The operating theater instruments and operating robot of operating robotTechnical field
The present invention relates to Medical robot technical field, in particular to a kind of operating theater instruments of operating robot andOperating robot.
Background technology
At present, robot assisted micro-wound surgical operation is increasingly becoming the development trend of micro-wound surgical operation, in correlation techniqueIn, due to micro-wound surgical operation own characteristic so that the activity space of robot is greatly limited, cause robot can not be certainlyBy moving, and due to operating robot operating theater instruments it is complicated, volume is big, further have compressed the activity of robotSpace, while how to provide the problem of energy is also one important to medicine equipment.Therefore, how to design a in limited skyThe interior energy type operating robot that can neatly assemble, dismantle and move turns into urgent problem.
The content of the invention
At least one in order to solve the above-mentioned technical problem, the embodiment of the first aspect of the present invention proposes a kind of surgical engineThe operating theater instruments of device people.
A kind of the second aspect of the present invention embodiment, it is also proposed that operating robot.
In view of this, embodiment according to the first aspect of the invention, the present invention proposes a kind of hand of operating robotArt apparatus, for minimally invasive surgical operation robot, including：First support；Electric-conductor, electric-conductor is connected with first support；PassDynamic component, is arranged in first support；Operation enforcement division, operation enforcement division is connected with transmission component；Second support, firstFrame is detachably connected with second support；Drive component, sets on the secondary support bracket, is connected between first with second supportWhen transmission component be connected with drive component；Wherein, first support, transmission component and operation enforcement division are electric conductor, drivingComponent is by driving driven subassembly to move so that operation enforcement division is moved.
The operating theater instruments for the operating robot that the present invention is provided, by setting the electric-conductor that is connected with first support, and willElectric-conductor is connected with power supply, provides electric energy to operation enforcement division with this, the operation enforcement division of energy instrument is belonged to for some(such as electric knife), the energy is provided it by the structure, in order to carry out operation or treat；Secondly, driven by settingComponent and transmission component are to realize the motion control for enforcement division of performing the operation so that operation enforcement division can be adjusted according to the actual requirementsIt is whole itself position or angle, the flexibility of lifting device, be more convenient for performing the operation or treat；Furthermore, first support and second supportFor dismountable connection, different operation enforcement divisions thus can be respectively set in different first supports, and when needsReplacing different supports are only needed to when changing operation enforcement division to can be achieved, and are improved the efficiency of device assembling, are conveniently replaceable handArt enforcement division, improves convenience and feature of the operating theater instruments for medical treatment of operating robot.
In addition, the operating theater instruments of the operating robot in above-described embodiment that the present invention is provided can also have following addTechnical characteristic：
In the above-mentioned technical solutions, it is preferable that first support includes offering through hole on side wall, side wall；The one of electric-conductorEnd is provided with the first screw thread, and one end of electric-conductor is arranged on first support in through through hole and by nut.
In the technical scheme, electric-conductor is fixedly connected with first support by nut, has so both ensured electric-conductor andStable assembling between one support, while the reliability for also improving the stability of single unit system and using, and be also convenient for usingRepair and change electric-conductor in family.
In any of the above-described technical scheme, it is preferable that first support includes offering through hole on side wall, side wall；Electric-conductorOne end to be provided with the second screw thread in hollow structure and electric-conductor, one end of electric-conductor is arranged on through through hole and by screwIn first support.
In the technical scheme, electric-conductor is fixedly connected with first support by screw, has so both ensured electric-conductor andStable assembling between one support, while the reliability for also improving the stability of single unit system and using, and be also convenient for usingRepair and change electric-conductor in family.
In any of the above-described technical scheme, it is preferable that transmission component includes：First drive link, operation enforcement division and firstDrive link is connected, and drive component drives the first drive link to rotate and then drives operation enforcement division rotation.
In the technical scheme, drive component drives the first drive link to rotate and then drives operation enforcement division rotation, thusRealize operation enforcement division one degree of freedom in a rotational direction so that operation enforcement division can rotate according to the actual requirements toSpecified location facilitates the use and the treatment for patient of user, improves the function of single unit system to carry out treatmentProperty and operability.
In any of the above-described technical scheme, it is preferable that transmission component also includes：Second drive link, the second drive link is setIn the inside of the first drive link, the second drive link is connected with operation enforcement division, drive component drive the second drive link movement withOperation enforcement division is set to be rotated around the rotary shaft of operation enforcement division.
