CN210384059U - Auxiliary operation device - Google Patents
Auxiliary operation device Download PDFInfo
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- CN210384059U CN210384059U CN201920319179.5U CN201920319179U CN210384059U CN 210384059 U CN210384059 U CN 210384059U CN 201920319179 U CN201920319179 U CN 201920319179U CN 210384059 U CN210384059 U CN 210384059U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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Abstract
The utility model relates to an auxiliary operation device, it is located on a bearer, include: the first linear moving component is driven by hand to make linear horizontal displacement relative to the transverse direction of the bearing frame; the second linear moving component is arranged on the first linear moving component and is driven by hand to linearly displace 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 hand to linearly move in the longitudinal direction relative to the bearing frame; a first rotating assembly, which is arranged on the third linear moving assembly and is driven by hand to rotate around a first axis vertical to the third linear moving assembly; the second rotating assembly is arranged on the first rotating assembly and is driven by hand to rotate around a second axis vertical to the first rotating assembly; a surgical tool end secured to the second rotating assembly. The auxiliary operation device can reduce the risk of polluting a sterile area of the minimally invasive operation.
Description
Technical Field
The utility model relates to the field of medical equipment, concretely relates to supplementary operation device.
Background
In recent years, medical surgery approaches are gradually developed towards minimally invasive surgery with smaller wounds, such as spinal pedicle screw internal fixation, spinal bone screw implantation, vertebroplasty, intervertebral disc/foramen mirror surgery, and other bone surgeries such as pelvis and limbs. Advantages of minimally invasive surgery include small wound, rapid healing, less chance of infection and blood loss, etc.
In minimally invasive surgery, an increasing number of auxiliary surgical devices are used by hospitals to perform surgical procedures. The surgical field of minimally invasive surgery needs to provide a sterile environment with stringent requirements on the sterility of the ancillary surgical devices. During surgery, the auxiliary surgical device will increase the risk of contaminating the surgical field as it is manually operated by personnel. Therefore, there is a need for better auxiliary surgical devices to reduce the risk of contaminating the sterile field.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an auxiliary operation device, it can reduce the risk of polluting the aseptic district of minimal access surgery.
In order to achieve the above object, the technical scheme of the utility model is that:
an assisted surgery device, which is arranged on a bearing frame, comprises:
the first linear moving component is driven by hand to make linear horizontal displacement relative to the transverse direction of the bearing frame;
the second linear moving component is arranged on the first linear moving component and is driven by hand to linearly displace 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 hand to linearly move in the longitudinal direction relative to the bearing frame;
a first rotating assembly, which is arranged on the third linear moving assembly and is driven by hand to rotate around a first axis vertical to the third linear moving assembly;
the second rotating assembly is arranged on the first rotating assembly and is driven by hand to rotate around a second axis vertical to the first rotating assembly;
a surgical tool end secured to the second rotating assembly.
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 is such that isolation is formed between the surgical sterile area where the surgical tool end is located and the manually driven area.
Preferably, the first linear moving assembly has a first rail member and a first sliding member, wherein the first rail member is horizontally disposed on the supporting frame in a transverse direction, and wherein the first sliding member is disposed 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 driving assembly to move along the first rail member, the first manual driving assembly includes a first hand wheel and a first motion conversion mechanism, the first motion conversion mechanism converts a rotational motion of the first hand wheel into a linear motion of the first sliding member,
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.
Preferably, the first motion conversion mechanism comprises a first lead screw, the first hand wheel is connected to one end of the first lead screw, and the first lead screw is in threaded fit with the first sliding piece.
Preferably, the second linear moving assembly is disposed on the first sliding member, is linked with the first sliding member, and has a second track member and a second sliding member, the second track member is disposed on the first sliding member in a vertical direction, and the second sliding member is disposed on the second track member and is manually driven to move along the second track member.
Preferably, the second sliding member is driven by a second manual driving assembly to move along the second rail member, the second manual driving assembly includes 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 member, and the distance between the surgical tool end and the second hand wheel satisfies the condition that the surgical sterile area where the surgical tool end is located and the second hand wheel form isolation.
Preferably, the second motion conversion mechanism comprises a second lead screw and a bevel gear, the second lead screw is connected to one end of the second lead screw through the bevel gear, and the second lead screw is in threaded fit with the second sliding piece.
