CN113180831A - Magnetic anchoring laparoscopic surgery robot - Google Patents
Magnetic anchoring laparoscopic surgery robotDownload PDFInfo
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- CN113180831A CN113180831ACN202110411332.9ACN202110411332ACN113180831ACN 113180831 ACN113180831 ACN 113180831ACN 202110411332 ACN202110411332 ACN 202110411332ACN 113180831 ACN113180831 ACN 113180831A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
Description
Technical Field
The invention relates to a minimally invasive surgery robot, in particular to a laparoscopic surgery robot, and specifically relates to a magnetic anchoring laparoscopic surgery robot which realizes positioning through magnetic adsorption.
Background
The minimally invasive surgery reduces the damage to the human body caused by the traditional surgery by opening a plurality of holes in the abdominal cavity of the human body, reduces the risk of postoperative complications, and shortens the time required by postoperative recovery of patients. In the operation process of the minimally invasive surgery, each surgical instrument is controlled by one independent mechanical arm, and each mechanical arm is introduced into a human body through the corresponding opening, so that a plurality of mechanical arms are arranged in the surgery process, a plurality of holes need to be formed in the human body, and the human body still has great damage.
How to reduce the number of the openings needed by the minimally invasive surgery and further reduce the damage of the surgery to the human body becomes a problem with great value.
Disclosure of Invention
The invention aims to solve the problems that the existing laparoscopic minimally invasive surgery process needs to provide an access channel for a laparoscope, so that more open holes are formed, and the surgery wound to a patient is larger, and designs a magnetic anchoring laparoscopic surgery robot which is adsorbed on the inner wall of an abdominal cavity by magnetic force.
The technical scheme of the invention is as follows:
a magnetically anchored laparoscopic surgical robot, comprising: the permanent magnet comprises a first permanent magnet and a second permanent magnet, and the first permanent magnet and the second permanent magnet enable the laparoscope to be fixed on the inner wall of the abdominal cavity through magnetic force;
the motor driving mechanism comprises a first motor and a second motor, the first motor transmits power to the driving rod through a first motor transmission gear I, a second motor transmission gear II, a third motor transmission gear, a fourth motor transmission gear, a fifth motor transmission gear, a sixth motor transmission gear, a seventh motor transmission gear and an eighth motor transmission gear, so that the driving rod moves back and forth along the driving center rod, and the second motor transmits power to the driving rod through the first motor transmission gear I and the second motor transmission gear, so that the driving rod rotates around the driving center rod;
the gear shifting mechanism comprises a first joint driving large wheel, a second joint driving large wheel, a third joint driving large wheel, a first joint driving rope wheel, a second joint driving rope wheel, a third joint driving rope wheel, a first self-locking elastic sheet, a second self-locking elastic sheet and a third self-locking elastic sheet;
in a self-locking state, the head of the first self-locking elastic sheet is positioned in a gear gap of a driving bull wheel of the third joint to prevent the driving bull wheel of the third joint from rotating, the head of the second self-locking elastic sheet is positioned in the gear gap of the driving bull wheel of the second joint to prevent the driving bull wheel of the second joint from rotating, and the head of the third self-locking elastic sheet is positioned in the gear gap of the driving bull wheel of the first joint to prevent the driving bull wheel of the first joint from rotating;
the transmission mechanism comprises a first joint driving rope, a second joint driving rope, a third joint driving rope, a first second joint transmission rope pulley, a second joint transmission rope pulley, a third second joint transmission rope pulley, a fourth second joint transmission rope pulley, a fifth second joint transmission rope pulley, a sixth second joint transmission rope pulley, a first third joint transmission rope pulley, a second third joint transmission rope pulley, a third joint transmission rope pulley, a fourth third joint transmission rope pulley, a fifth third joint transmission rope pulley and a sixth third joint transmission rope pulley, wherein the second joint driving rope is connected with the second joint driving rope pulley and a rope pulley on a second joint of the operating arm through the second joint transmission rope pulley, and the third joint driving rope is connected with the third joint driving rope pulley and a rope pulley on a third joint of the operating arm through the third joint transmission rope pulley;
the operating arm comprises a first operating arm section, a second operating arm section and a third operating arm section, a camera and a lighting unit of the laparoscope are installed in the third operating arm section, the camera is connected with the computer through a data line, and shot images are displayed on a display of the computer in real time.
In the preferred magnetic anchoring laparoscopic surgical robot of the present invention, the first permanent magnet is located at the head of the magnetic anchoring laparoscopic surgical robot, the second permanent magnet is located at the tail of the magnetic anchoring laparoscopic surgical robot, and the first permanent magnet and the second permanent magnet are coupled to a magnet located outside the abdominal cavity and are adsorbed on the inner wall of the abdominal cavity through the magnetic laparoscope.
In a preferred magnetically-anchored laparoscopic surgical robot of the present invention, the first motor is configured to drive the driving rod to move back and forth along the driving center rod, and when a joint needs to be driven, the driving rod gear head is coupled to the corresponding driving large wheel by controlling the first motor, and the second motor is configured to drive the driving rod to rotate along the driving center rod, and at the same time, the driving large wheel coupled to the driving rod gear head is rotated.
In a preferred embodiment of the present invention, the two sides of the gear teeth of the drive large column gear part are not flush, and each gear tooth has a structure with a gradual progression from a tooth root to a tooth tip on the two sides, so that during the gear shifting process, the two gears do not abut when the drive rod gear head slides over the drive large wheel, and the drive rod gear head slides over the drive large wheel along the gradual progression of the structure on the drive large wheel.
In a preferred embodiment of the present invention, the first joint driving sheave and the first joint driving sheave are in gear engagement, the second joint driving sheave and the second joint driving sheave are in gear engagement, and the third joint driving sheave are in gear engagement. The first joint driving rope is connected with the first joint driving rope wheel and the rope wheel on the first section of the operating arm, and when the first joint is driven, the rope wheel on the first section of the operating arm and the first joint driving rope wheel synchronously rotate to enable the first joint to move; the second joint driving rope is connected with the second joint driving rope wheel and the rope wheel on the second section of the operating arm through the second joint transmission rope wheel, and when the second joint is driven, the rope wheel on the second section of the operating arm and the second joint driving rope wheel synchronously rotate to enable the second joint to move; and when the third joint is driven, the rope wheel on the third section of the operating arm and the third joint driving rope wheel synchronously rotate to enable the third joint to move.
In the preferred magnetic anchoring laparoscopic surgery robot of the present invention, the head of the driving rod is provided with an unlocking push rod, when a joint needs to be driven, the first motor drives the driving rod to move back and forth along the driving center rod, so that the gear head of the driving rod is coupled with the corresponding driving bull wheel, at this time, the unlocking push rod arranged on the driving rod pushes open the self-locking elastic piece preventing the driving bull wheel from rotating, so that the driving bull wheel is in a free state, and the other undriven driving bull wheels are still restricted by the self-locking elastic piece and cannot move.
In a preferred magnetically anchored laparoscopic surgical robot of the present invention, further comprising: the shell comprises a shell body, a first end cover and a second end cover, and the shell is used for supporting installation of the internal parts and protecting the internal parts.
The invention has the beneficial effects that:
the laparoscope is attached to the inner wall of the abdominal cavity through magnetic force, and a hole is not required to be opened on the abdominal cavity for the laparoscope during operation, so that the wound of the operation on a human body is reduced, the probability of occurrence of operation complications is reduced, and the time required by recovery of a patient is shortened. The operating arm of the laparoscope is driven by a rope, has stronger flexibility and smaller volume, and is suitable for being used in cooperation with other surgical instruments. The laparoscope adopts the gear shifting mechanism, one motor is used for driving gear shifting, and the other motor is used for providing power, so that the two motors can drive a plurality of degrees of freedom, and the motion requirement of the laparoscope is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of a magnetically anchored laparoscopic surgical robot provided in accordance with an embodiment of the present invention;
FIG. 2 is a first perspective view schematically illustrating a motor driving mechanism of the magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 3 is a structural diagram illustrating a second perspective view of a motor driving mechanism in the magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 4 is a first perspective structural view of a gear shifting mechanism in the magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 5 is a structural diagram illustrating a second perspective view of a shift mechanism in the magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 6 is a first perspective structural view of a transmission mechanism in the magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 7 is a structural diagram illustrating a second perspective view of a transmission mechanism in the magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention;
fig. 8 is a structural diagram illustrating a third perspective view of a transmission mechanism in a magnetically anchored laparoscopic surgical robot according to an embodiment of the present invention.