In the technical scheme, drive component the second drive link of drive is moved and then band is had an operation, and enforcement division rotates about axleRotation, thus achieves one degree of freedom of the operation enforcement division in rotation direction, and this rotation is similar to the wrist joint of human bodyRotation, thus further improve for operating robot operating theater instruments and operation enforcement division operability so thatOperation enforcement division, which can turn to specified location or specified angle according to the actual requirements and be facilitated to carry out treatment, further, to be madeThe use of user and the treatment for patient, improve the feature and operability of single unit system；Simultaneously by by secondDrive link is arranged on the inside of the first drive link so that the overall structure of device is compacter, has saved the space of device occupancy,In order to the Miniaturization Design of device.
In any of the above-described technical scheme, it is preferable that transmission component also includes：3rd drive link, the 3rd drive link is setIn the inside of the second drive link, the 3rd drive link is connected with operation enforcement division, and operation enforcement division is folding apparatus, drive componentThe 3rd drive link is driven to move so that operation enforcement division is opened or closed.
In the technical scheme, drive component the 3rd drive link of drive is moved and then band is had an operation, and enforcement division is opened or closedClose, thus achieve the opening and closing function of operation enforcement division, thus further improve the surgical device for operating robotThe operability of tool and operation enforcement division so that operation enforcement division can open or close according to the actual requirements, yet furtherThe use and the treatment for patient of user is facilitated, the feature and operability of single unit system is improved；Lead to simultaneouslyCross the inside that the 3rd drive link is arranged on to the second drive link so that the overall structure of device is compacter, saved device and accounted forSpace, in order to the Miniaturization Design of device.
In any of the above-described technical scheme, it is preferable that be arranged with insulating barrier on first support and transmission component.
In the technical scheme, by being arranged insulating barrier in first support and transmission component, it is to avoid first support or biographyDynamic component electric leakage so that power supply can be to operation enforcement division energy supply, it is to avoid because of over the course for the treatment of in addition to enforcement division of performing the operation itsHe discharges to patient and influences the normal of operation enforcement division to use and for the potential safety hazard of patient at part.
In any of the above-described technical scheme, it is preferable that operation enforcement division is electric knife, bipolar nipper, electric hook or bipolar separationPincers；Wherein, bipolar nipper and bipolar elastic separating plier are folding apparatus.
In the technical scheme, usually, electric knife, bipolar nipper, electric hook or bipolar elastic separating plier category in operation enforcement divisionIn energy instrument, it is necessary to the supply of energy, and the function for enforcement division of performing the operation can be realized by above-mentioned structure, to ensureThat performs the operation is smoothed out, while also having expanded the feature of the operating theater instruments of the operating robot；In addition, bipolar nipper thereinAnd bipolar elastic separating plier is folding apparatus, it can also be further controlled to open or close to carry out according to instruction and actual demandOperation is treated.
The embodiment of second aspect of the present invention additionally provides a kind of operating robot, including：Above-mentioned operating robotOperating theater instruments.
The operating robot that the present invention is provided, by using the operating theater instruments of above-mentioned operating robot, is on the one hand realizedFor the energy supply for enforcement division of performing the operation, to ensure to perform the operation, the normal of enforcement division is used, and is on the other hand also achieved and to be held for operationThe motion in row portion and the control of position, to meet position and the motion in actual operation or therapeutic process for enforcement division of performing the operationControl, another further aspect in different first supports also by setting different operating theater instruments to realize quick-replaceable operating theater instrumentsFunction, improve convenience and feature that the operating theater instruments of operating robot is used.
In addition, the operating robot in above-described embodiment that the present invention is provided can also have following additional technical feature：
In the above-mentioned technical solutions, it is preferable that also include：Power supply；Connecting line, connecting line is used to connect power supply and conductionPart.
In the technical scheme, energized by power supply and connecting line to electric-conductor, and then to operation enforcement division energy supply with realityExisting its normally uses function, and connecting line therein can be directly wound on electric-conductor, or can also be at the end of connecting linePortion sets connector, then is connected by connector with electric-conductor, lifts the stability and reliability of connection.
The additional aspect and advantage of the present invention will become obvious in following description section, or pass through the practice of the present inventionRecognize.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combinedSubstantially and be readily appreciated that, wherein：
Fig. 1 is the structural representation of an embodiment of the present invention；
Fig. 2 is the close-up schematic view of part A in structure shown in Fig. 1；
Fig. 3 is the close-up schematic view of part B in structure shown in Fig. 1；
Fig. 4 is the top view of structure shown in Fig. 1；
Fig. 5 is the close-up schematic view of C portion in structure shown in Fig. 4.
