CN104546033A - Band wrist type micro instrument device for surgical operation - Google Patents
Band wrist type micro instrument device for surgical operation Download PDFInfo
- Publication number
- CN104546033A CN104546033A CN201410788752.9A CN201410788752A CN104546033A CN 104546033 A CN104546033 A CN 104546033A CN 201410788752 A CN201410788752 A CN 201410788752A CN 104546033 A CN104546033 A CN 104546033A
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- China
- Prior art keywords
- connecting rod
- thumb wheel
- motor
- wrist
- driving mechanism
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
Abstract
The invention discloses a band wrist type micro instrument device for surgical operation. The band wrist type micro instrument device comprises a wrist type three-axis converged mechanism, a driving mechanism, a fingertip execution mechanism and a control system, wherein the driving mechanism is fixedly connected with the wrist type three-axis converged mechanism, the fingertip execution mechanism is connected with the driving mechanism, and the control system controls the motion of the driving mechanism; encoders at corresponding joints inside the wrist type three-axis converged mechanism can be driven to move through the motion of the wrist type three-axis converged mechanism, motion information of the corresponding joints is measured through the encoders and then is fed back to the control system, the driving mechanism receives signals from the control system and then drives the fingertip execution mechanism to complete pitching, deflecting and clamping action, and both the driving mechanism and the wrist type three-axis converged mechanism are connected with the control system through lines. The band wrist type micro instrument device has the advantages that the fatigue of hands of an operator can be effectively relieved, so that the operator can carry out surgical operation in the most comfortable state, and the reliability and safety of operation are improved.
Description
Technical field:
The present invention relates to technical field of medical instruments, relate to a kind of for operating micro-apparatus in particular.
Background technology:
Surgical operation refers to through surgical device or surgery instrument, under the operation of doctor, enters tissue, gets rid of pathological changes, changes the processing procedure of structure or implantation exotic in external force mode.Often operation will be completed by various different apparatus in surgical operation, the operation of some complexity often needs just can complete for a long time, the hand of doctor is easy to tired out after long-time gripping, easily causes the discomfort of doctor's hand thus, the precision of impact operation and effect.Therefore, improved for problems of the prior art.
Summary of the invention:
Object of the present invention is exactly the deficiency for prior art, and provide a kind of for the micro-apparatus of operating band wrist-, it effectively can alleviate the feeling of fatigue of operator's hand, enables operator carry out operation technique under the state of the most comfortable, improves the reliability and safety of operation.
Technology solution of the present invention is as follows: a kind of for the micro-apparatus of operating band wrist-, comprise: mechanism is handed in wrist type three axis congruence, the driving mechanism handing over mechanism to be fixedly connected with the axis congruence of described wrist type three, the finger tip actuator be connected with described driving mechanism, control the control system of described driving mechanism motion, wherein, described wrist type three axis congruence hands over the motion of mechanism can drive the motion of its inner corresponding joint place encoder, the movable information of corresponding joint is recorded by described encoder, then movable information is fed back to described control system, described in the signal rear drive that described driving mechanism receives described control system, finger tip actuator completes pitching, beat and holding action, described driving mechanism hands over mechanism to be all connected with described control system by circuit with wrist type three axis congruence.
Preferred as technique scheme, described wrist type three axis congruence hands over mechanism to comprise first connecting rod, the second connecting rod be connected with described first connecting rod, the L-type connecting rod be connected with described second connecting rod, be fixedly installed on the hand clamping device on described L-type connecting rod, described first connecting rod is connected with described second connecting rod by revolute pair, described second connecting rod is connected with described L-type connecting rod by revolute pair, the top of described L-type connecting rod is fixedly installed hand clamping device, wherein, described first connecting rod and described second connecting rod, the joint of described second connecting rod and described L-type connecting rod and described clamping device is provided with described encoder.
Preferred as technique scheme, described driving mechanism is fixedly installed on one end of described first connecting rod, it comprises driving mechanism outer housing, be fixedly installed on the beat motor in described driving mechanism outer housing, pitching motor and clamping motor, respectively with described beat motor, the beat motor input thumb wheel that described pitching motor and described clamping motor connect one to one, pitching motor input thumb wheel and clamping motor input thumb wheel, thumb wheel is inputted respectively with described beat motor, the beat motor that described pitching motor input thumb wheel and described clamping motor input thumb wheel connect one to one exports thumb wheel, pitching motor exports thumb wheel and clamping motor exports thumb wheel, thumb wheel is exported respectively with described beat motor, described pitching motor output thumb wheel and described clamping motor export the steel wire winding device that thumb wheel connects one to one, one end is fixedly installed in described driving mechanism outer housing, the other end extends to the elongated connecting rod outside described driving mechanism outer housing, wherein, described beat motor inputs thumb wheel with described beat motor successively, described beat motor exports thumb wheel and described steel wire winding device is connected, described pitching motor inputs thumb wheel with described pitching motor successively, described pitching motor exports thumb wheel and described steel wire winding device is connected, described clamping motor inputs thumb wheel with described clamping motor successively, described clamping motor exports thumb wheel and described steel wire winding device is connected, the steel wire of described steel wire winding device runs through described elongated connecting rod.