In the figure: 1-a first electric machine; 11-a first motor drive gear; 12-a first motor drive gear two; 13-first motor drive gear three; 14-first motor drive gear four; 15-a first motor drive gear five; 16-first motor drive gear six; 17-a first motor drive gear seven; 18-first motor drive gear eight; 19-a first motor drive gear carrier; 2-a second motor; 21-a second motor transmission gear I; 22-a second motor drive gear two; 3-a drive rod; 31-driving the center rod; 32-a guide bar; 33-unlocking the push rod; 34-a lock nut; 43-first joint driving large wheel; 42-second joint drive bull wheel; 41-third joint driving large wheel; 44-driving the center rod of the big wheel; 51-third joint drive sheave; 52-a second joint drive sheave; 53-a first joint drive sheave; 61-a first self-locking spring sheet; 62-a second self-locking elastic sheet; 63-a third self-locking elastic sheet; 64-a first self-locking spring plate bracket; 65-a second self-locking spring plate bracket; 66-a third self-locking spring plate bracket; 71-a second joint drive cord; 72-a third articulation drive line; 73-a first articulation drive line; 81-a third joint transmission rope wheel I; 82-a third joint drive sheave II; 83-third joint drive sheave three; 84-third joint drive sheave four; 85-a third joint transmission rope pulley V; 86-third joint drive sheave six; 91-a first second joint transmission rope pulley and 92-a second joint transmission rope pulley; 93-a second joint transmission rope pulley III; 94-second joint drive rope wheel four; 95-a second joint transmission rope pulley five; 96-second joint drive rope wheel six; 101-operating arm first section; 102-operating arm second section; 103-operating arm third section; 111-a housing; 112-a first end cap; 113-a second end cap; 121-a first permanent magnet; 122-second permanent magnet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1-8.
A laparoscopic surgical robot secured by magnetic force, comprising: permanent magnets including a firstpermanent magnet 121, a secondpermanent magnet 122; the laparoscope is fixed on the inner wall of the abdominal cavity through the magnetic force borne by the permanent magnet;
the motor driving mechanism comprises afirst motor 1, a firstmotor transmission gear 11, a first motortransmission gear second 12, a first motortransmission gear third 13, a first motortransmission gear fourth 14, a first motortransmission gear fifth 15, a first motortransmission gear sixth 16, a first motor transmission gear seventh 17, a first motor transmission gear eighth 18, a first motortransmission gear bracket 19, asecond motor 2, a second motor transmission gear first 21, a second motortransmission gear second 22, adriving rod 3 and adriving center rod 31, wherein the first motor is used for controlling the driving rod to move back and forth along the driving center rod so as to realize gear shifting, and the second motor enables the driving rod to rotate so as to provide power for joint movement of an operating arm;
the gear shifting mechanism comprises a resisting mechanism and a resisting mechanism, wherein the resisting mechanism comprises anunlocking push rod 33, alocking nut 34, a first driving large wheel 41, a second drivinglarge wheel 42, a third drivinglarge wheel 43, a driving largewheel center rod 44, a third jointdriving rope wheel 51, a second jointdriving rope wheel 52, a first jointdriving rope wheel 53, a first self-lockingelastic sheet 61, a second self-lockingelastic sheet 62 and a third self-lockingelastic sheet 63, when a certain joint needs to be driven, afirst motor 1 enables adriving rod 3 to move back and forth along adriving center rod 31, a gear head of thedriving rod 3 is coupled with the corresponding driving large wheel, theunlocking push rod 33 arranged on thedriving rod 3 can push away the self-locking elastic sheet at the corresponding driving large wheel, and the driving large wheel is in a movable state and can be driven by the driving rod;
the transmission mechanism comprises a firstjoint driving rope 73, a secondjoint driving rope 71, a thirdjoint driving rope 72, a first third jointtransmission rope pulley 81, a second third joint transmission rope pulley 82, a third joint transmission rope pulley 83, a fourth third joint transmission rope pulley 84, a fifth third jointtransmission rope pulley 85, a sixth third jointtransmission rope pulley 86, a first second joint transmission rope pulley 91, a second jointtransmission rope pulley 92, a third second jointtransmission rope pulley 93, a fourth second jointtransmission rope pulley 94, a fifth second jointtransmission rope pulley 95 and a sixth second jointtransmission rope pulley 96, the driving rope is connected with the driving rope pulley and the rope pulley at the joint through the transmission rope pulley, and the rotation of the driving rope pulley is transmitted to the joint to enable the joint to move;
the operation arm comprises an operation armfirst section 101, an operation armsecond section 102 and an operation armthird section 103, a camera and a lighting unit of the laparoscope are located in the operation armthird section 103, the image shot by the camera is conducted to a computer located outside the abdominal cavity through a data line, and the image shot by the camera is displayed on a computer display screen in real time. The operating arm of the laparoscope is driven by a rope, has stronger flexibility and smaller volume, and is suitable for being used in cooperation with other surgical instruments. The laparoscope adopts the gear shifting mechanism, one motor is used for driving gear shifting, and the other motor is used for providing power, so that the two motors can drive a plurality of degrees of freedom, and the motion requirement of the laparoscope is met.
In the preferred magnetic anchoring laparoscopic surgery robot of the present invention, the firstpermanent magnet 121 is located at the head of the magnetic anchoring laparoscopic surgery robot, the secondpermanent magnet 122 is located at the tail of the magnetic anchoring laparoscopic surgery robot, the laparoscope is first introduced into the human body with forceps during surgery, a magnetic device is placed outside the human body, the firstpermanent magnet 121 and the secondpermanent magnet 122 are coupled to a magnet located on an external magnetic device outside the abdominal cavity, and the laparoscope is adsorbed on the inner wall of the abdominal cavity by the magnetic force, when the magnetic device located outside the abdominal cavity is moved, the laparoscope moves with the movement of the external magnet, and when the external magnetic device is rotated, the laparoscope rotates with the rotation of the external magnet;
in the preferred magnetic anchoring laparoscopic surgical robot of the present invention, thefirst motor 1 is used to drive thedriving rod 3 to move back and forth along thedriving center rod 31, when a joint needs to be driven, the driving rod gear head is coupled to the correspondingdriving center rod 31 by controlling thefirst motor 1, thesecond motor 2 is used to drive thedriving rod 3 to rotate along thedriving center rod 31, and when the driving rod gear head is coupled to the driving center rod, thesecond motor 2 is activated to rotate the driving center rod coupled to the driving rod gear head.
In a preferred embodiment of the invention, the two sides of the gear teeth of the drive spur gear section are not flush, and each gear tooth has a structure that is progressive from the tooth root to the tooth tip on both sides, so that during a gear shift, the drive spur gear head will not be held by the drive spur gear head as it slides over the drive spur gear, and the drive spur gear head will slide over the drive spur gear along the progressive structure on the drive spur gear.
In the preferred embodiment of the present invention, the head of thedriving rod 3 is provided with anunlocking push rod 33, when the driving rod gear head is coupled with the driving bull wheel, theunlocking push rod 33 pushes away the self-locking elastic sheet which prevents the driving bull wheel from rotating, so that the driving bull wheel is in a movable state, and the driving bull wheel which is not coupled with the driving rod gear head is still limited by the self-locking elastic sheet and can not rotate.
In the preferred embodiment of the present invention, the firstjoint driving rope 73 connects the first jointdriving rope pulley 51 and the rope pulley on thefirst section 101 of the operating arm, when the gear head of the driving rod is coupled with the first joint drivinglarge pulley 43, thedriving rod 3 rotates to drive the first joint drivinglarge pulley 43 to rotate, the first joint drivinglarge pulley 43 rotates to drive the first jointdriving rope pulley 53 to rotate, the firstjoint rope pulley 53 rotates to drive thefirst section 101 of the operating arm to rotate, causing the deflection motion of the first joint, so when the gear is shifted to drive the first joint, the first joint can be driven to move by controlling thesecond motor 2;
the secondjoint driving rope 71 is connected with the second jointdriving rope pulley 52 and the rope pulley on thesecond joint 102 of the operating arm through a second joint transmission rope pulley, the second joint is of a structure similar to a universal joint, when the gear head of the driving rod is coupled with the second joint drivinglarge wheel 42, thedriving rod 3 rotates to drive the second joint drivinglarge wheel 42 to rotate, the second joint drivinglarge wheel 42 rotates to drive the second jointdriving rope pulley 52 to rotate, the secondjoint rope pulley 52 rotates to drive thesecond joint 102 of the operating arm to rotate, and deflection motion of the second joint is caused, so when the gear is shifted to drive the second joint, thesecond motor 2 is controlled to drive the second joint to move;
the thirdjoint driving rope 72 is connected with the third jointdriving rope pulley 51 and the rope pulley on thethird joint 103 of the operation arm through the third joint transmission rope pulley, when the gear head of the driving rod is coupled with the third joint driving big wheel 41, thedriving rod 3 rotates to drive the third joint driving big wheel 41 to rotate, the third joint driving big wheel 41 rotates to drive the third jointdriving rope pulley 51 to rotate, the third jointdriving rope pulley 51 rotates to drive thethird joint 103 of the operation arm to rotate, and the deflection motion of the third joint is caused, so when the gear is shifted to the third joint, the third joint of the laparoscopic robot can be driven to move by controlling the second motor.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (10)
1. A magnetically anchored laparoscopic surgical robot, comprising:
the permanent magnet comprises a first permanent magnet and a second permanent magnet, and the first permanent magnet and the second permanent magnet enable the laparoscope to be fixed on the inner wall of the abdominal cavity through magnetic force;
the motor driving mechanism comprises a first motor and a second motor, the first motor transmits power to the driving rod through a first motor transmission gear I, a second motor transmission gear II, a third motor transmission gear, a fourth motor transmission gear, a fifth motor transmission gear, a sixth motor transmission gear, a seventh motor transmission gear and an eighth motor transmission gear, so that the driving rod moves back and forth along the driving center rod, and the second motor transmits power to the driving rod through the first motor transmission gear I and the second motor transmission gear, so that the driving rod rotates around the driving center rod;
the gear shifting mechanism comprises a first joint driving large wheel, a second joint driving large wheel, a third joint driving large wheel, a first joint driving rope wheel, a second joint driving rope wheel, a third joint driving rope wheel, a first self-locking elastic sheet, a second self-locking elastic sheet and a third self-locking elastic sheet;
the transmission mechanism comprises a first joint driving rope, a second joint driving rope, a third joint driving rope, a first second joint transmission rope pulley, a second joint transmission rope pulley, a third second joint transmission rope pulley, a fourth second joint transmission rope pulley, a fifth second joint transmission rope pulley, a sixth second joint transmission rope pulley, a first third joint transmission rope pulley, a second third joint transmission rope pulley, a third joint transmission rope pulley, a fourth third joint transmission rope pulley, a fifth third joint transmission rope pulley and a sixth third joint transmission rope pulley, wherein the second joint driving rope is connected with the second joint driving rope pulley and a rope pulley on a second joint of the operating arm through the second joint transmission rope pulley, and the third joint driving rope is connected with the third joint driving rope pulley and a rope pulley on a third joint of the operating arm through the third joint transmission rope pulley;
the operating arm comprises a first operating arm section, a second operating arm section and a third operating arm section, a camera and a lighting unit of the laparoscope are installed in the third operating arm section, the camera is connected with the computer through a data line, and shot images are displayed on a display of the computer in real time.
2. The magnetically anchored laparoscopic surgical robot of claim 1, wherein said first permanent magnet is located at a head of the magnetically anchored laparoscopic surgical robot, said second permanent magnet is located at a tail of the magnetically anchored laparoscopic surgical robot, and said first permanent magnet and said second permanent magnet are coupled to a magnet located outside the abdominal cavity and are attached to an inner wall of the abdominal cavity by means of a magnetic laparoscope.