Preferably, the third linear moving assembly is disposed on the second sliding member, is linked with the second sliding member, and has a third rail member and a third sliding member, the third sliding member is disposed on the second sliding member, the third rail member is longitudinally and horizontally disposed on the third sliding member, and the third rail member is manually driven in a direction defined by the third rail member to move relative to the third sliding member.
Preferably, the third rail member is driven by a third manual driving assembly along the direction defined by the third rail member to slide on the third sliding member so as to move relative to the third sliding member, the third manual driving assembly includes a third handwheel and a third motion conversion mechanism, the third motion conversion mechanism converts the rotary motion of the third handwheel into the relative linear motion of the third rail member and the third sliding member, and the distance between the surgical tool end and the third handwheel is such that an isolation is formed between the surgical sterile area where the surgical tool end is located and the third handwheel.
Preferably, the third motion conversion mechanism comprises a third lead screw, the third hand wheel is connected to one end of the third lead screw, and the third lead screw is in threaded fit with the third sliding piece.
Preferably, the first rotating assembly is disposed on the third track member and linked with the third track member, and has a first base and a first rotating member, the first base is fixed on the third track member, and the first rotating member is rotatably disposed on the first base.
Preferably, the first rotating member is driven by a fourth manual driving assembly to rotate vertically relative to the first base, the fourth manual driving assembly includes a fourth handwheel and a fourth motion conversion mechanism, 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 is such that an isolation is formed between the surgical sterile area where the surgical tool end is located and the third handwheel.
Preferably, 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 member is connected with an output shaft of the worm gear reducer.
Preferably, the second rotating assembly is disposed on the first rotating member and linked with the first rotating member, and has a second base and a second rotating member, the second base is fixed on the first rotating member, and the second rotating member is rotatably disposed on the second base.
Preferably, the second rotating member is driven by a fifth manual driving assembly to reciprocate with respect to the second base, the fifth manual driving assembly includes a fifth handwheel and a fifth motion conversion mechanism, the fifth motion conversion mechanism converts the rotation 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 that an isolation is formed between the surgical sterile area where the surgical tool end is located 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, one end of the second transmission shaft is connected to the second synchronous pulley through the first universal coupling, and the second rotating member is connected to the other end of the second transmission shaft through the second universal coupling.
Preferably, an indexer is further disposed between the second rotating member and the second universal coupling.
Preferably, the surgical tool end is provided with a lifting sliding assembly, and a positioner is arranged on the lifting sliding assembly.
The beneficial effects of the utility model reside in that:
according to the surgical assistant apparatus of the present application, the first linear moving module is manually driven to linearly and horizontally displace in the transverse direction relative to the rack, the second linear moving module is manually driven to linearly displace in the vertical direction relative to the rack, the third linear moving module is manually driven to linearly displace in the longitudinal direction relative to the rack, the first rotating module is manually driven to rotate around the first axis perpendicular to the third linear moving module, the second rotating module is manually driven to rotate around the second axis perpendicular to the first rotating module, and the surgical tool end is fixed to the second rotating module.
Drawings
FIG. 1a is a schematic view of an assisted surgical device according to an embodiment of the present invention;
FIG. 1b is an enlarged partial view D of FIG. 1;
fig. 2 is a schematic view of a first linear motion assembly of an embodiment of the present invention;
fig. 3 is a schematic view of a second linear motion assembly of an embodiment of the present invention;
FIG. 4a is a schematic view of an auxiliary surgical device according to an embodiment of the present invention in a rotationally locked state;
FIG. 4b is an enlarged schematic view of portion A of FIG. 4 a;
FIG. 4c is an enlarged partial schematic view of A1 of FIG. 4 b;
fig. 5a is a schematic view of an auxiliary surgical device according to an embodiment of the present invention in a rotationally unlocked state;
FIG. 5B is an enlarged view of part B of FIG. 5 a;
figure 6 is a schematic view of a third linear motion assembly of an embodiment of the present invention;
figure 7a is a schematic view of a first rotating assembly and a second rotating assembly of an embodiment of the present invention;
figure 7b is yet another schematic view of the first and second rotating assemblies of an embodiment of the present invention;
FIG. 8 is yet another schematic view of a secondary surgical device according to an embodiment of the present invention;
FIG. 9a is yet another schematic view of a secondary surgical device according to an embodiment of the present invention;
FIG. 9b is an enlarged view of a portion C of FIG. 9 a;
FIG. 10a is a further schematic view of an assisted surgical device according to an embodiment of the present invention;
fig. 10b is an enlarged view of part E of fig. 10 a.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
Example one
As shown in fig. 1a, it is an auxiliary surgical device, which can be disposed on a support. The support frame can be made into a permanent fixed type, and can also be made into a movable type, such as an operation trolley and the like.
