Invention content
In order to realize the main object of the present invention, a kind of scope and electric knife that cooperation is traditional provided by the invention is realized jointlyTo the operation on digestive tract robotic system of the lifting of target mucosal, cutting function.
To solve the above-mentioned problems, the main object of the present invention is to provide a kind of operation on digestive tract robotic system,With mobile base unit and the lifting unit being fixed on mobile base unit；Wherein, it is arranged on lifting unit flexibleSurgical instrument unit, flexibility operation appliance unit one end extend to operative region, operation main manipulator control across accessory channelThe multifreedom motion of flexibility operation appliance unit itself and passes through and control flexible surgical instrument driving unit and drive flexible handThe feed motion of art appliance unit.
Further scheme is that flexibility operation appliance unit includes instruments box, the flexible arm stretched out from instruments box outletAnd the flexible surgical instrument front end being connect with flexible arm external part；There are multiple driving portion driving flexible arms to drive in instruments box softThe property multivariant movement in surgical instrument front end, flexible surgical instrument front end side is parallel to be fixed with electric knife.
Further scheme is that driving portion includes multiple joint drive portions and single whole driving portion；Joint drivePortion includes the identical driving unit of two groups of structures, and driving unit includes being wound on after guide roller after driving rope is pierced by from bourdon tubeOn the winding slot of wire spool, the hand of spiral of two wire spools on two groups of driving units is on the contrary, setting among two wire spoolsSprocket drive spindle, driving rope when gear shaft is rotated toward a direction on one wire spool is to move into state, on another wire spoolDriving rope be around doing well, two driving ropes it is identical with around output around input；Whole driving portion has a central shaft, centerOne end of axis is semicircle profile shaft, and first end cover and second end cover are equipped with outside central shaft.
Further scheme is that flexible arm includes center limb and Duo Gen bourdon tubes, and center limb is mounted on central shaftCentral through hole in, first end cover and the second end cover fix central shaft and center limb at semicircle profile shaft, make centerThe rotation of center limb is driven when shaft rotation is dynamic.
Further scheme is that flexible surgical instrument front end is made of multiple joint components successively, each joint componentThe positive counter-movement of each joint component, the driving rope needed for joint component movement and joint component are realized by two driving rope drivingsIt is fixedly connected, the bourdon tube needed for the driving rope of each joint component is fixed with the latter joint component.
Further scheme is that flexible surgical instrument driving unit includes consumptive material contact layer, main body successively from top to bottomDrive layer, mobile platform layer and mobile foundation layer；
Multigroup drive component is provided on main body driving layer, drive component drives flexible surgical instrument through consumptive material contact layerUnit motion；Drive component bottom is provided with sliding block, and drive component is driven by sliding block and the sliding rail being fixed on bottom plate clampingSliding；
Mobile foundation layer drives consumptive material contact layer, driving body layer and mobile platform layer to carry out mass motion.
Further scheme is that drive component includes motor and rack, and reel, coiling are fixed on the axis of motorSteel wire rope is wound on wheel, steel wire rope both ends are connected to rack both ends.
Further scheme is that lifting unit includes the operating table surface for placing main manipulator, is fixed on mobile base listLower pillar stand in member is placed flexible surgical instrument driving unit and support plate on lower pillar stand and is nested in lower verticalThe upper pillar stand being fixedly connected on column and with operating table surface lower end, lower pillar stand push upper pillar stand to drive operation console by electric pushrodThe lifting in face.
Further scheme be further include clamping unit, electric knife bar and syringe, syringe and electric knife is clampedBar is fixed on grip slipper, carries out elastic adjustment by set lever and position adjusts.
Further scheme is that the front end of syringe is provided with injection needle sliding block and injection needle piston rod, syringeFront end be mounted on injection needle piston rod mounting hole in, injection needle piston rod be mounted on injection needle sliding block groove in.
The beneficial effects of the invention are as follows：The operation on digestive tract robotic system of the present invention is traditional based on not changingThe structure of digestive endoscopy itself is sent multivariant mechanical arm to target by external cavity by external auxiliary instrument cavityOperative region coordinates traditional scope and the common lifting realized to target mucosal of electric knife, cutting function；And for electric knife and noteThe common tools such as needle are penetrated, are fixed using clamping device, and the stretching that can arbitrarily adjust electric knife head and injection needle head is grownDegree, solves the problems, such as the placement of electric knife and injection needle, service efficiency is improved while reducing research and development and maintenance cost.
