CN106137396A - A kind of bindiny mechanism for laparoscopic surgery robotic tool - Google Patents
A kind of bindiny mechanism for laparoscopic surgery robotic tool Download PDFInfo
- Publication number
- CN106137396A CN106137396A CN201610480169.0A CN201610480169A CN106137396A CN 106137396 A CN106137396 A CN 106137396A CN 201610480169 A CN201610480169 A CN 201610480169A CN 106137396 A CN106137396 A CN 106137396A
- Authority
- CN
- China
- Prior art keywords
- location
- hole
- locating dowel
- laparoscopic surgery
- upper cover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 45
- 241000894006 Bacteria Species 0.000 claims abstract description 56
- 229920001971 elastomer Polymers 0.000 claims abstract description 47
- 239000000806 elastomer Substances 0.000 claims abstract description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 5
- 238000002324 minimally invasive surgery Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000013059 nephrectomy Methods 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of bindiny mechanism for laparoscopic surgery robotic tool, the wheel shaft being connected with every bacterium plate every bacterium plate that the elastomer coupled including motor is connected with elastomer with machine shaft；Described motor is arranged on appliance feet, and described wheel shaft is arranged on laparoscopic surgery robotic tool.Described elastomer includes upper cover and one group of hinge assembly of lower cover, connection upper cover and lower cover and coil tension spring.By technique scheme, laparoscopic surgery robotic tool installs as follows to the workflow of appliance feet: motor is arranged on appliance feet, and elastomer couples with motor；It is arranged on elastomer every bacterium plate；Wheel shaft is arranged on bacterium plate, and laparoscopic surgery robotic tool be connected with wheel shaft.
Description
Technical field
The present invention relates to technical field of medical instruments, in particular to one for laparoscopic surgery robotic tool
Bindiny mechanism.
Background technology
Minimally Invasive Surgery is that one is main makes surgeon without making patient through endoscope and various imaging technique
Perform a surgical operation in the case of becoming huge wound.Minimally Invasive Surgery in early days refers exclusively to laparoscopic surgery, because only having abdominal at that time
Can be replaced with Minimally Invasive Surgery.Owing to the wound of Minimally Invasive Surgery is the least, and recovery period is short, therefore suffers from the favor of people,
Minimally Invasive Surgery technology is universal now has been widely used in various operation.
First on the stomach wall of sufferer, offer several aperture during Minimally Invasive Surgery, be then placed in the operating theater instruments such as shears, pliers,
The tissue of pathological changes is carried out clamp, cut, sew up, the sequence of operations such as knotting.But the degree of freedom of existing operating theater instruments is limited,
Generally not possessing pitching and beat degree of freedom, the most clumsy, automaticity is poor, has had a strong impact on quality and the precision of operation.Therefore,
Improved for problems of the prior art.
For solving above-mentioned technical problem, the utility model of Application No. CN201420805476.8 discloses a kind of for micro-
The multiple degrees of freedom operating theater instruments of invasive procedures, including portion of the handle fix with described portion of the handle the power drive portion being connected and
Described power drive portion is fixed end executable portion that the thin connecting rod of connection is connected with described thin connecting rod, is controlled described power
The control system of drive part motion, wherein, described portion of the handle and power drive portion all control system by circuit with described
System is connected, and the athletic meeting of described portion of the handle drives the motion of joint encoder, and encoder gathers the motion letter of corresponding joint
Breath, is then fed back to described control system, and described power drive portion receives the signal rear drive institute of described control system
State end executable portion and complete pitching, beat and holding action.Above-mentioned utility model has pitching, beat, clamping and axle and turns
Four degree of freedom, have higher automaticity, it is possible to be effectively improved surgical quality and efficiency, and compact structure is compact.
The above-mentioned multiple degrees of freedom operating theater instruments for Minimally Invasive Surgery can realize the conventional separation of Wicresoft's laparoscopic surgery,
Cut, stop blooding, the basic acts such as stitching, it is possible to realize the abdominal cavity such as gallbladder removal, nephrectomy typical procedure.
When laparoscopic surgery, need at laparoscopic surgery robotic tool (the most above-mentioned multiple degrees of freedom operating theater instruments) and device
Finding a suitable bindiny mechanism between tool base, this bindiny mechanism needs have four features simultaneously: first, connects machine
Structure can transmit moment of torsion；Second, flexible moving up and down can be done by bindiny mechanism；3rd, it is contemplated that need to be with disposable when performing an operation
Every bacterium plate, bindiny mechanism can conveniently dismantle；4th, it is contemplated that space and the problem of weight, bindiny mechanism should light reliably.