The assisted surgery device includes a first linear motion assembly 100.
The first linear motion assembly 100 is manually driven to linearly and horizontally displace in a lateral direction relative to the carrier. By way of example only, the transverse direction of the shelf may be in the direction a shown in fig. 1 a.
As shown in fig. 2, the first linear moving assembly 100 has a first rail member 110 and a first sliding member 120, wherein the first rail member 110 is horizontally disposed on the supporting frame in a transverse direction, and wherein 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 fig. 1a, the first slider 120 is driven by a first manual driving assembly including a first hand wheel 131 and a first motion conversion mechanism 132 to move along the first rail member 110, and the first motion conversion mechanism 132 converts the rotational motion of the first hand wheel 131 into the linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first lead screw 1321, the first hand wheel 131 is connected to one end of the first lead screw 1321, and the first lead screw 1321 is in threaded engagement with the first slider 120.
The assisted surgery device further includes a second linear motion assembly 200.
The second linear moving element 200 is disposed on the first linear moving element 100, and is driven by a hand to linearly move in a vertical direction with respect to the rack. By way of example only, the vertical direction of the shelf may be the direction b shown in fig. 1 a.
The second linear moving element 200 is disposed on the first sliding element 120 and is linked with the first sliding element 120. The second linear moving assembly 200 has a second track member 210 and a second sliding member 220, the second track member 220 is vertically disposed on the first sliding member 120, and the second sliding member 220 is disposed on the second track member 210 and is manually driven to move along the second track member 210.
As shown in fig. 3, the second sliding member 220 is driven by the second manual driving assembly to move along the second track member 210. The second manual driving assembly includes a second hand wheel 231 and a second motion conversion mechanism 232, and the second motion conversion mechanism 232 converts the rotational motion of the second hand wheel 231 into the linear motion of the second slider 220. The second motion conversion mechanism 232 includes a second lead screw (not shown) and a bevel gear, the second hand wheel 231 is connected to one end of the second lead screw 2321 through the bevel gear, and the second lead screw is in threaded engagement with the second sliding member 220. The number of the bevel gears is two, and the bevel gears are respectively a first bevel gear 2322 and a first bevel gear 2323. The first bevel gear 2322 is fixedly connected with the axle of the second hand wheel 221 and is driven by the second hand wheel 221 to rotate. The second bevel gear 2323 is fixedly connected to one end of the second lead screw 2321.
The assisted surgical device also includes a third linear motion assembly 300.
The third linear moving member 300 is disposed on the second linear moving member 200 and is driven by hand to linearly move in a longitudinal direction of the rack. By way of example only, the longitudinal direction of the carrier may be in the direction c shown in fig. 1 a.
The third linear moving assembly 300 is disposed on the second sliding member 220 and is linked with the second sliding member 220.
Referring to fig. 4a and 5a, the third linear moving assembly 300 has a third rail 310 and a third slider 320. The third sliding member 320 is disposed on the second sliding member 220, the third rail member 310 is longitudinally and horizontally disposed on the third sliding member 320, and the third rail member 310 is manually driven along a direction c defined by the third rail member 310 to move relative to the third sliding member 320.
The third track member 310 is driven by a third manual driving assembly along a direction c defined by the third track member to slide on the third slider 320 to move relative to the third slider 320. The third manual driving assembly includes a third handwheel 331 and a third motion conversion mechanism 332, and the third motion conversion mechanism 332 converts the rotational motion of the third handwheel 331 into the relative linear motion of the third track member 310 and the third slider 320.
The third motion conversion mechanism 332 includes a third lead screw 3321, the third hand wheel 331 is connected to one end of the third lead screw 3321, and the third lead screw 3321 is in threaded engagement with the third sliding member 320.
The assisted surgical device also includes a first rotation assembly 400.
The first rotating assembly 400 is disposed on the third linear moving assembly 300 and is manually driven to rotate about a first axis 401 perpendicular to the third linear moving assembly 300. Illustratively, the first rotating assembly 400 may rotate about a first axis 401 in a direction d.