Description of the drawings
Fig. 1 is the overall structure diagram of operation on digestive tract robotic system in the embodiment of the present invention；
Fig. 2 is the connection diagram of flexible operation appliance unit front end in the embodiment of the present invention；
Fig. 3 is the connection diagram of flexible operation appliance unit and accessory channel in the embodiment of the present invention；
Fig. 4 is the overall structure diagram of flexible operation appliance unit in the embodiment of the present invention；
Fig. 5 is instruments box inside primary structure in the embodiment of the present invention；
Fig. 6 is joint drive principle schematic in the embodiment of the present invention；
Fig. 7 a are the first schematic diagrames of coiling dish structure in the embodiment of the present invention；
Fig. 7 b are the second schematic diagrames of coiling dish structure in the embodiment of the present invention；
Fig. 8 a are the schematic diagrames of middle gear axis of the embodiment of the present invention；
Fig. 8 b are gear shaft and wire spool connection diagram；
Fig. 9 is the structural schematic diagram of whole driving portion in the embodiment of the present invention；
Figure 10 is central shaft schematic diagram in the embodiment of the present invention；
Figure 11 is the structural schematic diagram of flexible surgical instrument front end in the embodiment of the present invention；
Figure 12 a are the connected mode schematic diagrams of ring flange and center limb in the embodiment of the present invention；
Figure 12 b are ring flange and its schematic diagram of fixed form in the embodiment of the present invention.
The position view of surgical instrument flexibility surgical instrument driving unit and consumptive material in Figure 13 embodiment of the present invention；
The part explosive view of surgical instrument flexibility surgical instrument driving unit in Figure 14 embodiment of the present invention；
In Figure 15 embodiment of the present invention in the embodiment of the present invention consumptive material contact layer structural schematic diagram；
The side view of body layer is driven in Figure 16 embodiment of the present invention；
The structural schematic diagram of mobile platform layer in Figure 17 embodiment of the present invention；
The structural schematic diagram of body layer is driven in Figure 18 embodiment of the present invention；
The structural schematic diagram of lifting unit in Figure 19 embodiment of the present invention；
The structural schematic diagram of clamping unit in Figure 20 embodiment of the present invention.
Label declaration：
1 digestive endoscopy；Handel in 11；12 electric knifes；2 accessory channels；21 locking caps；
3 flexible operation appliance units；32 flexible arms；33 instruments boxes；311 first joint drive portions；3110 conducting wire wheel supports；3111, the first bourdon tube；3113 first terminals；3115 first guide rollers；3117 first driving ropes；3119 first wire spools；3112 second spring pipes；3114 Second terminals；3116 second guide rollers；3118 second driving ropes；3120 second wire spools；3190 winding slots；3191 first notches；3192 second notches；3193 arc-shaped slots；3194 terminal counterbores；3195 first frictionsFace；390 gear shafts；3900 second rubbing surfaces；3901 threaded holes；312 second joint driving portions；3121 third bourdon tubes；31224th bourdon tube；313 third joint drive portions；3131 the 5th bourdon tubes；3132 the 6th bourdon tubes；314 the 4th joint drivesPortion；3141 the 7th bourdon tubes；3142 the 8th bourdon tubes；315 whole driving portions；350 central shafts；3501 semicircle axis；3502 axisFace one；3503 axial planes two；351 center limbs；352 first end covers；353 second end covers；354 first bearing bearings；355 second axisHold bearing；356 gears；300 outlets；301 upper covers；302 bottom plates；31 flexible surgical instrument front ends；311 clips one；321 clipsTwo；331 sideway joints；341 lifting joints；301 joint pedestals；3510 ring flanges；3511 casings；3512 axis pins.