3. The magnetically anchored laparoscopic surgical robot of claim 1, wherein in a self-locking state, said first self-locking shrapnel head is in said third joint driving bull wheel gear gap to prevent said third joint driving bull wheel from rotating, said second self-locking shrapnel head is in said second joint driving bull wheel gear gap to prevent said second joint driving bull wheel from rotating, said third self-locking shrapnel head is in said first joint driving bull wheel gear gap to prevent said first joint driving bull wheel from rotating.
4. The magnetically anchored laparoscopic surgical robot of claim 1, wherein said first motor is configured to drive said driving rod to move back and forth along said central driving rod, and when a joint needs to be driven, said first motor is controlled to couple a driving rod gear head with a corresponding driving bull wheel, and said second motor is configured to drive said driving rod to rotate along said central driving rod, and simultaneously rotate the driving bull wheel coupled with said driving rod gear head.
5. The magnetically-anchored laparoscopic surgical robot according to claim 4, wherein an unlocking push rod is installed at the head of the driving rod, when a joint needs to be driven, the first motor drives the driving rod to move back and forth along the driving center rod, so that the gear head of the driving rod is coupled with the corresponding driving bull wheel, and at this time, the unlocking push rod installed on the driving rod pushes away the self-locking elastic piece preventing the driving bull wheel from rotating, so that the driving bull wheel is in a free state, and the other undriven driving bull wheels are still restricted by the self-locking elastic piece and cannot move.
6. The magnetically anchored laparoscopic surgical robot of claim 4, wherein said drive spur gear portion has teeth on both sides that are not flush, each tooth having a configuration that progresses from root to tip on both sides, such that during a gear shift, said drive spur gear head slides over said drive spur gear without both gears butting up against it, said drive spur gear head sliding over said drive spur gear along said configuration that progresses over said drive spur gear.
7. The magnetically anchored laparoscopic surgical robot of claim 1, wherein said first joint drive sheave is in gear engagement with said first joint drive sheave, said second joint drive sheave is in gear engagement with said second joint drive sheave, and said third joint drive sheave is in gear engagement with said third joint drive sheave; the first joint driving rope is connected with the first joint driving rope wheel and the rope wheel on the first section of the operating arm, and when the first joint is driven, the rope wheel on the first section of the operating arm and the first joint driving rope wheel synchronously rotate to enable the first joint to move; the second joint driving rope is connected with the second joint driving rope wheel and the rope wheel on the second section of the operating arm through the second joint transmission rope wheel, and when the second joint is driven, the rope wheel on the second section of the operating arm and the second joint driving rope wheel synchronously rotate to enable the second joint to move; and when the third joint is driven, the rope wheel on the third section of the operating arm and the third joint driving rope wheel synchronously rotate to enable the third joint to move.
8. The magnetically anchored laparoscopic surgical robot of claim 4, wherein when a joint is driven, the gear head of the driving rod is coupled to the corresponding driving bull wheel, the second motor is activated to rotate the driving rod, which drives the driving bull wheel coupled thereto to rotate, the driving bull wheel drives the driving rope wheel engaged with the gear thereof to rotate, the driving rope wheel transmits the rotation to a specific joint through the driving rope, and the driving joint generates a deflection motion.
9. The magnetically anchored laparoscopic surgical robot of claim 1, wherein said second and third joints on said manipulator arm are gimbal-like structures.
10. The magnetically anchored laparoscopic surgical robot of claim 1, further comprising a housing comprising a shell, a first end cap, a second end cap, said housing for providing support for mounting and protection of internal components.
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| CN202110411332.9ACN113180831A (en) | 2021-04-16 | 2021-04-16 | Magnetic anchoring laparoscopic surgery robot |
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| CN202110411332.9ACN113180831A (en) | 2021-04-16 | 2021-04-16 | Magnetic anchoring laparoscopic surgery robot |
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| CN101801284A (en)* | 2007-09-21 | 2010-08-11 | 机能医疗干预公司 | Surgical instrument |
| CN103582462A (en)* | 2012-04-26 | 2014-02-12 | 香港生物医学工程有限公司 | Magnetically anchored robotic system |
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| US20180221096A1 (en)* | 2016-08-16 | 2018-08-09 | Ethicon Endo-Surgery, Llc | Methods, systems, and devices for causing end effector motion with a robotic surgical system |
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