Wherein, corresponding relations of the Fig. 1 into Fig. 5 between reference and component names is：
A kind of 1 operating theater instruments of operating robot, 102 first supports, 1022 side walls, 104 electric-conductors, 106 transmission components,1062 first drive links, 1,064 second drive links, 1066 the 3rd drive links, 108 operation enforcement divisions, 1082 rotary shafts, 110 secondSupport, 112 nuts.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present inventionMode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the applicationFeature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used alsoImplemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described belowSpecific embodiment limitation.
Referring to Fig. 1 to Fig. 5 describe described according to some embodiments of the invention operating robot operating theater instruments andOperating robot.
As shown in Figures 1 to 5, the invention provides a kind of operating theater instruments 1 of operating robot, for operating robot,Including：First support 102；Electric-conductor 104, electric-conductor 104 is connected with first support 102；Transmission component 106, is arranged onOn one support 102；Operation enforcement division 108, operation enforcement division 108 is connected with transmission component 106；Second support 110, firstFrame 102 and second support 110 are detachably connected；Drive component, is arranged in second support 110, with second between firstTransmission component 106 is connected with drive component when support 110 is connected；Wherein, first support 102, transmission component 106 and operationEnforcement division 108 is electric conductor, and drive component is by driving driven subassembly to move so that operation enforcement division 108 is moved.
The operating theater instruments 1 for the operating robot that the present invention is provided, by setting the electric-conductor that is connected with first support 102104, and electric-conductor 104 is connected with power supply, electric energy is provided to operation enforcement division 108 with this, belonging to for some can measuring deviceThe operation enforcement division 108 (such as electric knife) of tool, the energy is provided it by the structure, in order to carry out operation or treat；Secondly, by setting drive component and transmission component 106 with realize for perform the operation enforcement division 108 motion control so that operationEnforcement division 108 can adjust itself position or angle according to the actual requirements, and the flexibility of lifting device is more convenient for performing the operation or controlledTreat；Furthermore, first support 102 is removably to be connected with second support 110, thus can be in different first supports 102It is upper that different operation enforcement divisions 108 are set respectively, and only need to change different supports when needing and changing operation enforcement division 108It can be achieved, improve the efficiency of device assembling, be conveniently replaceable operation enforcement division 108, improve the surgical device of operating robotConvenience and feature of the tool 1 for medical treatment.
In one embodiment of the invention, it is preferable that first support 102 includes opening up on side wall 1022, side wall 1022There is through hole；One end of electric-conductor 104 is provided with the first screw thread, and one end of electric-conductor 104 is installed through through hole and by nut 112In first support 102.
In this embodiment, electric-conductor 104 is fixedly connected with first support 102 by nut 112, so both ensures conductionStable assembling between part 104 and first support 102, while the reliability for also improving the stability of single unit system and using,And it is also convenient for user's maintenance and changes electric-conductor 104.
In one embodiment of the invention, it is preferable that first support 102 includes opening up on side wall 1022, side wall 1022There is through hole；One end of electric-conductor 104 is to be provided with the second screw thread in hollow structure and electric-conductor 104, and one end of electric-conductor 104 is wornCross through hole and be arranged on by screw in first support 102.
In this embodiment, electric-conductor 104 is fixedly connected with first support 102 by screw, so both ensures electric-conductorStable assembling between 104 and first support 102, while the reliability for also improving the stability of single unit system and using, andAnd be also convenient for user's maintenance and change electric-conductor 104.
In one embodiment of the invention, it is preferable that transmission component 106 includes：First drive link 1062, operation is performedPortion 108 is connected with the first drive link 1062, and drive component drives the first drive link 1062 to rotate and then drives operation enforcement division108 rotations.
In this embodiment, drive component drives the first drive link 1062 to rotate and then drives operation enforcement division 108 to rotate,Thus achieve the one degree of freedom of operation enforcement division 108 in a rotational direction so that operation enforcement division 108 can be according to realityDemand rotates to specified location to carry out treatment, facilitates the use and the treatment for patient of user, improves entiretyThe feature and operability of device.
In one embodiment of the invention, it is preferable that transmission component 106 also includes：Second drive link 1064, second passesLever 1064 is arranged on the inside of the first drive link 1062, and the second drive link 1064 is connected with operation enforcement division 108, driving groupPart drives the second drive link 1064 to move so that enforcement division 108 of performing the operation is rotated around the rotary shaft 1082 of operation enforcement division 108.
In this embodiment, the second drive link 1064 of drive component drive is moved and then band has an operation enforcement division 108 around itRotary shaft 1082 is rotated, and thus achieves one degree of freedom of the operation enforcement division 108 in rotation direction, and this rotation is similar toThe carpal rotation of human body, thus further improves the operating theater instruments 1 and operation enforcement division 108 for operating robotOperability so that operation enforcement division 108 can turn to specified location according to the actual requirements or specified angle is controlled to carry outTreat, further facilitate the use and the treatment for patient of user, improve the feature of single unit system and can graspThe property made；While the inside by the way that the second drive link 1064 to be arranged on to the first drive link 1062 so that the overall structure of device is moreStep up to gather, the space of device occupancy has been saved, in order to the Miniaturization Design of device.
