is affixed with housing 1,
First bevel gear 3 is fixed with the output shaft of the first motor 2, first bevel gear 3 is engaged with second bevel gear 4, second bevel gear 4
Gear shaft on be fixed with shoulder pivot link 5, shoulder pivot link 5 passes housing 1 and can swing on housing 1；
Second motor 6, the first roller gear 7, the second roller gear 8 and sleeve 10 are arranged in housing 1, the second motor 6
Affixed with housing 1, the axial direction of the second motor 6 is arranged in an axially parallel mode with the first motor 2, and the first lead screw pair 9 includes the first leading screw
9-1 and the first screw, the first leading screw 9-1 is hollow structure, and sleeve 10 is arranged in housing 1, and one end of the first leading screw 9-1 passes
Housing 1, the other end of the first leading screw 9-1 is slidably mounted in sleeve 10, and the second roller gear 8 is sleeved on the first screw and
Two roller gears 8 are rotatably connected on housing 1, and the output shaft of the second motor 6 is fixed with the first roller gear 7, the first cylinder
Gear 7 and the second roller gear 8 engage；
First connecting rod 15, second connecting rod 16, third connecting rod 17, the second lead screw pair 14 and pliers 18 are arranged in the first leading screw 9-
In 1 cavity, the axial direction of the 3rd motor 13 is be arranged in parallel with the length direction of the first leading screw 9-1, and the 3rd motor 13 stretches into sleeve
In 10 and be slidably mounted in housing 1, the second lead screw pair 14 includes the second leading screw 14-1 and the second screw 14-2, the 3rd motor 13
Output shaft be connected with one end of the second leading screw 14-1, the second screw 14-2 can slide in the cavity of the first leading screw 9-1, second
Screw 14-2 is affixed with first connecting rod 15, and one end of one end of second connecting rod 16 and third connecting rod 17 is all cut with scissors with first connecting rod 15
Connect, second connecting rod 16 and third connecting rod 17 are in v shape arrangement, the other end of the other end of second connecting rod 16 and third connecting rod 17 and pincers
The corresponding shank 18-1 of son 18 is hinged, and the jaw 18-2 of pliers 18 passes one end of the first leading screw 9-1, on jaw 18-2
Fixing axle 18-3 is packed on the first leading screw 9-1.
In order to reduce the resistance between two pawls on the jaw of pliers, the fixing axle of two pawls that peace turns jaw is provided with set
Cylinder 24, thus reduce the resistance around fixing axle.The shoulder pivot link 5 of present embodiment energy under the drive of second bevel gear 4
Reciprocally swinging in groove 1-1, realizes the carrying out of abdomen intracavity operation.
Specific embodiment two: with reference to Fig. 1 and Fig. 2 explanation, the first motor 2 of present embodiment, the second motor 6 and the 3rd
Motor 13 is reducing motor.It is arranged such, integrated, very big moment of torsion can be transmitted, Stability Analysis of Structures is reliable, user
Just.Other identical with specific embodiment one.
Specific embodiment three: illustrate with reference to Fig. 5, the second screw 14-2 described in present embodiment is cylindrical screw.As
This setting, convenient use, using reliability.Other identical with specific embodiment one or two.
Specific embodiment four: with reference to Fig. 1 and Fig. 2 explanation, the first roller gear 7 and the second cylinder described in present embodiment
Gear 8 is respectively straight spur gear.It is arranged such, Stability Analysis of Structures is reliable, easy to use.Other and specific embodiment three-phase
With.
Specific embodiment five: with reference to Fig. 1 and Fig. 2 explanation, shoulder pivot link 5 described in present embodiment is for shape even
Bar, housing 1 has groove 1-1, and one of arm 5-1 of shoulder pivot link 5 passes through groove 1-1 and is arranged on the second cone tooth
On the gear shaft of wheel 4, described one of arm 5-1 can swing in groove 1-1.It is arranged such, is fixed on visual subject, lead to
Cross moving-vision main body and can move the robot into target location, considerably increase mobile flexibility and the freedom of robot.
Other identical with specific embodiment four.
Specific embodiment six: with reference to Fig. 1 and Fig. 2 explanation, telescoping mechanism described in present embodiment also includes two pulleys
11, just to being provided with two chute 10-1 on the side wall of sleeve 10, the first leading screw 9-1 is provided with two pulleys just to setting
11, pulley 11 can slide in chute 10-1.It is arranged such, pulley can move in the chute of the ellipse in sleeve, increase
Kinetic stability and reliability are it is achieved that the axiality of leading screw.Other one with specific embodiment, two, four or five identical.
Specific embodiment seven: with reference to Fig. 1 and Fig. 2 explanation, described in present embodiment, swing mechanism also includes fixed mount 19,
Fixed mount 19 is that [shape fixed mount, fixed mount 19 is arranged on housing 1, and the gear shaft of second bevel gear 4 is rotatably installed in fixed mount
Between 19 relative two-arm.It is arranged such, be conducive to the high-efficiency operation of second bevel gear.Other and specific embodiment six phase
With.