Preferred as technique scheme, described finger tip actuator is connected with the steel wire of described elongated connecting rod and described steel wire winding device.
Preferred as technique scheme, the both sides of described L-type connecting rod are vertically arranged mutually, and two length of sides equal the distance of operator's palm of the hand to wrist point and the width of palm respectively, wherein, described operator's palm of the hand is the length of side of described L-type connecting rod horizontal segment to the distance of wrist point, and the width of described operator's palm is the length of side of described L-type connecting rod vertical section.
Preferred as technique scheme, described wrist type three axis congruence hands over mechanism to be also provided with the hand collar, and the described hand collar is fixedly installed on one end of described first connecting rod by connecting rod.
Preferred as technique scheme, the described hand collar is made up of elastomeric material.
Preferred as technique scheme, described first connecting rod and described second connecting rod are half " U " type structure.
Beneficial effect of the present invention is: the hand of operator is held in wrist type three axis congruence and hands on the L-type connecting rod of mechanism, hand over mechanism and driving mechanism can control finger tip actuator by wrist type three axis congruence and complete pitching, beat and clamping movement, in addition, the axle transhipment that the rotation of operator's arm can be mapped to finger tip actuator is dynamic, greatly improve the flexibility ratio of apparatus, the feeling of fatigue of operator can be alleviated to a certain extent and improve the ability that operator realizes highly difficult operation;
In addition, wrist type three axis congruence hands over mechanism to have employed the L-type connecting rod that is mutually right angle, wherein, two length of sides of described L-type connecting rod equal the distance of operator's palm of the hand to wrist point and the width of palm respectively, therefore when the hand of operator holds L-type connecting rod, can ensure that the axis of three rotating shafts intersects at the wrist point place of operator, meet the requirement of ergonomics;
Wrist type three axis congruence is handed in mechanism and is also provided with the hand collar, the described hand collar can effectively assist the weight of bearing apparatus, make operator's wrist and point action of can performing an operation when not bearing or bear minimum gravity, alleviate the feeling of fatigue of operator, improve the reliability and safety of operation technique, effectively can promote precision and the quality of operation.
Accompanying drawing illustrates:
The following drawings is only intended to schematically illustrate the present invention and explain, not delimit the scope of the invention.Wherein:
Fig. 1 is perspective view of the present invention;
Fig. 2 is the perspective view that mechanism is handed in wrist type three axis congruence of the present invention;
Fig. 3 is the structural representation overlooking direction that mechanism is handed in wrist type three axis congruence of the present invention;
Fig. 4 is the structural representation of the motor part of driving mechanism of the present invention;
Fig. 5 is the structural representation of the steel wire winding device part of driving mechanism of the present invention.
In figure, 10, wrist type three axis congruence hand over mechanism; 11, first connecting rod; 12, second connecting rod; 13, L-type connecting rod; 14, hand clamping device; 15, the hand collar; 20, driving mechanism; 21, beat motor input thumb wheel; 22, pitching motor input thumb wheel; 23, motor input thumb wheel is clamped; 24, beat motor; 25, pitching motor; 26, motor is clamped; 27, beat motor exports thumb wheel; 28, pitching motor exports thumb wheel; 29, clamp motor and export thumb wheel; 210, elongated connecting rod; 211, steel wire winding device; 30, finger tip actuator.
Detailed description of the invention:
Embodiment: by particular specific embodiment, embodiments of the present invention are described below, those skilled in the art can understand other advantages of the present invention and effect easily by content disclosed in the present specification." top " and " bottom " mentioned in the present embodiment describes and defines according to common meaning, such as, and the direction definition of reference to gravitational, the direction of gravity is below, contrary direction be top, similarly up be top or top, below is bottom or bottom; The description of " first " and " second " mentioned in the present embodiment understands for ease of describing, and without concerning the importance of parts, not more limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, also when being considered as the enforceable category of the present invention.