But, laparoscopic surgery robotic tool is being installed to appliance feet by medical personnel by bindiny mechanism
Time, laparoscopic surgery robotic tool can produce certain impact to bindiny mechanism and appliance feet, and this kind of impact can damage abdomen
Endoscope-assistant surgery robotic tool and appliance feet.
Summary of the invention
Technical problem solved by the invention: during laparoscopic surgery, laparoscopic surgery robotic tool installs at the bottom of apparatus
On seat, produced impact damages laparoscopic surgery robotic tool and appliance feet.
For solving above-mentioned technical problem, the present invention provides following technical scheme:
A kind of bindiny mechanism for laparoscopic surgery robotic tool, the elasticity coupled with machine shaft including motor
The wheel shaft being connected with every bacterium plate every bacterium plate that body is connected with elastomer；Described motor is arranged on appliance feet, described wheel shaft
It is arranged on laparoscopic surgery robotic tool；
Described elastomer includes lower cover, one group of hinge assembly, upper cover, coil tension spring；In described one group of hinge assembly each
The bottom of hinge assembly is all hinged on down and covers, and in one group of hinge assembly, the top of each hinge assembly is all hinged on and covers,
The bottom of described coil tension spring is connected to the centre of lower cover, and the top of coil tension spring is connected to the centre of upper cover；Under described
Covering be connected fixing with machine shaft, described upper cover is connected with every bacterium plate.
By technique scheme, laparoscopic surgery robotic tool installs as follows to the workflow of appliance feet:
First, motor is arranged on appliance feet, and elastomer couples with motor, and specifically, lower cover is solid with the rotating shaft of motor
Fixed connection.
Second, be arranged on elastomer every bacterium plate, specifically, every bacterium plate be arranged on elastomer on cover.
3rd, wheel shaft is arranged on bacterium plate, and laparoscopic surgery robotic tool be connected with wheel shaft.
By technique scheme, when laparoscopic surgery robotic tool and connected wheel shaft are installed on bacterium plate
Time, laparoscopic surgery robotic tool can produce certain impact to appliance feet and bindiny mechanism thereon, of the present invention
Elastomer in coil tension spring and the cooperation of one group of hinge assembly above-mentioned impact can be buffered, in order to avoid above-mentioned impact is to abdomen
Endoscope-assistant surgery robotic tool and appliance feet produce damage.Wherein, one group of hinge assembly is except coordinating with coil tension spring with buffering
Outside above-mentioned impact, laparoscopic surgery robotic tool also can be made can to do flexible moving up and down at work, and, one group is hinged
The moment of torsion that the setting of assembly can make motor export accurately and stably flows to laparoscopic surgery robot device through bindiny mechanism
Tool.
As the present invention a kind of explanation to elastomer, in elastomer, each hinge assembly in described one group of hinge assembly
All include upper hinge, lower hinge, be hinged over articulated elements and the short pin shaft of lower hinge, be hinged over the of articulated elements and upper cover
Second long pin shaft of one long pin shaft, hinged lower hinge and lower cover.
As the present invention a kind of explanation to elastomer, in elastomer, described on be covered with multiple upper hinged seat, described under
Being covered with multiple lower hinged seat, the quantity of described upper hinged seat is hinged equal in one group of hinge assembly equal to the quantity of lower hinged seat
The quantity of assembly；Described first long pin shaft is hinged over articulated elements and upper hinged seat, the described second hinged lower hinge of long pin shaft and
Lower hinged seat.
As the present invention a kind of explanation to elastomer, in elastomer, described upper cover and lower cover are the most disk-shaped, in upper cover
Heart line is located along the same line with the centrage of lower cover, and described one group of hinge assembly includes that the circumference along upper cover or lower cover is to uniformly
Three hinge assemblies of distribution.As described above, three hinge assembly linkages in elastomer, the upper cover made does flexible reciprocal fortune
Time dynamic, always it is to maintain level.
As the present invention a kind of explanation to elastomer, in elastomer, described under cover and be provided with pedestal, pedestal is disk-shaped,
The centre of pedestal offers the centre bore accommodating coil tension spring bottom, and the edge of pedestal accommodates the semi-circular groove of lower hinge
Mouthful, described lower hinged seat is arranged on the edge of pedestal and is positioned at semicircular notch.
As the present invention a kind of explanation to annexation between bacterium plate and elastomer and wheel shaft, described on cover and be provided with
First locating dowel and the first hole, location, described first locating dowel is positioned at the centre of upper cover, and the first hole, location is positioned at the first location
The periphery of post；The bottom face of described wheel shaft is provided with the second hole, location and the 3rd hole, location, and described second hole, location is positioned at wheel shaft
The centre of bottom face, the 3rd hole, location is positioned at the periphery in the second hole, location；The described bottom surface every bacterium plate is provided with the second location
Post and the 4th hole, location, the end face every bacterium plate is provided with the 3rd locating dowel and the 4th locating dowel, described 4th hole and the 3rd, location
Locating dowel is positioned at the centre every bacterium plate, the 3rd locating dowel hollow；Described first locating dowel is upward through the 4th hole, location and inserts
Entering the 3rd locating dowel, described first hole, location coordinates with the second locating dowel, and described 3rd locating dowel coordinates with the second hole, location, institute
State the 4th locating dowel to coordinate with the 3rd hole, location.
As described above, it is equipped with locating dowel every the two sides of bacterium plate, every bacterium plate by locating dowel thereon and upper cover and wheel
Hole, location on axle connects, so, the convenient replacement every bacterium plate because isolate a patient in bacterium plate is mainly used in operation wound with
External environment, to avoid the wound of patient to be infected by extraneous antibacterial, therefore, is disposable every the use in operation of the bacterium plate
, can not use by secondary.
Based on above-mentioned a kind of explanation to annexation between bacterium plate and elastomer and wheel shaft, described first hole, location
Quantity is three, hole, three first location along the circumference of upper cover to being uniformly distributed, but, three the first holes from upper cover center away from
From, so so that position corresponding between bacterium plate and wheel shaft is well-determined.In hole, three first location two
Individual first hole, location is rounded, and the hole, one first location in hole, three first location uses straight trough mouth.As described above, upper cover
With during every bacterium plate para-position, straight trough mouth makes para-position have higher success rate.
In sum, a kind of bindiny mechanism for laparoscopic surgery robotic tool of the present invention has following technology
Effect:
First, owing to the upper cover of elastomer is connected with every bacterium plate by the cooperation in hole, location and locating dowel, also lead to every bacterium plate
The cooperation crossing hole, location and locating dowel is connected with wheel shaft, and, elastomer connects upper cover and lower cover by three hinge assemblies, because of
This, fix the laparoscopic surgery machine that the moment of torsion of the machine shaft being connected can accurately and stably be transferred to be connected with wheel shaft with lower cover
Device people's apparatus.
Second, elastomer connects upper cover and lower cover by three hinge assemblies, and therefore, elastomer itself can do flexible upper and lower
Mobile, and then make connected to do flexible moving up and down every bacterium plate, then make the wheel of laparoscopic surgery robotic tool
Axle can be accurately located on bacterium plate, and locating dowel will not depart from from the hole, location every bacterium plate.
3rd, it is provided with coil tension spring between upper cover and the lower cover of elastomer, so, pacifies laparoscopic surgery robotic tool
It is contained in elastomer and time on bacterium plate, the coil tension spring available buffer laparoscopic surgery robotic tool impact to appliance feet, keeps away
Exempt from the damage of laparoscopic surgery robotic tool and appliance feet.
4th, the main body of the bindiny mechanism for laparoscopic surgery robotic tool of the present invention is elastomer, elastic
Body all uses the coordinating, compared to existing skill of hole, location and locating dowel with the connection every bacterium plate and the connection every bacterium plate and wheel shaft
The connecting plate that Leonardo da Vinci's operating robot in art is used, bindiny mechanism of the present invention has easy to use, connects reliable
Advantage.
5th, the dividing plate plate front of the bindiny mechanism for laparoscopic surgery robotic tool of the present invention is provided with many
The locating dowel coordinated with elastomer upper cover, is provided with the many locating dowels coordinated with wheel axle end surface, many locating dowels every bacterium plate reverse side
From the distance every Jun Ban center, so, the link position every bacterium plate with elastomer and wheel shaft is made to be unique and determine.Its
In, coordinate with the locating dowel of elastomer upper cover centre every the hollow locating dowel of bacterium plate centre, hollow every bacterium plate centre
Locating dowel coordinates with the hole, location of wheel axle end surface centre, so, in the case of motor rotates, it is ensured that every bacterium plate and wheel shaft
Always move in a circle around the center of circle.
6th, one group of three hinge assemblies linkage of elastomer, when making upper cover do flexible up and down motion, always it is to maintain water
Flat.
7th, in the hole, multiple location of the upper cover of elastomer, have use straight trough mouth hole, location, so, upper cover with every
During bacterium plate para-position, para-position is made to have higher success rate.
Accompanying drawing explanation
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of a kind of bindiny mechanism for laparoscopic surgery robotic tool of the present invention；
Fig. 2 is the structural representation of Fig. 1 elastomer 20；
Fig. 3 is the structural representation in Fig. 1 every bacterium plate 30；
Fig. 4 is to observe the structural representation every bacterium plate 30 gained in Fig. 3 from rear；
Fig. 5 be in Fig. 3 from left sides every the structural representation of bacterium plate 30 gained.
Symbol description in figure:
10, motor；
20, elastomer；21, lower cover；22, hinge assembly；221, upper hinge；222, lower hinge；223, short pin shaft；
224, the first long pin shaft；225, the second long pin shaft；226, upper hinged seat；227, lower hinged seat；23, upper cover；231, the first location
Post；232, the first hole, location；24, coil tension spring；25, pedestal；250, semicircular notch；
30, every bacterium plate；304, the 4th hole, location；312, the second locating dowel；313, the 3rd locating dowel；314, the 4th location
Post；
40, wheel shaft.
Detailed description of the invention
Such as Fig. 1, a kind of bindiny mechanism for laparoscopic surgery robotic tool, join including motor 10 and machine shaft
The wheel shaft 40 being connected with every bacterium plate every bacterium plate 30 that the elastomer 20 connect is connected with elastomer；Described motor is arranged at the bottom of apparatus
On seat, described wheel shaft is arranged on laparoscopic surgery robotic tool.
In conjunction with Fig. 1, Fig. 2, described elastomer 20 includes lower cover 21, one group of hinge assembly 22, upper cover 23, coil tension spring 24；
In described one group of hinge assembly, the bottom of each hinge assembly is all hinged on down and covers, each hinge assembly in one group of hinge assembly
Top be all hinged on and cover, the bottom of described coil tension spring is connected to the centre of lower cover, and the top of coil tension spring connects
Centre at upper cover；Described lower cover is fixing with machine shaft to be connected, and described upper cover is connected with every bacterium plate.
In elastomer 20, in described one group of hinge assembly 22, each hinge assembly all includes upper hinge 221, lower hinge
222, it is hinged over the short pin shaft 223 of articulated elements and lower hinge, is hinged over articulated elements and the first long pin shaft 224 of upper cover, hinged
Lower hinge and the second long pin shaft 225 of lower cover.
In elastomer 20, described upper cover 23 is provided with multiple upper hinged seat 226, and described lower cover 21 is provided with multiple lower hinged seat
227, the quantity of described upper hinged seat is equal to the quantity of hinge assembly in one group of hinge assembly 22 equal to the quantity of lower hinged seat；Institute
State the first long pin shaft 224 and be hinged over articulated elements 221 and upper hinged seat, the described second hinged lower hinge of long pin shaft 225 222 and under
Hinged seat.
In elastomer 20, described upper cover 23 and lower cover 21 are the most disk-shaped, and the centrage of upper cover is positioned at the centrage of lower cover
On same straight line, described one group of hinge assembly 22 includes that the circumference along upper cover or lower cover is to equally distributed three hinge assemblies.
In elastomer 20, described lower cover 21 is provided with pedestal 25, and pedestal is disk-shaped, and it is flexible that the centre of pedestal offers receiving
The centre bore of spring 24 bottom, the edge of pedestal accommodates the semicircular notch 250 of lower hinge 222, described lower hinged seat
227 are arranged on the edge of pedestal and are positioned at semicircular notch.