Specific embodiment eight: with reference to Fig. 1-Fig. 3 explanation, described in present embodiment, housing 1 also includes the first supporting baffle
20th, the second supporting baffle 21 and the 3rd supporting baffle 22；Second supporting baffle 21 is located at the first supporting baffle 20 and the 3rd support
Between baffle plate 22 and three is parallel is packed in housing 1；First motor 2 is packed in the 3rd supporting baffle 22, and the second motor 6 is solid
It is contained in the second supporting baffle 21, one end of the first leading screw 9-1 passes the first supporting baffle 20 and housing 1, the second cylinder successively
Gear 8 is arranged on the side wall of the first supporting baffle 20 by bearing 23, and the 3rd motor 13 is slidably mounted on the 3rd supporting baffle
On 22.It is arranged such, three supporting baffle are fixed on housing, therefore, when the 3rd Motor drive spur gear wheel secondary motion,
First screw does gyration, and the first leading screw may only move in the axial direction.Circular hole in 3rd supporting baffle is used for real
The fixation of existing three motors is thus ensure the corresponding axiality of respective mechanism.Other identical with specific embodiment seven.
The course of work
The tractive operating robot cooperation visual subject of the present invention is applied, and visual subject passes through inside and outside magnet
It is fixed in abdominal wall, robot is fixed on visual subject by the shoulder pivot link of shoulder joint.Integrated base in robot
Control circuit module in pic and the radio receiving transmitting module based on nrf24l01, whole robot has three degree of freedom, shoulder joint
Section is driven by bevel gear kinematic pair, and wrist joint is driven by feed screw nut kinematic pair, and the clamping device of end is driven even by lead screw pair
Linkage drives.
Before clinically carrying out Minimally Invasive Surgery, first pass through air pump by abdominal cavity of patients's air-blowing, thus increase internal abdominal wall and
Space between in-vivo tissue, operating robot is sent in abdominal cavity by micro-incisions, robot passes through external permanent magnet
It is anchored on internal abdominal wall with the permanent magnet being embedded on suspension pedestal.Suspension pedestal can be driven by the external permanent magnet of movement
On permanent magnet move, thus target location can be moved the robot into.After robot is anchored on target location, led by movement
External magnet on body can drive the 360 degree of rotations of whole robot, and doctor passes through to observe the abdominal cavity passed back on display screen simultaneously
Environment, the button on operating control handle and control panel, host computer receives big signal by radio receiving transmitting module transmitting machine
Slave computer on device people, slave computer controls shoulder joint and carpal motor to rotate the fortune realizing robot after receiving signal
Dynamic, also controllable 3rd motor is clamped simultaneously, and robot motion drives clip to carry out tractive, exposes focal part, with
Conveniently performed the operation.Whole operating robot and the external world are controlled by the way of wireless telecommunications, and the power supply of robot is placed in
Patient is external.
Claims (8)
1. be used for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: it includes housing, swing mechanism, flexible
Mechanism and clamping device；
Housing (1) is the cavity of closed at both ends, and swing mechanism includes the first motor (2), first bevel gear (3), second bevel gear
And shoulder pivot link (5) (4)；
Telescoping mechanism includes the second motor (6), the first roller gear (7), the second roller gear (8), the first lead screw pair (9) and set
Cylinder (10)；
Clamping device includes the 3rd motor (13), the second lead screw pair (14), first connecting rod (15), second connecting rod (16), the 3rd company
Bar (17) and pliers (18)；
First motor (2), first bevel gear (3) and second bevel gear (4) are arranged in housing (1), the first motor (2) and housing
(1) affixed, the output shaft of the first motor (2) is fixed with first bevel gear (3), first bevel gear (3) and second bevel gear (4)
Engagement, the gear shaft of second bevel gear (4) is fixed with shoulder pivot link (5), shoulder pivot link (5) passes housing (1)
And can be in the upper swing of housing (1)；
Second motor (6), the first roller gear (7), the second roller gear (8) and sleeve (10) are arranged in housing (1), and second
Motor (6) is affixed with housing (1), and the axial direction of the second motor (6) is arranged in an axially parallel mode with the first motor (2), the first lead screw pair
(9) the first leading screw (9-1) and the first screw are included, the first leading screw (9-1) is hollow structure, sleeve (10) is arranged on housing (1)
Interior, one end of the first leading screw (9-1) passes housing (1), and the other end of the first leading screw (9-1) is slidably mounted in sleeve (10),
Second roller gear (8) is sleeved on the first screw and the second roller gear (8) is rotatably connected on housing (1), the second motor
(6) the first roller gear (7), the first roller gear (7) and the second roller gear (8) engagement are fixed with output shaft；
First connecting rod (15), second connecting rod (16), third connecting rod (17), the second lead screw pair (14) and pliers (18) are arranged in first
In the cavity of leading screw (9-1), the axial direction of the 3rd motor (13) and the length direction of the first leading screw (9-1) be arranged in parallel, the 3rd electricity
Machine (13) stretches in sleeve (10) and is slidably mounted in housing (1), the second lead screw pair (14) include the second leading screw (14-1) and
Second screw (14-2), the output shaft of the 3rd motor (13) is connected with one end of the second leading screw (14-1), the second screw (14-2)
Can slide in the cavity of the first leading screw (9-1), the second screw (14-2) is affixed with first connecting rod (15), second connecting rod (16)
One end of one end and third connecting rod (17) is all hinged with first connecting rod (15), and second connecting rod (16) and third connecting rod (17) are in v shape
Arrangement, the other end of the other end of second connecting rod (16) and third connecting rod (17) and pliers (18) corresponding shank (18-1)
Hinged, the jaw (18-2) of pliers (18) passes one end of the first leading screw (9-1), and the fixing axle (18-3) on jaw (18-2) is solid
It is contained on the first leading screw (9-1).
2. according to claim 1 for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: first electricity
Machine (2), the second motor (6) and the 3rd motor (13) are reducing motor.
3. according to claim 1 and 2 for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: institute
Stating the second screw (14-2) is cylindrical screw.
4. according to claim 3 for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: described
One roller gear (7) and the second roller gear (8) are respectively straight spur gear.
5. according to claim 4 for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: described shoulder
Portion's pivot link (5) is shape connecting rod, and housing (1) has groove (1-1), one of arm (5- of shoulder pivot link (5)
1) pass through groove (1-1) and be arranged on the gear shaft of second bevel gear (4), described one of arm (5-1) can be in groove (1-
1) swing in.
6. tractive operating robot in the abdominal cavity for Minimally Invasive Surgery according to claim 1,2,4 or 5, its feature exists
In: described telescoping mechanism also includes two pulleys (11), just to being provided with two chutes (10-1) on the side wall of sleeve (10),
Two pulleys (11) just to setting are provided with one leading screw (9-1), pulley (11) can slide in chute (10-1).
7. according to claim 6 for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: described pendulum
Motivation structure also includes fixed mount (19), and fixed mount (19) is that [shape fixed mount, fixed mount (19) is arranged on housing (1), the second cone
The gear shaft of gear (4) is rotatably installed between the relative two-arm of fixed mount (19).
8. according to claim 7 for tractive operating robot in the abdominal cavity of Minimally Invasive Surgery it is characterised in that: described shell
Body (1) also includes the first supporting baffle (20), the second supporting baffle (21) and the 3rd supporting baffle (22)；Second supporting baffle
(21) it is located between the first supporting baffle (20) and the 3rd supporting baffle (22) and the parallel housing (1) that is packed in of three is interior；First
Motor (2) is packed in the 3rd supporting baffle (22), and the second motor (6) is packed in the second supporting baffle (21), the first leading screw
(9-1) one end passes the first supporting baffle (20) and housing (1) successively, and the second roller gear (8) passes through bearing (23) and installs
On the side wall of the first supporting baffle (20), the 3rd motor (13) is slidably mounted in the 3rd supporting baffle (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510036194.5A CN104523309B (en) | 2015-01-23 | 2015-01-23 | Intraperitoneal traction surgical robot for minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510036194.5A CN104523309B (en) | 2015-01-23 | 2015-01-23 | Intraperitoneal traction surgical robot for minimally invasive surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104523309A CN104523309A (en) | 2015-04-22 |
| CN104523309B true CN104523309B (en) | 2017-01-18 |
Family
ID=52839080
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510036194.5A Active CN104523309B (en) | 2015-01-23 | 2015-01-23 | Intraperitoneal traction surgical robot for minimally invasive surgery |
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| CA3082073C (en) | 2011-07-11 | 2023-07-25 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
| US9498292B2 (en) | 2012-05-01 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
| JP2015526171A (en) | 2012-08-08 | 2015-09-10 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | Robotic surgical device, system and related methods |
| EP3021779A4 (en) | 2013-07-17 | 2017-08-23 | Board of Regents of the University of Nebraska | Robotic surgical devices, systems and related methods |
| WO2017024081A1 (en) | 2015-08-03 | 2017-02-09 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices systems and related methods |
| EP4353182A2 (en) | 2016-05-18 | 2024-04-17 | Virtual Incision Corporation | Robotic surgical devices and systems |
| CN107049498B (en) * | 2017-05-15 | 2023-10-20 | 浙江理工大学 | Parallel three-degree-of-freedom remote motion center surgical robot |
| CN117140580A (en) * | 2018-01-05 | 2023-12-01 | 内布拉斯加大学董事会 | Single arm robotic device with compact joint design and related systems and methods |
| CN109106425B (en) * | 2018-09-17 | 2021-02-05 | 南京市第一医院 | Forceps for taking out articles from blood vessel |
| CA3125742A1 (en) | 2019-01-07 | 2020-07-16 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
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