4 flexible surgical instrument driving units；41 consumptive material contact layers；410 second bottom plates；411 first motor drivers；412Groove；42 driving body layers；420 first bottom plates；421 first motors；422 reels；423 steel wire ropes；424 racks；425 firstPulley；426 first catch；427 first optoelectronic switches；429 first microswitches；43 mobile platform layers；430 third bottom plates；431Second motor driver；432 second catch；433 pressing plates；44 mobile foundation layers；440 the 4th bottom plates；441 second motors；442Synchronous belt；443 second pulleys；444 second optoelectronic switches；445 second microswitches；446 second sliding rails；447 second sliding blocks；
5 lifting units；51 operating table surfaces；52 upper pillar stands；53 supporting plates；54 support plates；55 lower pillar stands；56 electric pushrods；57Fixed ring；58 conduits；59 clips；510 conduit mounting plates；511 clamping blocks；512 line concentration hooks；
6 mobile base units；61 castors；62 pedestals；
7 clamping units；71 grip slippers；72 syringes；73 support columns；74 slide mounting plates；75 mandril bearings；76 mandrilsHandle；77 electric knife apical rings；78 electric knife blocks；79 electric knife ring slides；710 electric knife rings；711 electric knife bars；712 clips；713 locking handsHandle；714 levers；715 injection shanks；716 injection needle blocks；717 injection needle piston rods；718 sliding block mounting plates；719 injectionsNeedle sliding block；720 piston levers；
8 control units；81 main manipulators；82 industrial personal computers.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and embodiments.
Fig. 1 is the overall structure diagram of operation on digestive tract robotic system in the present embodiment, and the system is by traditionDigestive endoscopy 1, accessory channel 2, flexible operation appliance unit 3, flexible surgical instrument driving unit 4, aerial lift unit 5, moveThe compositions such as dynamic base unit 6, clamping unit 7 and control unit 8.Wherein, mobile base unit 6 is by pedestal 62 and the 4 of installationA lockable castor 61 forms；Control unit 8 is made of main manipulator 81, industrial personal computer 82 and other power switches and button；Lifting unit 5 is bolted on mobile base unit 6, and clamping unit 7 and main manipulator 81 are fixed by screws in literIt drops on unit 5, industrial personal computer 82 is fixed by screws on pedestal 62, and flexible surgical instrument driving unit 4 is mounted on lifting unitOn 5, flexibility operation appliance unit 3 is fixed by screws on flexible surgical instrument driving unit 4, one end peace of accessory channel 2On lifting unit 5, the rest part of accessory channel 2 and the pipeline of digestive endoscopy 1 are held together.
The mode of operation of operation on digestive tract robotic system in the present embodiment is：Main operation doctor's left hand is hand-held to disappearChange scope handle, control azimuth and the pitching angular oscillatory motion of scope pipe end, the right hand holds digestive endoscopy pipeline, constantly adjustsIts orientation is sent to by patient's oral area and waits for operative region；Nurse's left-handed operation electric knife or injection needle clamping device, control it and openIt closes, the main hand of right hand operation and control, controls 5 degree of freedom of flexible operation appliance unit 3.
As shown in Figure 2, electric knife 12 enters operative region, flexibility operation appliance unit by the instrument channel on interior handel 113 extend to operative region by accessory channel 2, and flexible surgical instrument front end 31 coordinates electric knife 12 to be completed together to lesion mucous membraneLift cutting function.The fixation between accessory channel 2 and interior handel 11, the shape of locking cap 21 are realized by the locking cap 21 of endShape is Pear-Shaped, and the relatively thin integral diameter that can be reduced to the maximum extent after installation of wall thickness, which dismounts is convenient for soonDecontamination.
In conjunction with Fig. 3 and Fig. 4 it is found that the flexible operation appliance unit 3 of the present embodiment includes flexible arm 32 and instruments box 33.It is softProperty arm 32 extend out from the outlet of instruments box 33 300 after enter accessory channel 2,32 other end of flexible arm and flexible surgical instrumentFront end 31 connects.Wherein, instruments box 33 includes upper cover 301, bottom plate 302, outlet 300 and internal multiple drive modules, each driveThe bourdon tube of dynamic model block, center limb converge in the outlet 300 of instruments box.Flexible arm 32 by accessory channel 2 wrap up after extend withFlexible surgical instrument front end 31 connects.
With reference to Fig. 5, the drive module inside instruments box 33 includes five driving portions, and the first joint drive portion 311, second is closedIt saves driving portion 312, third joint drive portion 313, the 4th joint drive portion 314, whole driving portion 315 and is driven with the first jointFirst bourdon tube 3111 of the dynamic connection of portion 311, second spring pipe 3112, the third spring being connect with second joint driving portion 312Pipe 3121, the 4th bourdon tube 3122, the 5th bourdon tube 3131, the 6th bourdon tube being connect with third joint drive portion 3133132, the 7th bourdon tube 3141, the 8th bourdon tube 3142 being connect with the 4th joint drive portion 314.Five joint drive portions are realTwo clip self-movements, lateral tilting pendular motion, lifting movement and the turnover movement five of flexible surgical instrument front end 31 are showedThe movement of degree of freedom.