As shown in Figure 1, a kind of for the micro-apparatus of operating band wrist-, comprise: mechanism 10 is handed in wrist type three axis congruence, the driving mechanism 20 handing over mechanism 10 to be fixedly connected with the axis congruence of described wrist type three, the finger tip actuator 30 be connected with described driving mechanism 20, control the control system (not shown) of described driving mechanism 20 motion, described wrist type three axis congruence hands over the motion of mechanism 10 can drive the motion of its inner corresponding joint place encoder (not shown), the movable information of corresponding joint is recorded by described encoder, then movable information is fed back to described control system, described in the signal rear drive that described driving mechanism 20 receives described control system, finger tip actuator 30 completes pitching, beat and holding action, described driving mechanism 20 hands over mechanism 10 to be all connected with described control system by circuit with wrist type three axis congruence.Described wrist type three axis congruence hands over mechanism 10 to be also provided with the hand collar 15, and the described hand collar 15 is fixedly installed on one end of described first connecting rod 11 by connecting rod, and the described hand collar 15 is made up of elastomeric material.
See shown in Fig. 2 and Fig. 3, described wrist type three axis congruence hands over mechanism 10 to comprise first connecting rod 11, the second connecting rod 12 be connected with described first connecting rod 11, the L-type connecting rod 13 be connected with described second connecting rod 12, the hand clamping device 14 be fixedly installed on described L-type connecting rod 13, described first connecting rod 11 is connected with described second connecting rod 12 by revolute pair, described second connecting rod 12 is connected with described L-type connecting rod 13 by revolute pair, and the top of described L-type connecting rod 13 is fixedly installed hand clamping device 14.
The pitching joint at the revolute pair respective operations person wrist point place between described first connecting rod 11 and second connecting rod 12, the beat joint at the revolute pair respective operations person wrist point place between described second connecting rod 12 and L-type connecting rod 13, the motion of described hand clamping device 14 may correspond to the clamping joint of operator's finger.Wherein, described first connecting rod 11 is provided with described encoder with described second connecting rod 12, described second connecting rod 12 with the joint of described L-type connecting rod 13 and described clamping device 14, described encoder can record the movable information at corresponding joint place, then feeds back to control system.
Wherein, the both sides of described L-type connecting rod 13 are vertically arranged mutually, and two length of sides equal the distance of operator's palm of the hand to wrist point and the width of palm respectively, wherein, described operator's palm of the hand is the length of side of described L-type connecting rod 13 horizontal segment to the distance of wrist point, and the width of described operator's palm is the length of side of described L-type connecting rod 13 vertical section.Described first connecting rod 11 and described second connecting rod 12 are half " U " type structure.
Described driving mechanism 20 is fixedly installed on one end of described first connecting rod 11, see shown in Fig. 4 and Fig. 5, it comprises driving mechanism outer housing (not shown), be fixedly installed on the beat motor 24 in described driving mechanism outer housing, pitching motor 25 and clamping motor 26, respectively with described beat motor 24, the beat motor input thumb wheel 21 that described pitching motor 25 and described clamping motor 26 connect one to one, pitching motor input thumb wheel 22 and clamping motor input thumb wheel 23, thumb wheel 21 is inputted respectively with described beat motor, the beat motor that described pitching motor input thumb wheel 22 and described clamping motor input thumb wheel 23 connect one to one exports thumb wheel 27, pitching motor exports thumb wheel 28 and clamping motor exports thumb wheel 29, thumb wheel 27 is exported respectively with described beat motor, described pitching motor output thumb wheel 28 and described clamping motor export the steel wire winding device 211 that thumb wheel 29 connects one to one, one end is fixedly installed in described driving mechanism outer housing, the other end extends to the elongated connecting rod 210 outside described driving mechanism outer housing, wherein, described beat motor 24 inputs thumb wheel 21 with described beat motor successively, described beat motor exports thumb wheel 27 and described steel wire winding device 211 is connected, described pitching motor 25 inputs thumb wheel 22 with described pitching motor successively, described pitching motor exports thumb wheel 28 and described steel wire winding device 211 is connected, described clamping motor 26 inputs thumb wheel 23 with described clamping motor successively, described clamping motor exports thumb wheel 29 and described steel wire winding device 211 is connected, the steel wire of described steel wire winding device 211 runs through described elongated connecting rod 210.Described finger tip actuator 30 is connected with the steel wire of described elongated connecting rod 210 and described steel wire winding device 211.