The first rotating assembly 400 is disposed on the third track 310 and is linked with the third track 310. The first rotating assembly 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 to rotate vertically with respect to the first base 410 by a fourth manual driving unit including a fourth handwheel 431 and a fourth motion conversion mechanism 432, 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.
As shown in fig. 6 and fig. 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 one end of the first transmission shaft 4321, and the other end of the first transmission shaft 4321 is connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to an output shaft of the worm gear reducer 4323.
The assisted surgical device also includes a second rotation assembly 500.
The second rotating assembly 500 is disposed on the first rotating assembly 400 and is manually driven to rotate around a second axis 501 perpendicular to the first rotating assembly 400. Illustratively, the second rotating assembly 500 may rotate about the second axis 501 in a direction e.
The second rotating assembly 500 is disposed on the first rotating member 420 and is linked with the first rotating member 420.
As shown in fig. 1b, the second rotating assembly 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 disposed on the second base 510.
As shown in fig. 6, in conjunction with fig. 1a and 7b, the second rotating member 520 is driven by a fifth manual driving assembly to reciprocally swing with respect to the second base 510. The fifth manual driving assembly includes a fifth hand wheel 531 and a fifth motion conversion mechanism 532, and the fifth motion conversion mechanism 532 converts the rotational motion of the fifth hand wheel 531 into the reciprocating swing motion of the second rotary member 520.
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 hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 via the synchronous belt 5322, one end of the second transmission shaft 5324 is connected to the second synchronous pulley 5323 via the first universal coupling 5325, and the second rotary member 420 is connected to the other end of the second transmission shaft 5324 via the second universal coupling 5326.
An indexer is further disposed between the second rotating member 420 and the second universal coupling 5326.
The assisted surgery device further includes a surgical tool end 600.
The surgical tool end 600 is secured to the second rotating assembly 500.
The surgical tool end 600 is provided with a lifting and sliding assembly, and a positioner is arranged on the lifting and sliding assembly.
As shown in fig. 8, the left side f1 is a surgical sterile field and the right side f2 is a non-surgical sterile field, bounded by the separation line f. The surgical tool tip 600 is used as a surgical sterile field and the distance between the surgical tool tip 600 and the manually driven field is isolated from the surgical sterile field in which the surgical tool tip 600 is located.
Specifically, the surgical tool tip 600 may be located within a region f2 in the surgical sterile field.
Wherein, the distance between the surgical tool end 600 and the first hand wheel 131 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the first hand wheel 131.
And, the distance between the surgical tool end 600 and the second wheel 231 is such that the surgical sterile field where the surgical tool end 600 is located is isolated from the second wheel 231.
And the distance between the surgical tool end 600 and the third handwheel 331 is such that the surgical sterile area where the surgical tool end 600 is located is isolated from the third handwheel 331.
And the distance between the surgical tool end 600 and the fourth handwheel 431 is enough to form isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 431.
And the distance between the surgical tool end 600 and the fifth handwheel 531 is such that the surgical sterile area where the surgical tool end 600 is located is isolated from the fifth handwheel 531.
Example two
As shown in fig. 4a and 5a, it is a mobile device for assisting a surgical device.
The mobile device comprises the second linear-motion assembly 200 and the third linear-motion assembly 300 described in the first embodiment.
Wherein the second linear moving element 200 is manually driven to linearly displace in the relative vertical direction b. The third linear moving element 300 is rotatably disposed on the second linear moving element 200 and is manually driven to linearly displace with respect to the longitudinal direction c.
As shown in fig. 8, the third linear moving object 300 rotates to be parallel to the second linear moving object 200 in the length direction in the first state. As shown in fig. 4a or 5a, the third linear moving object 300 is rotated in the second state to be perpendicular to the second linear moving object 200 in the length direction.
The third linear moving assembly 300 has a third track member 310 and a third slider 320, the third slider 320 is rotatably disposed on the third linear moving assembly 300, the third track member 310 is longitudinally and horizontally disposed on the third slider 320, and the third track member 320 is manually driven to move relative to the third slider 310 along a limited direction. The third slider 320 rotates in a first state to make the third rail member 320 substantially perpendicular to the second linear-motion assembly 200 in the length direction, and rotates in a second state to make the third rail member 320 substantially parallel to the second linear-motion assembly 200 in the length direction.