First to fourth joint drive structure in the present embodiment is similar, and by taking the first joint drive portion 311 as an example, first closesIt includes the identical driving unit of two groups of structures to save driving portion 311, is all made of stndon sheath (tendon sheath) type of drive.ReferenceShown in Fig. 6, the first bourdon tube 3111 is fixedly connected with first terminal 3113, and second spring pipe 3112 is fixed with Second terminal 3114Connection, first terminal 3113, Second terminal 3114 and conducting wire wheel support 3110 are fixed, the first guide roller 3115, the second guide roller3116 are connect by axis pin with guide wheel bracket 3110；First driving rope the 3117, second driving rope 3118 is respectively from the first springPipe 3111, second spring pipe 3112 be pierced by after be wound on after the first guide roller 3115, the second guide roller 3116 respectively first aroundDrum 3119, the second wire spool 3120 winding slot on, on the first wire spool 3119, the second wire spool 3120 all have notchOne, notch 2 in one offside of notch is set, first the 3117, second driving of driving rope rope 3118 is through the first wire spool 3119, theIt is fixed at terminal counterbore after the notch one of the arrival offside of notch two on two wire spools 3120.This winding mode can be effectiveImprove driving rope end portion is stressed directly situation and stress size.
First wire spool 3119 is identical with the structure of the second wire spool 3120, as shown in figs. 7 a and 7b, with the first coilingFor disk 3119, there are three arc-shaped slots 3193 of even circumferential distribution on the first wire spool 3119, the first notch 3191, setSet the second notch 3192 in 3191 offside of the first notch, winding slot 3190, terminal counterbore 3194 and the first rubbing surface 3195.First driving rope 3117 is through the first bourdon tube 3111, the first guide roller 3115, winding slot 3190, the second notch 3192, the first slotAfter mouth 3191, it is finally fixed at terminal counterbore 3194.When needing tensioning the first driving rope 3117, gear shaft can be kept notIt is dynamic, the first wire spool 3119 is circumferentially rotated, after driving to be tensioned is restricted, with screw by the first wire spool at arc-shaped slot 31933119 compress with gear shaft 390 at the first rubbing surface 3195.
The hand of spiral of two wire spools 3119,3120 in same joint is opposite so therefore tension direction is also on the contrary, canEnsure gear shaft when being rotated toward a direction driving rope on one side be to move into state, the driving rope on the wire spool of the other side be aroundDo well, and the driving rope on two wire spools move into it is identical with the amount that lays out.This structure not only has two-way tensioningFunction, and ensure that two driving ropes in joint are tensioning state always during joint motions, reduce in structureThe hysteresis phenomenon of rope driving.
As figures 8 a and 8 b show, sprocket drive spindle 390, tooth is arranged in the first wire spool 3119,3120 centre of the second wire spoolThere are the second rubbing surface 3900 in 390 both sides of wheel shaft respectively, there is 10 threaded holes that even circumferential is distributed on the second rubbing surface 39003901, there are symmetrical axial plane one and axial plane two on gear shaft 390, axial plane one is used for and the centre bore of wire spool coordinates, axisFace two and the spring bearing inner ring of gear shaft 390 coordinate.Driving rope tensioning during, no matter wire spool opposed gear axisThe 390 great angles of rotation, total energy ensure that at least six threaded hole 3901 can be used for wire spool being locked at the of gear shaft 390On two rubbing surfaces 3900, therefore, which has the characteristics that coupling mechanism force is big, locking is secured, and is wanted to the length of rope lengthAsk not high.Two wire spools of every group of driving unit can be circumferentially rotated relative to gear shaft 390.In the present embodiment, when needWhen being tensioned driving rope 3117,3118, gear shaft 390 is motionless, circumferentially rotates wire spool 3119,3120, driving rope to be tensioned3117, after 3118, wire spool 3119,3120 compressed on the second rubbing surface 3900 of gear shaft 390 by screw reach byThe purpose of corresponding 3117,3118 tensioning of driving rope.
Whole driving portion 315 is illustrated in figure 9 in the present embodiment, and whole driving portion 315 includes flexible arm 32 and central shaft350, flexible arm 32 includes more bourdon tubes and center limb 351, has the center coordinated with center limb 351 on central shaft 350Through-hole, center limb 351 are mounted in the central through hole of central shaft 350, and one end of central shaft 350 is semicircle profile shaft；Central shaftFirst end cover 352, second end cover 353, first bearing bearing 354, gear 356, second bearing bearing 355 are installed outside 350.Tool has threaded hole corresponding with two through-holes, first end cover there are two through-hole in first end cover 352 in second end cover 353352 be connected by screw with second end cover 353 together with, the two clamps central shaft 350 and center limb 351, to by centerLimb 351 is fixed with central shaft 350 at semicircle profile shaft, therefore can be with center limb 351 1 when central shaft 350 rotatesIt rises and rotates synchronously.Center limb 351 uses Nitinol pipe, and central shaft 350 is stainless steel, and the two should not be directly welded and fixed.
As shown in Figure 10, one end of central shaft 350 is semicircle profile shaft 3501, is semicircle profile shaft successively along central shaft 3503501, the second axial plane 3503 coordinated with the first axial plane 3502 of bearing inner race cooperation and gear 356.Gear 356 and centerAxis 350 consolidates, therefore gear 356 declines drive central shaft 350 in the rotation of external force and center limb 351 rotates together, centerLimb 351 is rigid flexible structure, therefore can transmit torque and push-pull effort, and then finally realizes flexible surgical instrument front end31 turnover campaign.
Figure 11 show the structural schematic diagram of instrument flexibility surgical instrument front end 31.Flexible surgical instrument front end 31 is by pressing from both sidesSon 1, clip 2 321, sideway joint 331, lifting joint 341 and joint pedestal 301 form.It is driven by two in each jointThe positive counter-movement in each joint is realized in running rope driving.Clip 1, clip 2 321, sideway joint 331, lifting joint 341 4The movement of a part needs four joint drive portions, eight driving ropes altogether.Driving rope needed for joint motions and the arthrodesisConnection；The bourdon tube driven needed for rope and the latter arthrodesis in each joint, the bullet driven needed for rope in lifting joint 341Reed pipe is fixed with joint pedestal 301.Flexible surgical instrument front end 31 articulate driving rope on the circular arc of same Radius,Therefore the driving in all joints theoretically belongs to Linear Driving.For realizing the center limb 351 of flexible arm 32 and jointPedestal 301 is fixedly connected, therefore the push-and-pull campaign on each joint energy Delivery Center limb 351 of flexible surgical instrument front end 31And twist motion.A certain number of ring flanges 3510 are distributed in intermittent on center limb 351, and circumferential direction is equal on ring flange 3510Even that 8 circular through holes are distributed with, the bourdon tube needed for flexible surgical instrument front end 31 is logical uniformly across the circle of ring flange 3510Hole.The effect of ring flange 3510 also reduces during shaft rotation other than the distribution of limited spring pipe between Outer TubeRub force effect, while also ensuring and realizing preferable straight line fortune under the action of center limb 351 can effectively transmit push-pull effortIt is dynamic.
In conjunction with shown in Figure 12 a and Figure 12 b, the both sides of ring flange 3510 are distributed that there are one casing 3511, casings 3511 respectivelyOn there is 3512 hole of axis pin, casing 3511 to be consolidated by axis pin 3512 with center limb 351.Axis pin 3512 and the welding of casing 3511 are solidIt is fixed.This mode can not only make center limb 351 have the ability for transmitting torque and pressure well, while solve centerLimb 351 and ring flange 3510 are because of the bad problem of welding effect that the problem of material and technique generates.
By Figure 13 and 14 it is found that flexibility surgical instrument driving unit 4 provided in this embodiment, includes consumption successively from top to bottomMaterial contact layer 41, driving body layer 42, mobile platform layer 43 and mobile foundation layer 44；Consumptive material contact layer 41, driving body layerIt is fixedly connected between 42 and mobile platform layer 23, is specifically fixedly connected in this embodiment by column；It is mobilePedestal layer 44 drives consumptive material contact layer 41, driving body layer 42 and mobile platform layer by driving mobile platform layer 43 to slide43 carry out whole sliding.