During use, the hand of operator is walked around the hand collar 15 and is held L-type connecting rod 13, thumb and forefinger pin hand clamping device 14, and the pitching of wrist, beat and clamping movement can drive wrist type three axis congruence to hand over the pitching of mechanism 10, beat and clamping joint to move accordingly successively.Then, the movable information collected is sent to control system by the encoder of each joint, each Motion mapping of wrist is become the pitching of finger tip actuator 30, beat and holding action via each motor and steel wire winding device 211.In addition, can be mapped to the axle transhipment of finger tip actuator 30 dynamic in the rotation of operator's arm.
Beat described in the present invention, pitching are as follows with the implementation procedure of holding action: described beat motor 24 inputs thumb wheel 21 successively and exports thumb wheel 27 with beat motor and be connected with beat motor, again via steel wire winding device 211, finger tip actuator 30 is driven to complete corresponding beat action; Described pitching motor 25 inputs thumb wheel 22 successively and exports thumb wheel 28 with pitching motor and be connected with pitching motor, then via steel wire winding device 211, drives finger tip actuator 30 to complete corresponding pitching motion; Described clamping motor 26 input thumb wheel 23 successively and clamps motor and export thumb wheel 29 and be connected with clamping motor, then via steel wire winding device 211, drive finger tip actuator 30 completes corresponding holding action.
Described embodiment in order to illustrative the present invention, but not for limiting the present invention.Any those skilled in the art all without prejudice under spirit of the present invention and category, can modify to described embodiment, therefore the scope of the present invention, should listed by claim of the present invention.
Claims (8)
1. one kind for the micro-apparatus of operating band wrist-, it is characterized in that, comprise: mechanism (10) is handed in wrist type three axis congruence, the driving mechanism (20) handing over mechanism (10) to be fixedly connected with the axis congruence of described wrist type three, the finger tip actuator (30) be connected with described driving mechanism (20), control the control system that described driving mechanism (20) moves, wherein, described wrist type three axis congruence hands over the motion of mechanism (10) can drive the motion of its inner corresponding joint place encoder, the movable information of corresponding joint is recorded by described encoder, then movable information is fed back to described control system, described in the signal rear drive that described driving mechanism (20) receives described control system, finger tip actuator (30) completes pitching, beat and holding action, described driving mechanism (20) and wrist type three axis congruence hand over mechanism (10) to be all connected with described control system by circuit.
2. one according to claim 1 is used for the micro-apparatus of operating band wrist-, it is characterized in that: described wrist type three axis congruence hands over mechanism (10) to comprise first connecting rod (11), the second connecting rod (12) be connected with described first connecting rod (11), the L-type connecting rod (13) be connected with described second connecting rod (12), be fixedly installed on the hand clamping device (14) on described L-type connecting rod (13), described first connecting rod (11) is connected with described second connecting rod (12) by revolute pair, described second connecting rod (12) is connected with described L-type connecting rod (13) by revolute pair, the top of described L-type connecting rod (13) is fixedly installed hand clamping device (14), wherein, described first connecting rod (11) and described second connecting rod (12), described second connecting rod (12) is provided with described encoder with the joint of described L-type connecting rod (13) and described clamping device (14).
3. one according to claim 2 is used for the micro-apparatus of operating band wrist-, it is characterized in that: described driving mechanism (20) is fixedly installed on one end of described first connecting rod (11), it comprises driving mechanism outer housing, be fixedly installed on the beat motor (24) in described driving mechanism outer housing, pitching motor (25) and clamping motor (26), respectively with described beat motor (24), beat motor input thumb wheel (21) that described pitching motor (25) and described clamping motor (26) connect one to one, pitching motor input thumb wheel (22) and clamping motor input thumb wheel (23), thumb wheel (21) is inputted respectively with described beat motor, the beat motor that described pitching motor input thumb wheel (22) and described clamping motor input thumb wheel (23) connect one to one exports thumb wheel (27), pitching motor exports thumb wheel (28) and clamping motor exports thumb wheel (29), thumb wheel (27) is exported respectively with described beat motor, described pitching motor output thumb wheel (28) and described clamping motor export the steel wire winding device (211) that thumb wheel (29) connects one to one, one end is fixedly installed in described driving mechanism outer housing, the other end extends to the elongated connecting rod (210) outside described driving mechanism outer housing, wherein, described beat motor (24) inputs thumb wheel (21) with described beat motor successively, described beat motor exports thumb wheel (27) and described steel wire winding device (211) is connected, described pitching motor (25) inputs thumb wheel (22) with described pitching motor successively, described pitching motor exports thumb wheel (28) and described steel wire winding device (211) is connected, described clamping motor (26) inputs thumb wheel (23) with described clamping motor successively, described clamping motor exports thumb wheel (29) and described steel wire winding device (211) is connected, the steel wire of described steel wire winding device (211) runs through described elongated connecting rod (210).