In one embodiment of the invention, it is preferable that transmission component 106 also includes：3rd drive link 1066, the 3rd passesLever 1066 is arranged on the inside of the second drive link 1064, and the 3rd drive link 1066 is connected with operation enforcement division 108, and operation is heldRow portion 108 is folding apparatus, and drive component drives the 3rd drive link 1066 to move so that enforcement division 108 of performing the operation is opened or closed.
In this embodiment, drive component drives that the 3rd drive link 1066 is moved and then band enforcement division 108 of having an operation is openedOr closure, the opening and closing function of operation enforcement division 108 is thus achieved, is thus further improved for operating robotThe operability of operating theater instruments 1 and operation enforcement division 108 so that operation enforcement division 108 can open or close according to the actual requirementsClose, yet further facilitate the use and the treatment for patient of user, improve single unit system feature and canOperability；While the inside by the way that the 3rd drive link 1066 to be arranged on to the second drive link 1064 so that the overall structure of deviceIt is compacter, the space of device occupancy is saved, in order to the Miniaturization Design of device.
In one embodiment of the invention, it is preferable that be arranged with insulating barrier on first support 102 and transmission component 106.
In this embodiment, by being arranged insulating barrier in first support 102 and transmission component 106, it is to avoid first support102 or transmission component 106 leak electricity so that power supply can to operation enforcement division 108 energize, it is to avoid because over the course for the treatment of except perform the operationMiscellaneous part outside enforcement division 108 discharges to patient and influences the normal of operation enforcement division 108 to use and for the safety of patientHidden danger.
In one embodiment of the invention, it is preferable that operation enforcement division 108 is electric knife, bipolar nipper, electric hook or bipolarElastic separating plier；Wherein bipolar nipper and bipolar elastic separating plier are folding apparatus.
In this embodiment, usually, electric knife, bipolar nipper, electric hook or bipolar elastic separating plier category in operation enforcement division 108In energy instrument, it is necessary to the supply of energy, and the function for enforcement division 108 of performing the operation can be realized by above-mentioned structure, withEnsure being smoothed out for operation, while also having expanded the feature of the operating theater instruments 1 of the operating robot；In addition, therein doublePole nipper is folding apparatus, can also further be controlled according to instruction and actual demand its open or close to be performed the operation orTreatment.
Present invention also offers a kind of operating robot, including：The operating theater instruments 1 of above-mentioned operating robot.
The operating robot that the present invention is provided, by using the operating theater instruments 1 of above-mentioned operating robot, is on the one hand realizedFor the energy supply for enforcement division 108 of performing the operation, to ensure to perform the operation, the normal of enforcement division 108 is used, on the other hand also achieve forThe motion for enforcement division 108 of performing the operation and the control of position, to meet in actual operation or therapeutic process for operation enforcement division 108Position and motion control, another further aspect also by set in different first supports 102 different operation enforcement divisions 108 withThe function of quick-replaceable operation enforcement division 108 is realized, convenience and function that the operating theater instruments 1 of operating robot is used is improvedProperty.
In one embodiment of the invention, it is preferable that also include：Power supply；Connecting line, connecting line be used for connect power supply andElectric-conductor 104.
In this embodiment, energized by power supply and connecting line to electric-conductor 104, so to operation the function of enforcement division 108To realize that it normally uses function, connecting line therein can be directly wound on electric-conductor 104, or can also be in connectionThe end of line sets connector, then is connected by connector with electric-conductor 104, lifts the stability and reliability of connection.
In the present invention, term " multiple " then refers to two or more, unless otherwise clear and definite restriction.Term " peaceThe term such as dress ", " connected ", " connection ", " fixation " all should be interpreted broadly, for example, " connection " can be fixedly connected, can alsoIt is to be detachably connected, or is integrally connected；" connected " can be joined directly together, and can also be indirectly connected to by intermediary.It is rightFor one of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.Mean that combining the embodiment or specific features, structure, material or the feature of example description is contained at least one reality of the inventionApply in example or example.In this manual, identical embodiment or reality are not necessarily referring to the schematic representation of above-mentioned termExample.Moreover, description specific features, structure, material or feature can in any one or more embodiments or example withSuitable mode is combined.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this areaFor art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiiesChange, equivalent substitution, improvement etc., should be included in the scope of the protection.