As shown in Figure 15, consumptive material contact layer 41 includes the second bottom plate 410 and the first electricity being fixed on the second bottom plate 410Machine driver 421 is provided with multiple grooves 412 on second bottom plate 410, and the rack 424 on multiple drive components passes through groove412 drive instruments box 33 to move, and drive instruments box 33 to move specifically, rack 424 engages with the gear on instruments box 33；Consumptive materialThe first motor 421 on the control driving body layer 42 of first motor driver 411 on contact layer 41 rotates.
As shown in Figure 16, it is provided with multigroup drive component on main body driving layer 42, it is preferred that the driving group in the present embodimentPart is 5 groups, and drive component drives instruments box 33 to move through consumptive material contact layer 41；Drive component bottom is provided with the first sliding block(not shown), the first sliding block are driven by being clamped with the first sliding rail (not shown) being fixed on the first bottom plate 420The sliding of drive component.
Specifically, drive component includes first motor 421 and rack 424, be fixed on the axis of first motor 421 aroundLine wheel 422 is wound with steel wire rope 423 on reel 422, and 423 both ends of steel wire rope are connected to 424 both ends of rack, steel wire rope423 one end is connected on one end of rack 424 around first pulley 426, and the other end of steel wire rope 423 is directly connected on rack 424The other end；424 lower section of rack is fixed with the first sliding block of the first sliding rail of connection.
Preferably, it is being respectively arranged with the first microswitch 429 outside the both ends of the rack 424 of glide direction, is realizingTo rack 424 move limit, prevent rack 424 advance during cause to flexible surgical instrument driving unit 4 otherStructure damages.
The first catch 426 is connected on the side of the rack 424 in vertical sliding motion direction, the first catch 426 blocks settingThe first optoelectronic switch 427 on the first bottom plate 420, the first catch 426 coordinate optoelectronic switch 427 to realize drive component movementInitial position determine, make drive component may be implemented under boot program position zero.
As shown in Figure 17, mobile platform layer 43 includes third bottom plate 430 and the second electricity being fixed on third bottom plate 430Machine driver 431 is opposite with the second motor driver 431 to be provided with pressing plate 433 and second on 430 side of third bottom plateCatch 432.
As shown in Figure 18, mobile foundation layer 44 includes the 4th bottom plate 440 and the second electricity being fixed on the 4th bottom plate 440Machine 441 is fixed with the second sliding rail 446 on the 4th bottom plate 440, the second sliding block 447 is connected on the second sliding rail 446, along secondIt is respectively arranged with the second microswitch 445 by 446 both ends of the second sliding rail of 447 glide direction of sliding block, realizes the second sliding block 447Limit in glide direction prevents rack 424 from causing other knots to flexible surgical instrument driving unit 4 during advancingIt is configured to destroy.
One end of synchronous belt 442 is arranged on the axis of second motor 441, the other end of synchronous belt 442 is set in the second cunningOn wheel 446,442 one side of synchronous belt is fixed with the position of the second optoelectronic switch 444 and the second catch 432 on mobile platform layer 43Set corresponding, the second enabled catch 432 of the second optoelectronic switch 424 triggering, realization overall flexibility surgical instrument driving unit 4Initial position determination.
The whole initial bit of flexible surgical instrument driving unit 4 may be implemented using the second optoelectronic switch 444 in the present embodimentThe setting set makes the flexible surgical instrument in instruments box 33 be in and determines known position in combination with the first optoelectronic switch 427,The position of mobile foundation layer and drive component can be made to be zeroed respectively under boot program simultaneously, flexible surgical instrument is made to be inPreliminary examination state.
In conjunction with Figure 17 and Figure 18 it is found that the synchronous belt 442 of mobile foundation layer 44 is pressed by the pressing plate 433 of mobile platform layer 43Tightly, the second sliding block 443 of mobile foundation layer 44 is connect with the bottom of the third bottom plate 430 of mobile platform layer 43.Mobile platform layerThe second motor 441 rotation on the second motor driver 431 driving mobile foundation layer 44 on 43, the second motor 441 drive togetherIt walks band 442 to rotate, synchronous belt 442 is by pulling pressing plate 433 that mobile platform layer 43 is driven to slide along the second sliding rail 446.