4. one according to claim 3 is used for the micro-apparatus of operating band wrist-, it is characterized in that: described finger tip actuator (30) is connected with the steel wire of described elongated connecting rod (210) and described steel wire winding device (211).
5. one according to claim 2 is used for the micro-apparatus of operating band wrist-, it is characterized in that: the both sides of described L-type connecting rod (13) are vertically arranged mutually, and two length of sides equal the distance of operator's palm of the hand to wrist point and the width of palm respectively, wherein, described operator's palm of the hand is the length of side of described L-type connecting rod (13) horizontal segment to the distance of wrist point, and the width of described operator's palm is the length of side of described L-type connecting rod (13) vertical section.
6. one according to claim 2 is used for the micro-apparatus of operating band wrist-, it is characterized in that: described wrist type three axis congruence hands over mechanism (10) to be also provided with the hand collar (15), and the described hand collar (15) is fixedly installed on one end of described first connecting rod (11) by connecting rod.
7. one according to claim 6 is used for the micro-apparatus of operating band wrist-, it is characterized in that: the described hand collar (15) is made up of elastomeric material.
8. one according to claim 2 is used for the micro-apparatus of operating band wrist-, it is characterized in that: described first connecting rod (11) and described second connecting rod (12) are half " U " type structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788752.9A CN104546033B (en) | 2014-12-17 | 2014-12-17 | Band wrist type micro instrument device for surgical operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788752.9A CN104546033B (en) | 2014-12-17 | 2014-12-17 | Band wrist type micro instrument device for surgical operation |
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| Publication Number | Publication Date |
|---|---|
| CN104546033A true CN104546033A (en) | 2015-04-29 |
| CN104546033B CN104546033B (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410788752.9A Active CN104546033B (en) | 2014-12-17 | 2014-12-17 | Band wrist type micro instrument device for surgical operation |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20020120363A1 (en) * | 1998-12-08 | 2002-08-29 | J. Kenneth Salisbury | Mater having redundant degrees of freedom |
| US20030109957A1 (en) * | 2001-12-07 | 2003-06-12 | Dan Sanchez | Microwrist system for surgical procedures |
| CN101732093A (en) * | 2009-11-30 | 2010-06-16 | 哈尔滨工业大学 | Micromanipulator for enterocoelia minimally invasive surgery |
| US20100228265A1 (en) * | 2009-03-09 | 2010-09-09 | Intuitive Surgical, Inc. | Operator Input Device for a Robotic Surgical System |
| CN102341049A (en) * | 2009-03-06 | 2012-02-01 | 伊顿株式会社 | Surgical instrument |
| US20120083801A1 (en) * | 2004-05-04 | 2012-04-05 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| CN104116547A (en) * | 2014-07-25 | 2014-10-29 | 上海交通大学 | Low-friction low-inertia surgical instrument for minimally invasive surgical robot |
| CN204484185U (en) * | 2014-12-17 | 2015-07-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of for the micro-apparatus of operating band wrist- |
-
2014
- 2014-12-17 CN CN201410788752.9A patent/CN104546033B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020120363A1 (en) * | 1998-12-08 | 2002-08-29 | J. Kenneth Salisbury | Mater having redundant degrees of freedom |
| US20030109957A1 (en) * | 2001-12-07 | 2003-06-12 | Dan Sanchez | Microwrist system for surgical procedures |
| US20120083801A1 (en) * | 2004-05-04 | 2012-04-05 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| CN102341049A (en) * | 2009-03-06 | 2012-02-01 | 伊顿株式会社 | Surgical instrument |
| US20100228265A1 (en) * | 2009-03-09 | 2010-09-09 | Intuitive Surgical, Inc. | Operator Input Device for a Robotic Surgical System |
| CN101732093A (en) * | 2009-11-30 | 2010-06-16 | 哈尔滨工业大学 | Micromanipulator for enterocoelia minimally invasive surgery |
| CN104116547A (en) * | 2014-07-25 | 2014-10-29 | 上海交通大学 | Low-friction low-inertia surgical instrument for minimally invasive surgical robot |
| CN204484185U (en) * | 2014-12-17 | 2015-07-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of for the micro-apparatus of operating band wrist- |
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| Publication number | Publication date |
|---|---|
| CN104546033B (en) | 2017-01-11 |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: Room 08, 15th Floor, No. 368, Changjiang Road, Nangang Concentration District, Harbin Economic Development Zone, Harbin, Heilongjiang 150090 Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |