Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.
Fig. 1 is the structural schematic diagram of the main component of operating robot of the present invention.
Fig. 2 is the structural schematic diagram of the stamp card device in the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of the stamp unilateral clamping mechanism of card device in the embodiment of the present invention.
Fig. 4 is the overlooking structure diagram of the stamp unilateral clamping mechanism of card device in the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the stamp card mounting rack of the stamp unilateral clamping mechanism of card device in the embodiment of the present invention.
Fig. 6 is the schematic diagram of the stamp unilateral clamping mechanism of card device in the embodiment of the present invention being arranged close to switch.
Fig. 7 is the structural representation of the stamp card device in the stamp unilateral clamping mechanism of card device that the embodiment of the present invention is related toFigure.
Fig. 8 is the structural schematic diagram of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.
Fig. 9 is the structural schematic diagram of the stamp card mounting rack of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.
Figure 10 is pusher button and the buckle work for indicating the stamp bilateral clamping mechanism of card device in the embodiment of the present inventionThe schematic diagram of state.
Figure 11 is the pusher button working principle for illustrating the stamp bilateral clamping mechanism of card device in the embodiment of the present inventionSchematic diagram.
Figure 12 is signal when being observed from behind for illustrating the stamp bilateral clamping mechanism of card device in the embodiment of the present inventionFigure.
Figure 13 is the structural schematic diagram of the stamp card mounting rack of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.
Figure 14 is the structural schematic diagram of the stamp card device of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.
Appended drawing reference:
1: mechanical arm；2: slide unit；3: surgical instrument bodies；4,8: stamp card mounting rack；5,5A, 5B: stamp card device；6: operationInstrument front end；V: valve；M: tag line；M1: first identifier line；M2: second identifier line；M3: third tag line；RCM:RCM point(space fixed point when manipulator motion)；S1: position on skin layer；S2: position under skin layer；4B, 8B: rear shell；4U, 8U: solutionLock button；4H, 8H: buckle；4S, 8S, 80S: spring；4R, 8R: pusher button；4L, 8L: positioning groove；4UR: unblock button peaceHolding position；4HR, 8HR: buckle accommodating chamber；4RR: push rod mounting hole；4TR, 8TR: close to switch mounting hole；4F: fastening screw；4SW: close to switch；5L, 50L: locating piece；5H, 50H: chimb；8D: installation base；8RB: push rod；8RP: push rod mounting plate；8C: central axis；8P: column；H: hole；SF1, SF3: spring bearing surface；CB: control boss；SF2: pusher button bearing surface；8CH:Central shaft installing hole.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
In Fig. 1, the main component of operating robot according to the present invention is illustrated.The operating robot includes: useIn making surgical instrument need to carry out that space is mobile and the mechanical arm 1 of pendulum position according to operation, to the surgical procedure of surgical instrumentThe slide unit 2 controlled executes the surgical instrument bodies 3 that slide unit sending movement is indicated and is operated, into patient's bodyThe surgical instrument front end 6 of the surgical procedure inside performed the operation or monitoring, provides into the channel of patient's body simultaneously for surgical instrumentRealize the stamp card device 5 of positioning, and the stamp card mounting rack 4 that the connection of card device 5 will be stabbed and be clamped on 2 front end of slide unit.
As shown in Fig. 2, the stamp card device 5 in the embodiment of the present invention, mainly includes superposed installation cavity and be located atThe tube wall of lower part.Installation cavity is connect with stamp card mounting rack 4 by clamping mechanism on the left of diagram, and installation cavity also connects on the right side of diagramIt is connected to valve V, valve V can be used in that intracorporal hydrops or discharge gas is discharged to the external of stamp card device 5 in the course of surgeryBody etc..The installation cavity is mainly used for installing surgical instrument and laparoscopic instrument at an upper portion thereof, and surgical instrument and laparoscopic instrument are wornIt crosses inside tube wall and carries out observation and surgical procedure so as to enter patient's body.In the outer surface of the tube wall of stamp card device 5On, it is provided with tag line M, the stamp card device 5 for entering patient's body can be positioned by tag line M, to grasp stampThe insertion position of card device 5 and depth, to reach the requirement of operation.
The tag line M in preferred embodiment will be described in detail below.
In the preferred embodiment, there are three tag line M settings, respectively first identifier line M1, second are marked from top to bottomKnow line M2 and third tag line M3.First identifier line M1 is set to can expose to when stabbing card device 5 and being in normal mountingOutside the patient skin and position that can be arrived by direct visual perception.Second identifier line M2 is set to be in just in stamp card device 5It can often be buried completely when installation in (two dotted lines S1, S2 in the skin layer position such as figure when normal mounting in skin layer positionBetween shown region, S1 be skin layer on position, S2 be skin layer under position), third tag line M3 be set to stamp card device 5In the position that patient's body can be arrived by endoscopic observation when in normal mounting.First identifier line M1, second identifier line M2It can be adjusted according to actual needs with specific setting position those skilled in the art of third tag line M3, not do position hereinThe specific restriction set.Setting in this way can satisfy every time the accurate setting and depth of the insertion position to stamp card deviceDegree reaches consistent.
Preferably, in tag line M, such as one of first identifier line M1, second identifier line M2 and third tag line M3Or it is multiple, it can be in all shape settings along the outside of the tube wall of stamp card device 5.Setting in this way, can make operator fromAll angles can be clearly observed the location of tag line, to grasp insertion depth and the position of stamp card device 5.
Preferably, tag line M is set to the front of the tube wall of stamp card device 5.By the way that tag line M is set to tube wall 2Front is met in actual use near patient skin, grasps stamp card and the observation to tag line extremely convenientlyThe insertion depth of device and position.
Preferably, tag line is solid black lines.Setting in this way can have preferable to tag line under light of performing the operationVisual effect.
Preferably, second identifier line M2 is greater than first identifier line M1 and third in the width of the tube wall axial direction of stamp card device 5Tag line M3.Setting in this way promptly can distinguish each tag line in insertion, by relatively thick theTwo tag lines 2 are arranged in patient skin layer position, avoid the mistake because accidentally knowing with causing setting position due to confounding line.ThisOutside, the position of second identifier line M2 is also the position of RCM point (space fixed point when manipulator motion), by setting RCM pointAt second identifier line M2, patient body can be made to avoid the excessive mechanical action near skin incision in operative processAt injury, while it can guarantee the stabilization of operation all day.
Next, being illustrated referring to Fig. 3 to Fig. 7 to the stamp unilateral clamping mechanism of card device.
Fig. 3 is the structural schematic diagram of the stamp unilateral clamping mechanism of card device in the embodiment of the present invention.Wherein, the present embodimentIn stamp card device 5A be stamp card device applied to unilateral clamping mechanism, clamping mechanism is only set as buckle 4H as shownAt one, unblock button 4U is used to press when that will stab card device 5A and be engaged with stamp card mounting rack 4, so as to release to such asThe locking of the movement of mechanical arm 1 shown in FIG. 1 makes the slide unit 2 for being installed on 1 end of mechanical arm can be dragged.Specifically, the unlockControl is by the way that unblock button 4U to be connected with the control button for being set to mechanical arm 1, by pressing/pine to unblock button 4UIt opens, issues signal to the control button of mechanical arm 1, realize the unlock/lock to mechanical arm 1.When unlock, mechanical arm can be realized1 freely dragging makes to stab card device 5A by the stamp installation of card mounting rack 4 fixed to mechanical arm 1 to reach driving machinery arm 1Purpose on slide unit 2.
In the side of the separate stamp card device 5A of stamp card mounting rack 4, it is provided with such as bolt and is fixed on stamp card installationRear shell 4B on frame 4, for the side to separate the stamp card device 5A for being set to stamp card mounting rack 4 be arranged close to switch 4SWComponents such as (as shown in Figure 6) are protected and are blocked.As shown in Figures 4 to 7, it is embedded in by the way that the locating piece 5L of card device 5A will be stabbedIt is positioned into the positioning groove 4L of stamp card mounting rack 4 and the buckle 4H being set on stamp card mounting rack 4 is clamped in stampThe chimb 5H (as shown in Figure 7) for setting the side setting of 5A is engaged, and realizes stamp card device 5A being clamped on stamp card mounting rack 4On.At this point, buckle 4H is only arranged at the unilateral of stamp card mounting rack 4, therefore the clamping mechanism is known as unilateral clamping mechanism.
Fig. 4 is the overlooking structure diagram of the stamp unilateral clamping mechanism of card device in the embodiment of the present invention.Buckle 4H'sOne end is for example hook-shaped, and is stretched out to the direction that will stab card device 5A, and the other end is connect with pusher button 4R, pusher button 4RIt is connected for example, by being threadedly coupled with one end of the separate stamp card device 5A of buckle 4H.Pusher button 4R button and with buckleBetween the interconnecting piece of 4H connection, it is provided with spring 4S, the one end spring 4S is connected on the end face of pusher button 4R, and the other end abutsIn on the connected end face buckle 4H, in spring 4S, it is inside inserted with push rod and by push rod connection pusher button 4R and buckle 4H.Block in stampMounting rack 4 is additionally provided with positioning groove 4L close to the side of stamp card device 5A.
When being engaged, one hand of operator catches the stamp card mounting rack 4 of the end of slide unit 2, one, the palmFinger pins the unblock button 4U being unlocked to mechanical arm 1 on 4 right side of stamp card mounting rack, makes the end for being installed on mechanical arm 1Slide unit 2 can be dragged, another finger pins the pusher button 4R in stamp card mounting rack 4 left side, and push rod is pushed to keep push rod anotherThe buckle 4H of side is past to move right.Operator's another hand holds the stamp card device 5A for being installed on patient body-surface at this time, and two hands closePower stabs the head for stabbing card device 5A locating piece 5L insertion outstanding among the positioning groove 4L of 4 end face of card mounting rack, to the twoIt catches the palm of stamp card mounting rack 4 to unclamp the pusher button 4R on the left of it after closing up, makes push rod and buckle 4H in spring forceIt is past under effect to move left.The buckle front end 4H is embedded at this time in the slot of the stamp side card device 5A, to prevent stamp card device 5A from being dragged againOut.By locating piece 5L and the mating reaction of 4H is buckled at this time, ensure that stamp card device 5A and slide unit 2 are reliably connected, avoidStress falls off stamp card device 5A in the course of surgery.
When operation is completed to need to dismantle stamp card device 5A, the similar above action process, two hand of operator is grabbed respectivelyFirmly stamp card mounting rack 4 and stamp card device 5A, pressing push rod makes to buckle the card slot that 4H releases the stamp side card device 5A, while the other handRefer to that the unblock button 4U for pinning unlock mechanical arm 2 keeps mechanical arm 1 and slide unit 2 dragged, after buckling 4H and exiting completely, two handsCooperation makes to stab card device 5A and stamp card mounting rack 4 is completed to separate.
In Fig. 5, unblock button installation site 4UR, buckle accommodating chamber 4HR, push rod mounting hole 4RR are illustrated.In addition,4TR is close to switch mounting hole.The mounting means close to switch 4SW in stamp card mounting rack 4 is illustrated in Fig. 6, it is close to openThe induction end for closing 4SW is simultaneously connected with the control unit of slide unit 2 close to positioning groove 4L, the remotely located groove 4L in connecting pin, thus toThe control unit of slide unit 2 conveys signal.When stabbing card device 5A and not installing, close to the sensor not output signal of switch 4SW；Work as stampAfter card device 5A installation, due to being such as inductance type close to switch 4SW, there is magnetic metal in front end, so that close to switch 4SWIt generates signal and is supplied to system, allow system that can obtain the stamp mounted information of card device 5A.System grasp can as a result, be fixed onThe state whether the stamp card mounting rack on slide unit 2 has stamp card device 5A connected, avoids slide unit 2 by stamp card device 5A and patientIn the case where connection, 2 unlocking movement of front end trolley or mechanical arm, and generation the case where damaged to patient.Close to switch 4SWIt is fixed in stamp card mounting rack 4 by fastening screw 4F.
As shown in Figure 7, it is preferable that locating piece 5L is rectangular locating piece as shown in the figure, and positioning groove 4L is rectangular positioningGroove, such setting advantageously form firm and accurately positioning.
Next, being illustrated referring to Fig. 8 to Figure 13 to the stamp bilateral clamping mechanism of card device.
Fig. 8 is the structural schematic diagram of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.Wherein, the present embodimentIn stamp card device 5B be stamp card device applied to bilateral clamping mechanism, clamping mechanism is respectively arranged at as shown twoIt buckles at 8H two, unblock button 8U is used to press when that will stab card device 5B and be engaged with stamp card mounting rack 8, so as to solveExcept the locking to mechanical arm 1 as shown in Figure 1, make the slide unit 2 for being installed on 1 end of mechanical arm can be dragged.Specifically, the unlockControl is by the way that unblock button 8U to be connected with the control button for being set to mechanical arm 1, by pressing/pine to unblock button 8UIt opens, issues signal to the control button of mechanical arm 1, realize to the unlock/lock of mechanical arm 1, when unlock, mechanical arm can be realized1 freely dragging makes to stab card device 5B by the stamp installation of card mounting rack 8 fixed to mechanical arm 1 to reach driving machinery arm 1Purpose on slide unit 2.
In the side of the separate stamp card device 5B of stamp card mounting rack 8, it is provided with such as bolt and is fixed on stamp card installationRear shell 8B on frame 8, the unblock button 8U etc. for the side setting to the separate stamp card device 5B for being set to stamp card mounting rack 8Component is protected and is blocked.As shown in figure 8, connecting two sides with stamp card mounting rack 8 in stamp card device 5B is respectively arranged with one8H and chimb 50H is buckled, the positioning groove 8L for the stamp card mounting rack 8 that the locating piece 50L by that will stab card device 5B is embedded inThe middle buckle 8H for being positioned and being set on stamp card mounting rack 8 and the chimb 50H for the two sides setting for stabbing card device 5B are carried outEngaging is realized and stamp card device 5B is clamped on stamp card mounting rack 8.At this point, buckle 8H is set to the bilateral of stamp card mounting rack 4,Therefore the clamping mechanism is known as bilateral clamping mechanism.On stamp card mounting rack 8, clamped in the close stamp opposite with unblock button 8UThe side for setting 5B is provided with pusher button 8R, for operating to the engaging and relieving that buckle 8H.
Fig. 9 is the structural schematic diagram of the stamp card mounting rack of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.As shown in figure 9, pusher button 8R is set to the side towards stamp card device 8, spring 8S (compressed spring) is sheathed on push rod 8RBAnd one end is connected to pusher button 8R, and the other end is connected on push rod mounting plate 8RP, and push rod 8RB is perpendicular to push rod mounting plate8RP simultaneously passes through push rod mounting plate 8RP, and stamp card installation is fixed on by screw in one end of the separate push rod 8RB of push rod mounting plate 8RPOn the installation base 8D on 8 top of frame.
As shown in Figure 10, two buckle 8H are articulated in the two sides of pusher button 8R by central axis 8C, and spring 80S (is stretchedSpring) both ends the hook buckle 8H that is hooked in two sides respectively column 8P on (for the convenience integrally indicated, in Figure 10(A) in, the situation that spring 80S is not yet hooked on column 8P is illustrated).Buckle 8H as shown in (B) in Figure 10, in two sidesIn the state of closing up, pusher button 8R be in the effect by spring 80S elastic force and to the state that pushs towards of hooked end of buckle 8H,By being set to pusher button 8R and buckling the contact surface of 8H, close up buckle 8H.As shown in (C) in Figure 10, when needing to openWhen buckling 8H, by pushing pusher button 8R from close buckle 8H hooked end to the direction far from buckle, so that script and cardThe wedge-shaped slope of button 8H contact is stepped back away from the direction of buckle 8H, and is converted to the face parallel with push rod and is contacted with buckle 8H,It is opened to which the hooked end of 8H will be buckled.
During stabbing card device 5B and stamp card mounting rack 8 connects, one hand of operator catches the stamp of 2 end of slide unitCard mounting rack 8, one finger of the palm pin the unblock button 8U of 8 rear side of stamp card mounting rack unlocked to mechanical arm 1, make to installSlide unit in 1 end of mechanical arm can be 2 dragged, another finger pins the stamp positive pusher button 8R of card mounting rack 8, and promotion pushes awayBar 8RB retreats the block of push rod 8RB bottom bevel, the bullet for stretching the buckle 8H for stabbing 8 two sides of card mounting rack in rear endIt is opened under the action of spring 80S.Operator's another hand holds the stamp card device 5B for being installed on patient body-surface, two hands resultant force at this timeAmong the location hole 8L that the end face of the head card device 5B locating piece 50L insertion stamp card mounting rack 8 outstanding will be stabbed, close up to the twoThe palm of stamp card mounting rack 8 is caught to unclamp its front end pusher button 8R, the push rod 8RB under the action of spring 8S toward Forward laterIt is dynamic.The inclined-plane block of push rod bottom makes stamp 8 two sides of card mounting rack buckle 8H overcome spring force simultaneously, and the buckle front end 8H is clamped in stampIn the slot of card side, stamp card is prevented to be dragged out again.At this time by the mating reaction of locating piece 50L and buckle 8H, stamp card ensure thatDevice 8B and slide unit 2 are reliably connected, and avoiding stamp card device 5B, stress falls off in the course of surgery.
When operation is completed to need to dismantle stamp card device 5B, the similar above action process, two hand of operator is grabbed respectivelyFirmly stamp card mounting rack 8 and stamp card device 5B, pressing push rod 8RB opens two sides buckle 8H under spring force again, togetherWhen another finger pin unblock button 8U and keep mechanical arm 1 and slide unit 2 dragged, after buckling 8H and exiting completely, two hand cooperationsMake to stab card device 5B and stamp card mounting rack 8 is completed to separate.
Figure 11 is the pusher button working principle for illustrating the stamp bilateral clamping mechanism of card device in the embodiment of the present inventionSchematic diagram.Spring 8S is sheathed on push rod 8RB, and both ends are connected to spring bearing surface SF1 and push rod in control boss CB respectivelyOn mounting plate 8RP.Push rod 8RB is disposed through the hole H of push rod mounting plate 8RP and can axially move back and forth along push rod 8RB,Spring 8S mainly plays a part of pusher button 8R from by by resetting in the state of push rod mounting plate 8RP, therefore alternatively referred to asReset spring 8S.As shown in figure 11, screw hole is arranged in the upper end of push rod mounting plate 8RP, and can be fixed by screws in such as Fig. 9 instituteOn the installation base 8D being set on stamp card mounting rack 8 shown.Preferably, two screw holes are set along push rod mounting plate 8RP upper limbAnd by the fixed push rod mounting plate 8RP of two screws, push rod mounting plate 8RP can be sufficiently firmly fixed in this way, avoids occurringDislocation and the failures such as stuck occur for push rod 8RB and push rod mounting plate 8RP.
Figure 12 is signal when being observed from behind for illustrating the stamp bilateral clamping mechanism of card device in the embodiment of the present inventionFigure.Wherein, (A) expression in Figure 12 is equipped with push rod 8RB, buckle 8H, spring 8S (reset spring) and spring 80S and (stretchesSpring) state.Push rod 8RB, buckle 8H, spring 8S (reset spring) and spring 80S are not installed in (B) expression in Figure 12The state of (extension spring), SF2 indicate that the bearing surface on pusher button 8R is abutted with two pusher buttons on stamp card mounting rack 8Face SF2 is abutted.
Figure 13 is the structural schematic diagram of the stamp card mounting rack of the stamp bilateral clamping mechanism of card device in the embodiment of the present invention.8CH is center shaft mounting hole, i.e. buckle 8H is around the center axis rotation filled in this set of locations.8HR is buckle accommodating chamber, and buckle 8H existsPosition installation.8TR is close to switch mounting hole, and effect is identical as the switch mounting hole 4TR in Fig. 5, for installing inductionCard device 5B installation is stabbed, avoids slide unit 2 in the case where connecting by stabbing card device 5B with patient, front end trolley or mechanical arm 2Unlocking movement, and generation the case where damaged to patient.
As shown in figure 14, it is preferable that locating piece 50L is rectangular locating piece as shown in the figure, and positioning groove 8L is rectangular fixedPosition groove, such setting advantageously form firm and accurately positioning.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present inventionUnder, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rushProminent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to textsDisclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.