It is fixedly connected between consumptive material contact layer 41, driving body layer 42 and mobile platform layer 43, specifically in this implementationIn example it is fixedly connected by column；Mobile foundation layer 44 drives consumptive material contact by driving mobile platform layer 43 to slideLayer 41, driving body layer 42 and mobile platform layer 43 carry out whole sliding.
Upper hierarchical structure is driven to drive flexible surgical instrument driving unit 4 by using the second motor 441 in the present embodimentEntirety, which does feed motion, realizes the feeding of flexible surgical instrument, to combine the drive component on driving body layer 42 to realizeThe multi-level feeding of flexible surgical instrument driving unit 4 of the invention.
Figure 19 is the structural schematic diagram of lifting unit 5 in the present embodiment, and wherein operating table surface 51 is fixed by screws inOn column 52, upper pillar stand 52 is nested in lower pillar stand 55, is connected with electric pushrod 56 therebetween, and lower pillar stand 52 passes through clamping block511 are fixed on pedestal 62, and operating table surface 51 can realize the adjusting of height under the impetus of electric pushrod 56, to meetThe demand of different height nurses, keeps operation more comfortable；Supporting plate 53 is fixed by screws in support plate 54, and support plate 54 passes throughPlum blossom handle is mounted on lower pillar stand 55, and can adjust its mounting height；Conduit mounting plate 510 is fixed on supporting plate 53, conduit58 carry the hollow pipe of flange for end, are mounted on conduit mounting plate 510 by bearing, and fixed ring 57 is used for restricted conduit 58Axial movement, clip 59 is used for being clamped and installed in accessory channel 2 on conduit 58, and line concentration hook 512 is used for collecting electric knife and noteThe instrument line of needle is penetrated, the instrument line temporarily taken less than in surgical procedure, which can coil into several circles, to be clamped with clip and be placed on line concentration hookOn 512, confusion is prevented.
Figure 20 show the clamping unit 7 in the present embodiment, and wherein grip slipper 71 is fixed on behaviour by 4 support posts 73Make the leftward position of table top 51, the Internal periphery of injection needle block 716 is identical with the outer profile of injection needle 715, injection needle block 716It is fixed by screws on grip slipper 71, injection shank 715 can be placed in injection needle block 716, and use lever 714It is the movable part of injection needle to prevent its abjection, injection needle piston rod 717, in the groove of injection needle sliding block 719 and is madeIts abjection, injection needle sliding block 719 is prevented to be fixed by screws on sliding block mounting plate 718 with piston lever 720, set lever713 ends are threaded, and are assemblied in the left end of sliding block mounting plate 718, and set lever 713, which is used for adjusting injection needle sliding block 719, to existRelease and locking are simultaneously realized in position on grip slipper 71, to control the outreach on injection needle head, can lock when not in useIn home, injection needle head is avoided to damage human body, the front end of syringe 72 is mounted on injection needle piston rod 717In mounting hole, for the liquid needed in injection operation；78 mandril bearing 75 of electric knife block is fixed by screws in grip slipper 71On, the rear end of electric knife bar 711 is sleeved on electric knife block 78, and pushes electric knife apical ring 77 to realize to electricity by rotating mandril handle 76The rear end clamping action of knife bar 711, a pair of of clip 712 are used for clamping the front end of electric knife bar 711, the displacement distance of electric knife apical ring 77It can be adjusted with the folding size of clip 712, to adapt to different shape, various sizes of electric knife, electric knife ring 710 is nested inIt is the movable part of electric knife on electric knife bar 711, electric knife ring slide 79 and slide mounting plate 74 are installed together by screw, electricityTwo holes of knife ring 710 are respectively fitted over the outside of two electric knife ring slides 79, and set lever 713 is assemblied in slide mounting plate 74Left end, the set lever 713 are used for adjusting position of the electric knife ring slide 79 on grip slipper 71 and realize release and locking, toThe outreach for controlling electric knife head, can be locked at home, electric knife head is avoided to damage human body when not in use.
The clamping unit 7 of the present embodiment be used for substitute nurse realize electric knife and syringe fixation, have it is easy to operate, makeThere is stronger versatility with the advantage of safety, and to the syringe of electric knife of different shapes and different-diameter.
Above example, only preferred embodiments of the invention, be not to limit the scope of the present invention, therefore it is all according to the present inventionThe equivalent change or modification that the structure, feature and principle of claim is done should all be included in present patent application modelIn enclosing.