The second linear moving assembly 200 has a second rail member 210 and a second sliding member 220, and the second sliding member 220 is disposed on the second rail member 210 and is manually driven to move along the second rail member 210.
The third slider 320 is rotatably provided on the second slider 220, and the third slider 320 is locked by a rotation locking mechanism 340 in the first state.
As shown in fig. 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 disposed on the second slider 220, the other of the locking groove 341 and the locking pin 342 is disposed on the third slider 320, the locking pin 342 is inserted into the locking groove 341 to achieve rotational locking, and the locking pin 342 is disengaged from the locking groove 341 to achieve rotational unlocking.
The rotation locking mechanism 340 further includes an elastic member 343, and the locking pin 341 is disengaged from the locking groove against an elastic force of the elastic member 343 and is held in the locking groove 341 by an elastic restoring force of the elastic member 343.
As shown in fig. 4b, 4c and 10a, the rotation locking mechanism 340 further includes an unlocking piece 344, and the unlocking piece 344 is disposed substantially perpendicular to the moving direction of the locking pin 341. The unlocking member 344 has a slope 3441, the locking pin 341 has a sliding portion 3411, and the locking member 344 is engaged with the slope 3441 and the sliding portion 3411 to convert the movement of the unlocking member 344 into a movement of the locking pin 341 substantially perpendicular to the movement.
The number of the inclined surfaces 3441 is two, a notch 3442 is formed between the two inclined surfaces 3441, and the number of the sliding portions 3411 is two. The two sliding portions 3411 are disposed at both sides of the lock pin 341 along the length direction, and when the two inclined surfaces 3441 are respectively engaged with the two sliding portions 3411, the lock pin 341 is at least partially received in the notch 3422.
The unlocking member 344 is fixed to the third rail member 310 and is interlocked with the third rail member 310.
The third track member 310 is driven by a third manual driving assembly to slide on the third slider 320 in a direction defined by the third track member and to move relative to the third slider 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 hand wheel 331 into the relative linear motion of the third rail member 310 and the third slider 320.
The third motion conversion mechanism 332 includes a third lead screw 3321, the third hand wheel 331 is connected to one end of the third lead screw 3321, and the third lead screw 3321 is in threaded engagement with the third sliding member 320.
The distance between the surgical tool end 600 and the third handwheel 331 is such that the surgical sterile field where the surgical tool end 600 is located is isolated from the third handwheel 331.
As shown in fig. 4b and 4c, the third sliding member 320 rotates around a third axis 601 perpendicular to the second sliding member 220. The third slider 320 is provided with a sixth handwheel 631, and the third slider 320 and the third rail 310 rotate around the third axis 601 under the action of a driving force applied to the sixth handwheel 631.
Wherein the third axis 601 may be parallel to or coincident with a centerline of the sixth hand wheel 631.
As shown in fig. 9a and 10a, a clutch mechanism 350 is disposed between the second slider 220 and the third slider 320. As shown in fig. 9b and 10b, the clutch mechanism 350 includes a first engaging element 351 and a second engaging element 352, one of the first engaging element 351 and the second engaging element 352 is disposed on the second sliding member 220, and the other of the first engaging element 351 and the second engaging element 352 is disposed on the third sliding member 320. The first and second engagement members 351, 352 are each provided with teeth. As shown in fig. 9a and 9b, in the engaged position, the teeth of the first and second fitting members 351, 352 are received in each other.
As shown in fig. 4b and 4c, the center line of the clutch mechanism 350 is parallel to or coincides with the third axis 601 and the center line of the sixth hand wheel 631.
EXAMPLE III
The present embodiment provides an assisted surgery device having the moving device described in the second embodiment.
The assisted surgery device includes a first linear motion assembly 100.
The first linear motion assembly 100 is manually driven to linearly and horizontally displace in a lateral direction relative to the carrier. By way of example only, the transverse direction of the shelf may be in the direction a shown in fig. 1 a.
The first linear moving assembly 100 has a first rail member 110 and a first sliding member 120, wherein the first rail member 110 is horizontally disposed on the supporting frame, and wherein 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 fig. 2, the first slider 120 is driven by a first manual driving unit including a first hand wheel 131 and a first motion conversion mechanism 132 to move along the first rail member 110, and the first motion conversion mechanism 132 converts a rotational motion of the first hand wheel 131 into a linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first lead screw 1321, the first hand wheel 131 is connected to one end of the first lead screw 1321, and the first lead screw 1321 is in threaded engagement with the first slider 120.
The assisted surgical device also includes a first rotation assembly 400.
The first rotating assembly 400 is disposed on the third linear moving assembly 300 and is manually driven to rotate about a first axis 401 perpendicular to the third linear moving assembly 300. Illustratively, the first rotating assembly 400 may rotate about a first axis 401 in a direction d.
The first rotating assembly 400 is disposed on the third track 310 and is linked with the third track 310. The first rotating assembly 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 to rotate vertically with respect to the first base 410 by a fourth manual driving unit including a fourth handwheel 431 and a fourth motion conversion mechanism 432, 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.
As shown in fig. 6 and fig. 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 one end of the first transmission shaft 4321, and the other end of the first transmission shaft 4321 is connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to an output shaft of the worm gear reducer 4323.
The assisted surgical device also includes a second rotation assembly 500.
The second rotating assembly 500 is disposed on the first rotating assembly 400 and is manually driven to rotate around a second axis 501 perpendicular to the first rotating assembly 400. Illustratively, the second rotating assembly 500 may rotate about the second axis 501 in a direction e.
The second rotating assembly 500 is disposed on the first rotating member 420 and is linked with the first rotating member 420.
As shown in fig. 1b, the second rotating assembly 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 disposed on the second base 510.
As shown in fig. 6, in conjunction with fig. 1a and 7b, the second rotating member 520 is driven by a fifth manual driving assembly to reciprocally swing with respect to the second base 510. The fifth manual driving assembly includes a fifth hand wheel 531 and a fifth motion conversion mechanism 532, and the fifth motion conversion mechanism 532 converts the rotational motion of the fifth hand wheel 531 into the reciprocating swing motion of the second rotary member 520.
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 hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 via the synchronous belt 5322, one end of the second transmission shaft 5324 is connected to the second synchronous pulley 5323 via the first universal coupling 5325, and the second rotary member 420 is connected to the other end of the second transmission shaft 5324 via the second universal coupling 5326.
An indexer is further disposed between the second rotating member 420 and the second universal coupling 5326.
The assisted surgery device further includes a surgical tool end 600.
The surgical tool end 600 is secured to the second rotating assembly 500.
The surgical tool end 600 is provided with a lifting and sliding assembly, and a positioner is arranged on the lifting and sliding assembly.
Example four
As shown in FIG. 1a in conjunction with FIG. 4a, the present embodiment provides a rotation device for an assisted surgical device.
The rotating means comprises a first rotating assembly 400.
As shown in fig. 4a, the first rotating assembly 400 has a first base 410 and a first rotating member 420, and the first rotating member 420 is driven by a fourth manual driving assembly (not shown) to rotate vertically relative to the first base 410. The fourth manual driving assembly includes a fourth motion conversion mechanism 432, and the fourth motion conversion mechanism 432 converts the first rotational motion into the rotational motion of the first rotating member 420.
As shown in fig. 6 and fig. 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 one end of the first transmission shaft 4321, and the other end of the first transmission shaft 4321 is connected to the worm gear reducer 4323 through the coupling 4322. The first rotating member 420 is connected to an 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 a rotational movement of the fourth handwheel 431.
The rotation device further comprises a second rotation member 500.
As shown in fig. 6 and fig. 1a and 7b, the second rotating assembly 500 is disposed on the first rotating member 520 and is linked with the first rotating member 520. As shown in fig. 1b, the second rotating assembly 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 driven by a fifth manual driving assembly to reciprocally swing with respect to the second base 510. The fifth manual drive assembly includes a fifth motion transfer mechanism 532, the fifth motion transfer mechanism 532 transferring the second rotational motion to the reciprocating oscillation of the second rotary member 520.
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, wherein the fifth hand wheel 531 is connected to the first synchronous pulley 5321, the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 via the synchronous belt 5322, one end of the second transmission shaft 5324 is connected to the second synchronous pulley 5323 via the first universal coupling 5325, and the second rotary member 420 is connected to the other end of the second transmission shaft 5324 via the second universal coupling 5326.
In addition, the fifth manual driving assembly may further include a fifth hand wheel 531, and the fifth motion conversion mechanism 532 converts a rotational motion of the fifth hand wheel 531 into a reciprocating swing motion of the second rotary member 520. In other words, the second rotational movement may be a rotational movement of the fifth handwheel 531; since the fifth hand wheel 531 is connected to the first synchronous pulley 5321, and the first synchronous pulley 5321 is connected to the second synchronous pulley 5323 through the synchronous belt 5322, the second synchronous pulley 5323 can rotate under the driving of the rotation of the fifth hand wheel 531, and therefore, the second rotation can also be the rotation of the second synchronous pulley 5323.
As shown in fig. 1a, for example, the second rotational movement may be a rotational movement of the fifth handwheel 531, and the axis 502 of the second rotational movement is parallel to the axis 401 of the rotational movement of the first rotating member 420.
Taking as an example that the second rotational motion may be the rotational motion of the second timing pulley 5323, 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 fig. 7b, an axis of the wheel shaft 5300 of the second timing pulley 5323 coincides with an axis of the output shaft 4300 of the worm gear reducer 4323, and the wheel shaft 5300 of the second timing pulley 5323 passes through the output shaft 4300 of the worm gear reducer 4323.
EXAMPLE five
The present embodiment provides an assisted surgery device including the rotating device described in the fourth embodiment.
The assisted surgery device further includes a first linear motion assembly 100.
The first linear motion assembly 100 is manually driven to linearly and horizontally displace in a lateral direction relative to the carrier. By way of example only, the transverse direction of the shelf may be in the direction a shown in fig. 1 a.
The first linear moving assembly 100 has a first rail member 110 and a first sliding member 120, wherein the first rail member 110 is horizontally disposed on the supporting frame, and wherein 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 fig. 2, the first slider 120 is driven by a first manual driving unit including a first hand wheel 131 and a first motion conversion mechanism 132 to move along the first rail member 110, and the first motion conversion mechanism 132 converts a rotational motion of the first hand wheel 131 into a linear motion of the first slider 120. The first motion conversion mechanism 132 includes a first lead screw 1321, the first hand wheel 131 is connected to one end of the first lead screw 1321, and the first lead screw 1321 is in threaded engagement with the first slider 120.
The assisted surgery device further includes a second linear motion assembly 200.
The second linear moving element 200 is disposed on the first linear moving element 100, and is driven by a hand to linearly move in a vertical direction with respect to the rack. By way of example only, the vertical direction of the shelf may be the direction b shown in fig. 1 a.
The second linear moving element 200 is disposed on the first sliding element 120 and is linked with the first sliding element 120. The second linear moving assembly 200 has a second track member 210 and a second sliding member 220, the second track member 220 is vertically disposed on the first sliding member 120, and the second sliding member 220 is disposed on the second track member 210 and is manually driven to move along the second track member 210.
As shown in fig. 3, the second sliding member 220 is driven by the second manual driving assembly to move along the second track member 210. The second manual driving assembly includes a second hand wheel 231 and a second motion conversion mechanism 232, and the second motion conversion mechanism 232 converts the rotational motion of the second hand wheel 231 into the linear motion of the second slider 220. The second motion conversion mechanism 232 includes a second lead screw (not shown) and a bevel gear, the second hand wheel 231 is connected to one end of the second lead screw 2321 through the bevel gear, and the second lead screw is in threaded engagement with the second sliding member 220. The number of the bevel gears is two, and the bevel gears are respectively a first bevel gear 2322 and a first bevel gear 2323. The first bevel gear 2322 is fixedly connected with the axle of the second hand wheel 221 and is driven by the second hand wheel 221 to rotate. The second bevel gear 2323 is fixedly connected to one end of the second lead screw 2321.
The assisted surgical device also includes a third linear motion assembly 300.
The third linear moving member 300 is disposed on the second linear moving member 200 and is driven by hand to linearly move in a longitudinal direction of the rack. By way of example only, the longitudinal direction of the carrier may be in the direction c shown in fig. 1 a.
The third linear moving assembly 300 is disposed on the second sliding member 220 and is linked with the second sliding member 220.
Referring to fig. 4a and 5a, the third linear moving assembly 300 has a third rail 310 and a third slider 320. The third sliding member 320 is disposed on the second sliding member 220, the third rail member 310 is longitudinally and horizontally disposed on the third sliding member 320, and the third rail member 310 is manually driven along a direction c defined by the third rail member 310 to move relative to the third sliding member 320.
The third track member 310 is driven by a third manual driving assembly along a direction c defined by the third track member to slide on the third slider 320 to move relative to the third slider 320. The third manual driving assembly includes a third handwheel 331 and a third motion conversion mechanism 332, and the third motion conversion mechanism 332 converts the rotational motion of the third handwheel 331 into the relative linear motion of the third track member 310 and the third slider 320.
The third motion conversion mechanism 332 includes a third lead screw 3321, the third hand wheel 331 is connected to one end of the third lead screw 3321, and the third lead screw 3321 is in threaded engagement with the third sliding member 320.
The assisted surgery device further includes a surgical tool end 600.
The surgical tool end 600 is secured to the second rotating assembly 500.
The surgical tool end 600 is provided with a lifting and sliding assembly, and a positioner is arranged on the lifting and sliding assembly.
As shown in fig. 8, the left side f1 is a surgical sterile field and the right side f2 is a non-surgical sterile field, bounded by the separation line f. The surgical tool tip 600 is used as a surgical sterile field and the distance between the surgical tool tip 600 and the manually driven field is isolated from the surgical sterile field in which the surgical tool tip 600 is located.
Specifically, the surgical tool tip 600 may be located within a region f2 in the surgical sterile field.
Wherein, the distance between the surgical tool end 600 and the first hand wheel 131 is such that an isolation is formed between the surgical sterile area where the surgical tool end 600 is located and the first hand wheel 131.
And, the distance between the surgical tool end 600 and the second wheel 231 is such that the surgical sterile field where the surgical tool end 600 is located is isolated from the second wheel 231.
And the distance between the surgical tool end 600 and the third handwheel 331 is such that the surgical sterile area where the surgical tool end 600 is located is isolated from the third handwheel 331.
And the distance between the surgical tool end 600 and the fourth handwheel 431 is enough to form isolation between the surgical sterile area where the surgical tool end 600 is located and the third handwheel 431. And the distance between the surgical tool end 600 and the fifth handwheel 531 is such that the surgical sterile area where the surgical tool end 600 is located is isolated from the fifth handwheel 531.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to 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.
Claims (19)
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| CN201811059258 | 2018-09-12 | ||
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| CN201910184035.8A Active CN109806011B (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201920319179.5U Active CN210384059U (en) | 2018-09-12 | 2019-03-14 | Auxiliary operation device |
| CN201910201059.XA Active CN109771060B (en) | 2018-09-12 | 2019-03-18 | Rotation device for auxiliary surgical device and auxiliary surgical device |
| CN201920337118.1U Active CN210384069U (en) | 2018-09-12 | 2019-03-18 | Rotary device for auxiliary surgical device and auxiliary surgical device |
| CN201910201060.2A Pending CN109771056A (en) | 2018-09-12 | 2019-03-18 | Mobile device for assistive surgical device and assistive surgical device |
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| CN201910201059.XA Active CN109771060B (en) | 2018-09-12 | 2019-03-18 | Rotation device for auxiliary surgical device and auxiliary surgical device |
| CN201920337118.1U Active CN210384069U (en) | 2018-09-12 | 2019-03-18 | Rotary device for auxiliary surgical device and auxiliary surgical device |
| CN201910201060.2A Pending CN109771056A (en) | 2018-09-12 | 2019-03-18 | Mobile device for assistive surgical device and assistive surgical device |
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| CN109806011A (en) * | 2018-09-12 | 2019-05-28 | 苏州铸正机器人有限公司 | Assistive surgical device |
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| CN111035452B (en) * | 2019-12-27 | 2021-07-02 | 苏州微创畅行机器人有限公司 | Positioning tool, mechanical arm system, surgical system and registration method |
| CN113288441A (en) * | 2021-05-13 | 2021-08-24 | 北京铸正机器人有限公司 | Active and passive moving device for auxiliary operation |
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- 2019-03-18 CN CN201910201059.XA patent/CN109771060B/en active Active
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| CN109806011A (en) * | 2018-09-12 | 2019-05-28 | 苏州铸正机器人有限公司 | Assistive surgical device |
| CN109806011B (en) * | 2018-09-12 | 2024-01-12 | 苏州铸正机器人有限公司 | Auxiliary operation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109806011A (en) | 2019-05-28 |
| CN109771056A (en) | 2019-05-21 |
| CN109806011B (en) | 2024-01-12 |
| CN210384069U (en) | 2020-04-24 |
| CN109771060A (en) | 2019-05-21 |
| CN109771060B (en) | 2024-01-12 |
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