CN109806011B - Auxiliary operation device - Google Patents

Abstract

The invention relates to an auxiliary surgical device, which is installed on a support frame and includes: a first linear moving component that is manually driven to perform linear horizontal displacement in the transverse direction relative to the support frame; a second linear moving component that is The first linear moving component is provided on the first linear moving component and is manually driven to perform linear displacement in the vertical direction relative to the support frame; the third linear moving component is provided on the second linear moving component and is manually driven. linear displacement relative to the longitudinal direction of the support frame; a first rotating component, which is provided on the third linear moving component and is manually driven to rotate around a first axis perpendicular to the third linear moving component; A second rotating component is provided on the first rotating component and is manually driven to rotate around a second axis perpendicular to the first rotating component; a surgical tool end is fixed on the second rotating component . The above-mentioned auxiliary surgical devices can reduce the risk of contaminating the sterile field of minimally invasive surgery.

Description

auxiliary surgical device

Technical field

The invention relates to the field of medical instruments, and in particular to an auxiliary surgical device.

Background technique

In recent years, medical surgical methods have gradually developed towards minimally invasive surgeries with smaller wounds, such as spinal pedicle screw internal fixation, spinal nail implantation, vertebroplasty, disc/foraminal endoscopic surgery, and other orthopedic surgeries of the pelvis, limbs, etc. Operation. The advantages of minimally invasive surgery include small wounds, fast healing, less chance of infection and less blood loss.

In minimally invasive surgery, more and more auxiliary surgical devices are used by hospitals to perform surgical procedures. The surgical area of minimally invasive surgery needs to provide a sterile environment, and there are strict requirements for the sterility of auxiliary surgical devices. During the operation, since the auxiliary surgical device is manually operated by personnel, it will increase the risk of contaminating the surgical area. Therefore, there is a need to obtain better auxiliary surgical devices to reduce the risk of contaminating the sterile field.

Contents of the invention

The object of the present invention is to provide an auxiliary surgical device that can reduce the risk of contaminating the sterile area of minimally invasive surgery.

In order to achieve the above objects, the technical solutions of the present invention are:

An auxiliary surgical device, which is installed on a support frame and includes:

A first linear moving component that is manually driven to perform linear horizontal displacement in the transverse direction relative to the support frame;

A second linear moving component is provided on the first linear moving component and is manually driven to perform linear displacement in the vertical direction relative to the support frame;

A third linear moving component is provided on the second linear moving component and is manually driven to perform linear displacement in the longitudinal direction relative to the support frame;

A first rotating component, which is provided on the third linear moving component and is manually driven to rotate around a first axis perpendicular to the third linear moving component;

a second rotating component, which is provided on the first rotating component and is manually driven to rotate around a second axis perpendicular to the first rotating component;

The surgical tool end is fixed on the second rotating component.

Preferably, the surgical tool end is used as a surgical sterile area, and the distance between the surgical tool end and the manually driven area satisfies the distance between the surgical sterile area where the surgical tool end is located and the manually driven area. isolation between them.

Preferably, the first linear moving component has a first rail member and a first sliding member, wherein the first rail member is horizontally disposed on the support frame, and the first sliding member is provided on The first rail member is on the first rail member and is manually driven to move along the first rail member.

Preferably, the first sliding member is driven by a first manual drive assembly to move along the first rail member. The first manual drive assembly includes a first handwheel and a first movement conversion mechanism. The first movement The conversion mechanism converts the rotational motion of the first handwheel into the linear motion of the first slider,

The distance between the surgical tool end and the first handwheel is sufficient to form an isolation between the surgical sterile area where the surgical tool end is located and the first handwheel.

Preferably, the first motion conversion mechanism includes a first screw, the first handwheel is connected to one end of the first screw, and the first screw is threadedly engaged with the first slider.

Preferably, the second linear moving component is provided on the first sliding member and is in a linked relationship with the first sliding member, and has a second rail member and a second sliding member. The second rail The second sliding member is vertically disposed on the first sliding member, and the second sliding member is disposed on the second rail member and is manually driven to move along the second rail member.

Preferably, the second sliding member is driven by a second manual drive assembly to move along the second track member. The second manual drive assembly includes a second handwheel and a second motion conversion mechanism. The second motion conversion mechanism converts the rotational motion of the second handwheel into the linear motion of the second slider, and the distance between the surgical tool end and the second handwheel satisfies the operation requirement of the surgical tool end. An isolation is formed between the sterile area and the second handwheel.

Preferably, the second motion conversion mechanism includes a second screw and a bevel gear, the second handwheel is connected to one end of the second screw through the bevel gear, and the second screw is connected to the second screw. The two sliding parts are threaded to fit.

Preferably, the third linear moving component is provided on the second sliding member and is in a linked relationship with the second sliding member, and has a third rail member and a third sliding member. The third sliding member The third rail member is arranged on the second sliding member, the third rail member is arranged longitudinally and horizontally on the third sliding member, and the third rail member is manually driven along the defined direction with the third rail member. The three sliding parts move relative to each other.

Preferably, the third track member is driven by a third manual drive assembly in a defined direction and slides on the third sliding member to cause relative movement with the third sliding member. The third manual drive assembly It includes a third handwheel and a third motion conversion mechanism, and the third motion conversion mechanism converts the rotational motion of the third handwheel into the relative linear motion of the third rail member and the third sliding member, The distance between the surgical tool end and the third handwheel is sufficient to form an isolation between the surgical sterile area where the surgical tool end is located and the third handwheel.

Preferably, the third motion conversion mechanism includes a third screw, the third handwheel is connected to one end of the third screw, and the third screw is threadedly engaged with the third slider.

Preferably, the first rotating component is disposed on the third rail member and is in a linked relationship with the third rail member, and has a first base and a first rotating member, and the first base is fixed on the third track member, and the first rotating member is rotatably provided on the first base.

Preferably, the first rotating member is driven by a fourth manual drive component to rotate vertically relative to the first base. The fourth manual drive component includes a fourth handwheel and a fourth motion conversion mechanism, so The fourth motion conversion mechanism converts the rotational motion of the fourth handwheel into the rotational motion of the first rotating member, and the distance between the surgical tool end and the fourth handwheel satisfies the requirement of the surgical tool end. An isolation is formed between the surgical sterile area and the third handwheel.

Preferably, the fourth motion conversion mechanism includes a first transmission shaft, a coupling and a worm gear reducer, the fourth handwheel is connected to one end of the first transmission shaft, and the other end of the first transmission shaft passes through The coupling is connected to the worm gear reducer, and the first rotating member is connected to the output shaft of the worm gear reducer.

Preferably, the second rotating component is provided on the first rotating member and is in a linked relationship with the first rotating member, and has a second base and a second rotating member, and the second base is fixed on the first rotating member, and the second rotating member is rotatably provided on the second base.

Preferably, the second rotating member is driven by a fifth manual drive component to be able to swing back and forth relative to the second base. The fifth manual drive component includes a fifth handwheel and a fifth motion conversion mechanism, so The fifth motion conversion mechanism converts the rotational motion of the fifth handwheel into the reciprocating swing of the second rotating member, and the distance between the surgical tool end and the fifth handwheel satisfies the requirement of the surgical tool end. An isolation is formed between the surgical sterile area and the fifth handwheel.

Preferably, the fifth motion conversion mechanism includes a first synchronous pulley, a synchronous belt, a second synchronous pulley, a second transmission shaft, a first universal coupling, and a second universal coupling. The fifth hand wheel is connected to the first synchronous pulley, the first synchronous pulley is connected to the second synchronous pulley through the synchronous belt, and one end of the second transmission shaft passes through the first universal coupling. The shaft device is connected to the second synchronous pulley, and the second rotating member is connected to the other end of the second transmission shaft through a second universal coupling.

Preferably, an indexer is further provided between the second rotating member and the second universal coupling.

Preferably, the end of the surgical tool is provided with a lifting sliding component, and a positioner is provided on the lifting movable component.

The beneficial effects of the present invention are:

In the auxiliary surgical device of the present application, its first linear moving component is manually driven to make a linear horizontal displacement in the transverse direction relative to the support frame, and its second linear moving component is manually driven to move in a vertical direction relative to the support frame. The third linear moving component is manually driven to move linearly in the longitudinal direction relative to the support frame, and the first rotating component is manually driven to move around a first axis perpendicular to the third linear moving component. Rotate, its second rotating component is manually driven to rotate around a second axis perpendicular to the first rotating component, and its surgical tool end is fixed on the second rotating component. According to the above structure of the present application, it can Reduce the risk of contaminating the sterile field of minimally invasive surgery.

Description of the drawings

Figure 1a is a schematic diagram of an auxiliary surgical device according to an embodiment of the present invention;

Figure 1b is an enlarged view of part D of Figure 1a;

Figure 2 is a schematic diagram of the first linear movement component according to the embodiment of the present invention;

Figure 3 is a schematic diagram of the second linear movement component according to the embodiment of the present invention;

Figure 4a is a schematic diagram of the auxiliary surgical device in a rotationally locked state according to an embodiment of the present invention;

Figure 4b is an enlarged schematic diagram of part A of Figure 4a;

Figure 4c is a partially enlarged schematic diagram of A1 in Figure 4b;

Figure 5a is a schematic diagram of the auxiliary surgical device in a rotationally unlocked state according to an embodiment of the present invention;

Figure 5b is an enlarged schematic diagram of part B of Figure 5a;

Figure 6 is a schematic diagram of a third linear movement component according to an embodiment of the present invention;

Figure 7a is a schematic diagram of the first rotating component and the second rotating component according to the embodiment of the present invention;

Figure 7b is another schematic diagram of the first rotating component and the second rotating component according to the embodiment of the present invention;

Figure 8 is another schematic diagram of the auxiliary surgical device according to the embodiment of the present invention;

Figure 9a is another schematic diagram of the auxiliary surgical device according to the embodiment of the present invention;

Figure 9b is a partially enlarged schematic diagram of C in Figure 9a;

Figure 10a is another schematic diagram of the auxiliary surgical device according to the embodiment of the present invention;

Figure 10b is a partial enlarged schematic diagram of E in Figure 10a.

Detailed ways

Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

Embodiment 1

As shown in Figure 1a, it is an auxiliary surgical device, and the auxiliary surgical device can be installed on a support frame. The support frame can be made into a permanently fixed type or a movable type, such as an operating trolley, etc.

The auxiliary surgical device includes a first linear movement assembly 100 .

The first linear moving component 100 is manually driven to perform linear horizontal displacement in the transverse direction relative to the support frame. For example only, the transverse direction of the support frame may be the a direction shown in Figure 1a.

As shown in FIG. 2 , the first linear moving component 100 has a first rail member 110 and a first sliding member 120 , wherein the first rail member 110 is horizontally disposed on the support frame, and the first rail member 110 is disposed horizontally on the support frame. The first sliding member 120 is disposed on the first rail member 110 and is manually driven to move along the first rail member 110 .

As shown in Figure 1a, the first sliding member 120 is driven by a first manual drive component to move along the first track member 110. The first manual drive component includes a first handwheel 131 and a first motion conversion mechanism. 132. The first motion conversion mechanism 132 converts the rotational motion of the first handwheel 131 into the linear motion of the first slider 120. Wherein, the first motion conversion mechanism 132 includes a first screw 1321, the first handwheel 131 is connected to one end of the first screw 1321, the first screw 1321 and the first sliding member 120 Thread fit.

The auxiliary surgical device also includes a second linear movement assembly 200 .

The second linear moving component 200 is disposed on the first linear moving component 100 and is manually driven to perform linear displacement in a vertical direction relative to the support frame. For example only, the vertical direction of the support frame may be direction b shown in FIG. 1a.

The second linear moving component 200 is disposed on the first sliding member 120 and is in a linked relationship with the first sliding member 120 . The second linear moving component 200 has a second rail member 210 and a second sliding member 220. The second rail member 220 is vertically provided on the first sliding member 120, and the second sliding member 220 is vertically disposed on the first sliding member 120. The member 220 is disposed on the second rail member 210 and is manually driven to move along the second rail member 210 .

As shown in FIG. 3 , the second sliding member 220 is driven by the second manual driving component to move along the second track member 210 . The second manual driving assembly includes a second handwheel 231 and a second motion conversion mechanism 232 . The second motion conversion mechanism 232 converts the rotational motion of the second handwheel 231 into the second slider 220 linear motion. The second motion conversion mechanism 232 includes a second screw (not shown in the figure) and a bevel gear. The second handwheel 231 is connected to one end of the second screw 2321 through the bevel gear, so The second lead screw is threadedly engaged with the second sliding member 220 . There are two bevel gears, namely the first bevel gear 2322 and the first bevel gear 2323. The first bevel gear 2322 is fixedly connected to the axle of the second handwheel 221 and is driven to rotate by the second handwheel 221 . The second bevel gear 2323 is fixedly connected to one end of the second screw rod 2321.

The auxiliary surgical device also includes a third linear movement component 300 .

The third linear moving component 300 is disposed on the second linear moving component 200 and is manually driven to perform linear displacement in the longitudinal direction relative to the support frame. For example only, the longitudinal direction of the bracket may be the c direction shown in Figure 1a.

The third linear moving component 300 is disposed on the second sliding member 220 and is in a linked relationship with the second sliding member 220 .

As shown in FIG. 4a and FIG. 5a , the third linear moving component 300 has a third track member 310 and a third sliding member 320 . The third sliding member 320 is disposed on the second sliding member 220 , the third rail member 310 is horizontally disposed on the third sliding member 320 in a longitudinal direction, and the third rail member 310 extends along the It is manually driven to move relative to the third slider 320 in the direction c.

The third rail member 310 is driven by the third manual driving component along its defined direction c to slide on the third sliding member 320 to cause relative movement with the third sliding member 320 . The third manual driving assembly includes a third handwheel 331 and a third motion conversion mechanism 332. The third motion conversion mechanism 332 converts the rotational motion of the third handwheel 331 into an extension of the third rail member 310. Relative linear motion with the third sliding member 320 .

The third motion conversion mechanism 332 includes a third screw 3321. The third handwheel 331 is connected to one end of the third screw 3321. The third screw 3321 is threaded with the third slider 320. .

The auxiliary surgical device also includes a first rotation assembly 400 .

The first rotating component 400 is disposed on the third linear moving component 300 and is manually driven to rotate around a first axis 401 perpendicular to the third linear moving component 300 . For example, the first rotating component 400 can rotate around the first axis 401 in the direction d.

The first rotating component 400 is disposed on the third rail member 310 and is in a linked relationship with the third rail member 310 . The first rotating component 400 has a first base 410 and a first rotating member 420. The first base 410 is fixed on the third track member 310, and the first rotating member 420 is rotatably disposed. on the first base 410 .

The first rotating member 420 is driven by a fourth manual driving component to rotate vertically relative to the first base 410. The fourth manual driving component includes a fourth handwheel 431 and a fourth motion conversion mechanism 432. The fourth motion conversion mechanism 432 converts the rotational motion of the fourth handwheel 431 into the rotational motion of the first rotating member 420 .

As shown in Figure 6 in conjunction with Figure 1a, the fourth motion conversion mechanism 432 includes a first transmission shaft 4321, a coupling 4322 and a worm gear reducer 4323. The fourth handwheel 431 is connected to the first transmission One end of the shaft 4321 and the other end of the first transmission shaft 4321 are connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to the output shaft of the worm gear reducer 4323 .

The auxiliary surgical device also includes a second rotation assembly 500 .

The second rotating component 500 is disposed on the first rotating component 400 and is manually driven to rotate around a second axis 501 that is perpendicular to the first rotating component 400 . For example, the second rotating component 500 may rotate around the second axis 501 in the direction e.

The second rotating component 500 is disposed on the first rotating member 420 and is in a linked relationship with the first rotating member 420 .

As shown in Figure 1b, the second rotating component 500 has a second base 510 and a second rotating member 520. The second base 510 is fixed on the first rotating member 520 , and the second rotating member 520 is rotatably provided on the second base 510 .

As shown in FIG. 6 , combined with FIGS. 1a and 7b , the second rotating member 520 is driven by the fifth manual driving component and can swing back and forth relative to the second base 510 . The fifth manual driving assembly includes a fifth handwheel 531 and a fifth motion conversion mechanism 532 . The fifth motion conversion mechanism 532 converts the rotational motion of the fifth handwheel 531 into the rotational motion of the second rotating member 520 . Swing back and forth.

The fifth motion conversion mechanism 532 includes a first synchronous pulley 5321, a synchronous belt 5322, a second synchronous pulley 5323, a second transmission shaft 5324, a first universal coupling 5325, and a second universal coupling 5326. , the fifth handwheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, and the second transmission shaft One end of 5324 is connected to the second synchronous pulley 5323 through the first universal coupling 5325, and the second rotating member 420 is connected to the other end of the second transmission shaft 5324 through the second universal coupling 5326. connect.

An indexer is also provided between the second rotating member 420 and the second universal coupling 5326 .

The auxiliary surgical device also includes a surgical tool end 600.

The surgical tool end 600 is fixed on the second rotating component 500 .

The surgical tool end 600 is provided with a lifting sliding component, and a positioner is provided on the lifting movable component.

As shown in Figure 8, with the dividing line f as the boundary, the left side f1 is the surgical sterile area, and the right side f2 is the non-surgical sterile area. The surgical tool end 600 is used as a surgical sterile area, and the distance between the surgical tool end 600 and the manually driven area is the same as the surgical sterile area where the surgical tool end 600 is located and the manually driven area. isolation between them.

Specifically, the surgical tool end 600 may be located within area f2 in the surgical sterile area.

The distance between the surgical tool end 600 and the first handwheel 131 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the first handwheel 131 .

Moreover, the distance between the surgical tool end 600 and the second handwheel 231 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the second handwheel 231 .

Moreover, the distance between the surgical tool end 600 and the third handwheel 331 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 331 .

Moreover, the distance between the surgical tool end 600 and the fourth handwheel 431 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 431 .

Moreover, the distance between the surgical tool end 600 and the fifth handwheel 531 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the fifth handwheel 531 .

Embodiment 2

As shown in Figure 4a and Figure 5a, it is a mobile device used to assist surgical devices.

The moving device includes the second linear moving component 200 and the third linear moving component 300 described in Embodiment 1.

Wherein, the second linear moving component 200 is manually driven to perform linear displacement in the relative vertical direction b. The third linear moving component 300 is rotatably disposed on the second linear moving component 200 and is manually driven to linearly displace relative to the longitudinal direction c.

As shown in FIG. 8 , the third linear moving component 300 rotates to be parallel to the second linear moving component 200 in the length direction in the first state. As shown in FIG. 4a or FIG. 5a, the third linear moving component 300 rotates in the second state to be perpendicular to the second linear moving component 200 in the length direction.

The third linear moving component 300 has a third rail member 310 and a third sliding member 320. The third sliding member 320 is rotatably disposed on the third linear moving component 300. The third rail member 310 is in the form of The third rail member 320 is disposed longitudinally and horizontally on the third sliding member 320 , and the third rail member 320 is manually driven to move relative to the third sliding member 310 along its defined direction. The third sliding member 320 rotates to make the third track member 320 and the second linear moving component 200 substantially vertical in the length direction in the first state, and rotates to make the third sliding member 320 in the second state. The track member 320 is substantially parallel to the second linear moving component 200 in the length direction.

The second linear moving component 200 has a second rail member 210 and a second sliding member 220. The second sliding member 220 is provided on the second rail member 210 and is manually driven to extend along the second rail member 210. move.

The third sliding member 320 is rotatably disposed on the second sliding member 220 , and the third sliding member 320 is locked by a rotation locking mechanism 340 in the first state.

As shown in Figure 1a, the locking mechanism 340 includes a locking groove 341 and a locking pin 342. One of the locking groove 341 and the locking pin 342 is provided on the second sliding member 220. The other of 341 and the lock pin 342 is provided on the third sliding member 320. The lock pin 342 is inserted into the lock groove 341 to achieve rotational locking, and the lock pin 342 is separated from the lock groove 341 to achieve rotation. Unlocked.

The rotation locking mechanism 340 also includes an elastic member 343. The lock pin 341 overcomes the elastic force of the elastic member 343 and escapes from the lock groove 341, and is retained in the lock groove 341 under the elastic restoring force of the elastic member 343. .

As shown in Figures 4b, 4c and 10a, the rotation locking mechanism 340 further includes an unlocking piece 344, which is arranged substantially perpendicular to the movement direction of the lock pin 341. The unlocking piece 344 has a slope 3441, and the lock pin 341 has a corresponding sliding portion 3411. Through the cooperation of the slope 3441 and the sliding portion 3411, the movement of the unlocking piece 344 is converted into the lock pin. 341A movement generally perpendicular to this movement.

The number of the inclined surfaces 3441 is set to two, a notch 3442 is formed between the two inclined surfaces 3441, and the number of the sliding portions 3411 is correspondingly set to two. The two sliding parts 3411 are arranged on both sides of the lock pin 341 along the length direction. When the two inclined surfaces 3441 cooperate with the two sliding parts 3411 respectively, the lock pin 341 is at least partially accommodated in the notch 3422 .

The unlocking member 344 is fixed on the third rail member 310 and is in an interlocking relationship with the third rail member 310 .

The third track member 310 is driven by the third manual driving component along its defined direction and slides on the third sliding member 320 to cause relative movement with the third sliding member 320 . The third manual driving component includes a third handwheel 331 and a third motion conversion mechanism 332 . The third motion conversion mechanism 332 converts the rotational motion of the third handwheel 331 into the relative linear motion of the third rail member 310 and the third sliding member 320 .

The third motion conversion mechanism 332 includes a third screw 3321. The third handwheel 331 is connected to one end of the third screw 3321. The third screw 3321 is threaded with the third slider 320. .

The distance between the surgical tool end 600 and the third handwheel 331 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 331 .

As shown in FIGS. 4 b and 4 c , the third sliding member 320 rotates around a third axis 601 that is perpendicular to the second sliding member 220 . The third sliding member 320 is provided with a sixth handwheel 631. The third sliding member 320 and the third rail member 310 together revolve around the sixth handwheel 631 under the action of the driving force exerted on the sixth handwheel 631. The third axis 601 rotates.

The third axis 601 may be parallel to or coincident with the center line of the sixth handwheel 631 .

As shown in Figures 9a and 10a, a clutch mechanism 350 is provided between the second sliding member 220 and the third sliding member 320. As shown in Figures 9b and 10b, the clutch mechanism 350 includes a first fitting part 351 and a second fitting part 352. One of the first fitting part 351 and the second fitting part 352 is provided on the second sliding part 220. On the other hand, the other one of the first fitting part 351 and the second fitting part 352 is provided on the third sliding part 320 . Both the first fitting part 351 and the second fitting part 352 are provided with teeth. As shown in Figures 9a and 9b, in the engagement position, the teeth of the first fitting part 351 and the second fitting part 352 are received with each other.

As shown in FIGS. 4 b and 4 c , the center line of the clutch mechanism 350 is parallel to or coincides with the third axis 601 , and is parallel to or coincides with the center line of the sixth handwheel 631 .

Embodiment 3

This embodiment provides an auxiliary surgical device, which has the mobile device described in Embodiment 2.

The auxiliary surgical device includes a first linear movement assembly 100 .

The first linear moving component 100 is manually driven to perform linear horizontal displacement in the transverse direction relative to the support frame. For example only, the transverse direction of the support frame may be the a direction shown in Figure 1a.

The first linear moving component 100 has a first rail member 110 and a first sliding member 120, wherein the first rail member 110 is horizontally disposed on the support frame, and the first sliding member 120 It is disposed on the first rail member 110 and is manually driven to move along the first rail member 110 .

As shown in FIG. 2 , the first sliding member 120 is driven by a first manual drive component to move along the first track member 110 . The first manual drive component includes a first handwheel 131 and a first motion conversion mechanism. 132. The first motion conversion mechanism 132 converts the rotational motion of the first handwheel 131 into the linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first screw 1321 , the first handwheel 131 is connected to one end of the first screw 1321 , the first screw 1321 and the first sliding member 120 Thread fit.

The auxiliary surgical device also includes a first rotation assembly 400 .

The first rotating component 400 is disposed on the third linear moving component 300 and is manually driven to rotate around a first axis 401 perpendicular to the third linear moving component 300 . For example, the first rotating component 400 can rotate around the first axis 401 in the direction d.

The first rotating component 400 is disposed on the third rail member 310 and is in a linked relationship with the third rail member 310 . The first rotating component 400 has a first base 410 and a first rotating member 420. The first base 410 is fixed on the third track member 310, and the first rotating member 420 is rotatably disposed. on the first base 410 .

The first rotating member 420 is driven by a fourth manual driving component to rotate vertically relative to the first base 410. The fourth manual driving component includes a fourth handwheel 431 and a fourth motion conversion mechanism 432. The fourth motion conversion mechanism 432 converts the rotational motion of the fourth handwheel 431 into the rotational motion of the first rotating member 420 .

As shown in Figure 6 in conjunction with Figure 1a, the fourth motion conversion mechanism 432 includes a first transmission shaft 4321, a coupling 4322 and a worm gear reducer 4323. The fourth handwheel 431 is connected to the first transmission One end of the shaft 4321 and the other end of the first transmission shaft 4321 are connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to the output shaft of the worm gear reducer 4323 .

The auxiliary surgical device also includes a second rotation assembly 500 .

The second rotating component 500 is disposed on the first rotating component 400 and is manually driven to rotate around a second axis 501 that is perpendicular to the first rotating component 400 . For example, the second rotating component 500 may rotate around the second axis 501 in the direction e.

The second rotating component 500 is disposed on the first rotating member 420 and is in a linked relationship with the first rotating member 420 .

As shown in Figure 1b, the second rotating component 500 has a second base 510 and a second rotating member 520. The second base 510 is fixed on the first rotating member 520 , and the second rotating member 520 is rotatably provided on the second base 510 .

As shown in FIG. 6 , combined with FIGS. 1a and 7b , the second rotating member 520 is driven by the fifth manual driving component and can swing back and forth relative to the second base 510 . The fifth manual driving assembly includes a fifth handwheel 531 and a fifth motion conversion mechanism 532 . The fifth motion conversion mechanism 532 converts the rotational motion of the fifth handwheel 531 into the rotational motion of the second rotating member 520 . Swing back and forth.

The fifth motion conversion mechanism 532 includes a first synchronous pulley 5321, a synchronous belt 5322, a second synchronous pulley 5323, a second transmission shaft 5324, a first universal coupling 5325, and a second universal coupling 5326. , the fifth handwheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, and the second transmission shaft One end of 5324 is connected to the second synchronous pulley 5323 through the first universal coupling 5325, and the second rotating member 420 is connected to the other end of the second transmission shaft 5324 through the second universal coupling 5326. connect.

An indexer is also provided between the second rotating member 420 and the second universal coupling 5326 .

The auxiliary surgical device also includes a surgical tool end 600.

The surgical tool end 600 is fixed on the second rotating component 500 .

The surgical tool end 600 is provided with a lifting sliding component, and a positioner is provided on the lifting movable component.

Embodiment 4

As shown in Figure 1a and in combination with Figure 4a, this embodiment provides a rotation device for assisting a surgical device.

The rotating device includes a first rotating assembly 400 .

As shown in Figure 4a, the first rotating component 400 has a first base 410 and a first rotating component 420. The first rotating component 420 is driven by a fourth manual driving component (not shown in the figure) relative to the first rotating component 400. The first base 410 rotates vertically. The fourth manual drive assembly includes a fourth motion conversion mechanism 432 that converts the first rotational motion into the rotational motion of the first rotating member 420 .

As shown in Figure 6 in conjunction with Figure 1a, the fourth motion conversion mechanism 432 includes a first transmission shaft 4321, a coupling 4322 and a worm gear reducer 4323. The fourth handwheel 431 is connected to the first transmission One end of the shaft 4321 and the other end of the first transmission shaft 4321 are connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to the output shaft of the worm gear reducer 4323 .

In addition, the fourth manual driving assembly may further include a fourth handwheel 431 , and the fourth motion conversion mechanism 432 converts the rotational motion of the fourth handwheel 431 into the rotational motion of the first rotating member 420 . In other words, the first rotational movement may be the rotational movement of the fourth handwheel 431 .

The rotation device also includes a second rotation assembly 500 .

As shown in FIG. 6 , combined with FIG. 1a and FIG. 7b , the second rotating component 500 is disposed on the first rotating member 520 and is in a linked relationship with the first rotating member 520 . As shown in Figure 1b, the second rotating component 500 has a second base 510 and a second rotating member 520. The second base 510 is fixed on the first rotating member 520, and the second rotating member 520 is fixed on the first rotating member 520. The member 520 is driven by the fifth manual driving component and can swing back and forth relative to the second base 510 . The fifth manual driving assembly includes a fifth motion conversion mechanism 532 that converts the second rotational motion into a reciprocating swing of the second rotating member 520 .

Wherein, the fifth motion conversion mechanism 532 includes a first synchronous pulley 5321, a synchronous belt 5322, a second synchronous pulley 5323, a second transmission shaft 5324, a first universal coupling 5325, a second universal coupling 5326, the fifth handwheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, and the second One end of the transmission shaft 5324 is connected to the second synchronous pulley 5323 through the first universal coupling 5325, and the second rotating member 420 is connected to the second transmission shaft 5324 through a second universal coupling 5326. Connect the other end.

In addition, the fifth manual driving assembly may further include a fifth handwheel 531 , and the fifth motion conversion mechanism 532 converts the rotational motion of the fifth handwheel 531 into the reciprocating swing of the second rotating member 520 . In other words, the second rotational movement may be the rotational movement of the fifth handwheel 531; since the fifth handwheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 passes through The synchronous belt 5322 is connected to the second synchronous pulley 5323, so that the second synchronous pulley 5323 can rotate under the rotation of the fifth handwheel 531. Therefore, the second synchronous pulley 5323 can rotate. The rotational movement may also be the rotational movement of the second synchronous pulley 5323 .

As shown in FIG. 1a, taking the second rotational motion as the rotational motion of the fifth handwheel 531 as an example, the axis 502 of the second rotational motion and the axis of the rotational motion of the first rotating member 420 401 parallel.

Taking the second rotational motion as an example, the second rotational motion may be the rotational motion of the second synchronous pulley 5323 , and the axis 502 of the second rotational motion is the same as the axis 401 of the rotational motion of the first rotating member 420 .

As shown in Figure 7b, the axis of the axle 5300 of the second synchronous pulley 5323 is consistent with the axis of the output shaft 4300 of the worm gear reducer 4323, and the axle 5300 of the second synchronous pulley 5323 is from the The worm gear reducer 4323 passes through the output shaft 4300 .

Embodiment 5

This embodiment provides an auxiliary surgical device, which includes the rotation device described in Embodiment 4.

The auxiliary surgical device also includes a first linear movement assembly 100 .

The first linear moving component 100 is manually driven to perform linear horizontal displacement in the transverse direction relative to the support frame. For example only, the transverse direction of the support frame may be the a direction shown in Figure 1a.

The first linear moving component 100 has a first rail member 110 and a first sliding member 120, wherein the first rail member 110 is horizontally disposed on the support frame, and the first sliding member 120 It is disposed on the first rail member 110 and is manually driven to move along the first rail member 110 .

As shown in FIG. 2 , the first sliding member 120 is driven by a first manual drive component to move along the first rail member 110 . The first manual drive component includes a first handwheel 131 and a first motion conversion mechanism. 132. The first motion conversion mechanism 132 converts the rotational motion of the first handwheel 131 into the linear motion of the first slider 120. Wherein, the first motion conversion mechanism 132 includes a first screw 1321, the first handwheel 131 is connected to one end of the first screw 1321, the first screw 1321 and the first sliding member 120 Thread fit.

The auxiliary surgical device also includes a second linear movement assembly 200 .

The second linear moving component 200 is disposed on the first linear moving component 100 and is manually driven to perform linear displacement in a vertical direction relative to the support frame. For example only, the vertical direction of the support frame may be direction b shown in FIG. 1a.

The second linear moving component 200 is disposed on the first sliding member 120 and is in a linked relationship with the first sliding member 120 . The second linear moving component 200 has a second rail member 210 and a second sliding member 220. The second rail member 220 is vertically provided on the first sliding member 120, and the second sliding member 220 is vertically disposed on the first sliding member 120. The member 220 is disposed on the second rail member 210 and is manually driven to move along the second rail member 210 .

As shown in FIG. 3 , the second sliding member 220 is driven by the second manual driving component to move along the second track member 210 . The second manual driving assembly includes a second handwheel 231 and a second motion conversion mechanism 232 . The second motion conversion mechanism 232 converts the rotational motion of the second handwheel 231 into the second slider 220 linear motion. The second motion conversion mechanism 232 includes a second screw (not shown in the figure) and a bevel gear. The second handwheel 231 is connected to one end of the second screw 2321 through the bevel gear, so The second lead screw is threadedly engaged with the second sliding member 220 . There are two bevel gears, namely the first bevel gear 2322 and the first bevel gear 2323. The first bevel gear 2322 is fixedly connected to the axle of the second handwheel 221 and is driven to rotate by the second handwheel 221 . The second bevel gear 2323 is fixedly connected to one end of the second screw rod 2321.

The auxiliary surgical device also includes a third linear movement component 300 .

The third linear moving component 300 is disposed on the second linear moving component 200 and is manually driven to perform linear displacement in the longitudinal direction relative to the support frame. For example only, the longitudinal direction of the bracket may be the c direction shown in Figure 1a.

The third linear moving component 300 is disposed on the second sliding member 220 and is in a linked relationship with the second sliding member 220 .

As shown in FIG. 4a and FIG. 5a , the third linear moving component 300 has a third track member 310 and a third sliding member 320 . The third sliding member 320 is disposed on the second sliding member 220 , the third rail member 310 is horizontally disposed on the third sliding member 320 in a longitudinal direction, and the third rail member 310 extends along the It is manually driven to move relative to the third slider 320 in the direction c.

The third rail member 310 is driven by the third manual driving component along its defined direction c to slide on the third sliding member 320 to cause relative movement with the third sliding member 320 . The third manual driving assembly includes a third handwheel 331 and a third motion conversion mechanism 332. The third motion conversion mechanism 332 converts the rotational motion of the third handwheel 331 into an extension of the third rail member 310. Relative linear motion with the third sliding member 320 .

The third motion conversion mechanism 332 includes a third screw 3321. The third handwheel 331 is connected to one end of the third screw 3321. The third screw 3321 is threaded with the third slider 320. .

The auxiliary surgical device also includes a surgical tool end 600.

The surgical tool end 600 is fixed on the second rotating component 500 .

The surgical tool end 600 is provided with a lifting sliding component, and a positioner is provided on the lifting movable component.

As shown in Figure 8, with the dividing line f as the boundary, the left side f1 is the surgical sterile area, and the right side f2 is the non-surgical sterile area. The surgical tool end 600 is used as a surgical sterile area, and the distance between the surgical tool end 600 and the manually driven area is the same as the surgical sterile area where the surgical tool end 600 is located and the manually driven area. isolation between them.

Specifically, the surgical tool end 600 may be located within area f2 in the surgical sterile area.

The distance between the surgical tool end 600 and the first handwheel 131 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the first handwheel 131 .

Moreover, the distance between the surgical tool end 600 and the second handwheel 231 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the second handwheel 231 .

Moreover, the distance between the surgical tool end 600 and the third handwheel 331 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 331 .

Moreover, the distance between the surgical tool end 600 and the fourth handwheel 431 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 431 .

Moreover, the distance between the surgical tool end 600 and the fifth handwheel 531 is sufficient to form an isolation between the surgical sterile area where the surgical tool end 600 is located and the fifth handwheel 531 .

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (13)

1. An auxiliary surgical device provided on a carrier, comprising:

a first linear movement assembly which is manually driven to perform linear horizontal displacement in the transverse direction relative to the carrier;

the second linear moving assembly is arranged on the first linear moving assembly and is driven by manual operation to perform linear displacement in the vertical direction relative to the bearing frame;

The third linear moving assembly is arranged on the second linear moving assembly and is driven by manual operation to perform linear displacement relative to the longitudinal direction of the bearing frame;

a first rotating assembly provided on the third linear moving assembly, and manually driven to rotate about a first axis perpendicular to the third linear moving assembly;

the second rotating assembly is arranged on the first rotating assembly and is driven by manual operation to rotate around a second axis vertical to the first rotating assembly;

a surgical tool end secured to the second rotating assembly;

the first rotating component is provided with a first base and a first rotating piece, the first rotating piece is driven by a fourth manual driving component to vertically rotate relative to the first base, the fourth manual driving component comprises a fourth hand wheel and a fourth motion conversion mechanism, the fourth motion conversion mechanism converts the rotation motion of the fourth hand wheel into the rotation motion of the first rotating piece, and the distance between the surgical tool end and the fourth hand wheel meets the requirement that an isolation is formed between a surgical sterile area where the surgical tool end is positioned and the third hand wheel;

the fourth motion conversion mechanism comprises a first transmission shaft, a coupler and a worm gear reducer, the fourth hand wheel is connected to one end of the first transmission shaft, the other end of the first transmission shaft is connected with the worm gear reducer through the coupler, and the first rotating piece is connected with an output shaft of the worm gear reducer;

The second rotating component is arranged on the first rotating component and is in linkage relation with the first rotating component, and is provided with a second base and a second rotating component, wherein the second base is fixed on the first rotating component, and the second rotating component is rotatably arranged on the second base;

the second rotating piece is driven by a fifth manual driving assembly to do reciprocating swing relative to the second base, the fifth manual driving assembly comprises a fifth hand wheel and a fifth motion conversion mechanism, the fifth motion conversion mechanism converts the rotating motion of the fifth hand wheel into the reciprocating swing of the second rotating piece, and the distance between the surgical tool end and the fifth hand wheel meets the requirement that the surgical sterile area where the surgical tool end is positioned and the fifth hand wheel form isolation;

the fifth motion conversion mechanism comprises a first synchronous belt pulley, a synchronous belt, a second synchronous belt pulley, a second transmission shaft, a first universal coupling and a second universal coupling, wherein the fifth hand wheel is connected with the first synchronous belt pulley, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, one end of the second transmission shaft is connected with the second synchronous belt pulley through the first universal coupling, and the second rotating piece is connected with the other end of the second transmission shaft through the second universal coupling;

The surgical tool end serves as a surgical sterile field and the distance between the surgical tool end and the manually driven field is such that an isolation is formed between the surgical sterile field in which the surgical tool end is located and the manually driven field.

2. The assisted surgery device according to claim 1, wherein:

the first linear moving assembly is provided with a first track piece and a first sliding piece, wherein the first track piece is transversely and horizontally arranged on the bearing frame, and the first sliding piece is arranged on the first track piece and is driven by manual operation to move along the first track piece.

3. The assisted surgery device according to claim 2, wherein:

the first sliding piece is driven by the first manual driving assembly to move along the first track piece, the first manual driving assembly comprises a first hand wheel and a first motion conversion mechanism, the first motion conversion mechanism converts the rotation motion of the first hand wheel into the linear motion of the first sliding piece, and the distance between the surgical tool end and the first hand wheel meets the requirement that the surgical sterile area where the surgical tool end is located is isolated from the first hand wheel.

4. The assisted surgery device according to claim 3, wherein the first motion conversion mechanism comprises a first lead screw, the first hand wheel being connected to one end of the first lead screw, the first lead screw being threadedly engaged with the first slider.

5. The assisted surgery device according to claim 2, wherein:

the second linear moving assembly is arranged on the first sliding piece, is in linkage relation with the first sliding piece, and is provided with a second track piece and a second sliding piece, the second track piece is vertically arranged on the first sliding piece, and the second sliding piece is arranged on the second track piece and is driven by manual force to move along the second track piece.

6. The assisted surgery device according to claim 5, wherein:

the second sliding piece is driven by the second manual driving assembly to move along the second track piece, the second manual driving assembly comprises a second hand wheel and a second motion conversion mechanism, the second motion conversion mechanism converts the rotation motion of the second hand wheel into the linear motion of the second sliding piece, and the distance between the surgical tool end and the second hand wheel meets the requirement that the surgical sterile area where the surgical tool end is located is isolated from the second hand wheel.

7. The assisted surgery device according to claim 6, wherein the second motion conversion mechanism includes a second lead screw and a bevel gear, the second hand wheel being connected to one end of the second lead screw by the bevel gear, the second lead screw being threadedly engaged with the second slider.

8. The assisted surgery device according to claim 5, wherein:

the third linear moving assembly is arranged on the second sliding piece, is in linkage relation with the second sliding piece, and is provided with a third track piece and a third sliding piece, the third sliding piece is arranged on the second sliding piece, the third track piece is longitudinally and horizontally arranged on the third sliding piece, and the third track piece is manually driven to move relative to the third sliding piece along the limited direction.

9. The assisted surgery device according to claim 8, wherein:

the third rail piece is driven by a third manual driving assembly along the limited direction of the third rail piece to slide on the third sliding piece so as to generate relative movement with the third sliding piece, the third manual driving assembly comprises a third hand wheel and a third motion conversion mechanism, the third motion conversion mechanism converts the rotation motion of the third hand wheel into the relative linear motion of the third rail piece and the third sliding piece, and the distance between the surgical tool end and the third hand wheel meets the requirement that the separation is formed between a surgical sterile area where the surgical tool end is positioned and the third hand wheel.

10. The assisted surgery device according to claim 9, wherein the third motion transfer mechanism comprises a third lead screw, the third hand wheel being connected to one end of the third lead screw, the third lead screw being threadedly engaged with the third slider.

11. The assisted surgery device according to claim 8, wherein:

the first rotating assembly is arranged on the third track piece and is in linkage relation with the third track piece, and is provided with a first base and a first rotating piece, wherein the first base is fixed on the third track piece, and the first rotating piece is rotatably arranged on the first base.

12. The assisted surgery device according to claim 11, wherein an indexer is further provided between the second rotating member and the second universal coupling.

13. The assisted surgery device according to any one of claims 1 to 12 wherein the surgical tool end is provided with a lift slide assembly on which a locator is provided.