In conjunction with Fig. 1, Fig. 2, described upper cover 23 is provided with the first locating dowel 231 and the first hole 232, location, described first location
Post is positioned at the centre of upper cover, and the first hole, location is positioned at the periphery of the first locating dowel；The bottom face of described wheel shaft 40 is provided with
Two holes, location and the 3rd hole, location, described second hole, location is positioned at the centre of wheel shaft bottom face, and the 3rd hole, location is positioned at second
The periphery in hole, location；With reference to Fig. 3 to Fig. 5, the described bottom surface every bacterium plate 30 is provided with the second locating dowel 312 and the 4th hole, location
304, the end face every bacterium plate is provided with the 3rd locating dowel 313 and the 4th locating dowel 314, described 4th hole, location and the 3rd locating dowel
It is positioned at the centre every bacterium plate, the 3rd locating dowel hollow；Described first locating dowel is upward through the 4th hole, location and inserts the 3rd
Locating dowel, described first hole, location coordinates with the second locating dowel, and described 3rd locating dowel coordinates with the second hole, location, and the described 4th
Locating dowel coordinates with the 3rd hole, location.
The quantity in above-mentioned first hole 232, location is three, hole, three first location along the circumference of upper cover 23 to being uniformly distributed,
Hole, two first location in hole, three first location is rounded, and the hole, one first location in hole, three first location uses straight
Notch.
In practical operation, laparoscopic surgery robotic tool installs as follows to the workflow of appliance feet:
First, motor 10 is arranged on appliance feet, and the lower cover 21 in elastomer 20 couples with motor 10.
Second, every bacterium plate 30 by the second locating dowel 312 and the first hole 232, location coordinate and the 4th hole, location 304 and
The cooperation of the first locating dowel 231 is arranged on the upper cover 23 of elastomer 20.
3rd, wheel shaft 40 coordinating and the 3rd positioning Kong Yu tetra-and position by the second hole, location and the second locating dowel 312
The cooperation of post 314 is arranged on bacterium plate 30, and laparoscopic surgery robotic tool is connected with wheel shaft 40.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, the most all will change, this specification content should not be construed as this
Bright restriction.
Claims (7)
1. for the bindiny mechanism of laparoscopic surgery robotic tool, the bullet coupled with machine shaft including motor (10)
The wheel shaft (40) being connected with every bacterium plate every bacterium plate (30) that gonosome (20) is connected with elastomer；Described motor is arranged at the bottom of apparatus
On seat, described wheel shaft is arranged on laparoscopic surgery robotic tool；It is characterized in that:
Described elastomer (20) includes lower cover (21), one group of hinge assembly (22), upper cover (23), coil tension spring (24)；Described one
In group hinge assembly, the bottom of each hinge assembly is all hinged on down and covers, the top of each hinge assembly in one group of hinge assembly
All being hinged on and cover, the bottom of described coil tension spring is connected to the centre of lower cover, and the top of coil tension spring is connected to upper cover
Centre；Described lower cover is fixing with machine shaft to be connected, and described upper cover is connected with every bacterium plate.
A kind of bindiny mechanism for laparoscopic surgery robotic tool, it is characterised in that: elastic
In body (20), in described one group of hinge assembly (22) each hinge assembly all include upper hinge (221), lower hinge (222),
The short pin shaft (223) being hinged over articulated elements and lower hinge, the first long pin shaft (224) being hinged over articulated elements and upper cover, hinged
Second long pin shaft (225) of lower hinge and lower cover.
A kind of bindiny mechanism for laparoscopic surgery robotic tool, it is characterised in that: elastic
In body (20), described upper cover (23) is provided with multiple upper hinged seat (226), and described lower cover (21) is provided with multiple lower hinged seat (227),
The quantity of described upper hinged seat is equal to the quantity of hinge assembly in one group of hinge assembly (22) equal to the quantity of lower hinged seat；Described
First long pin shaft (224) is hinged over articulated elements (221) and upper hinged seat, the hinged lower hinge of described second long pin shaft (225)
And lower hinged seat (222).
A kind of bindiny mechanism for laparoscopic surgery robotic tool, it is characterised in that: elastic
In body (20), described upper cover (23) and lower cover (21) are the most disk-shaped, and the centrage of upper cover and the centrage of lower cover are positioned at always
On line, described one group of hinge assembly (22) includes that the circumference along upper cover or lower cover is to equally distributed three hinge assemblies.
A kind of bindiny mechanism for laparoscopic surgery robotic tool, it is characterised in that: elastic
In body (20), described lower cover (21) is provided with pedestal (25), and pedestal is disk-shaped, and the centre of pedestal offers receiving coil tension spring
(24) centre bore of bottom, the edge of pedestal accommodates the semicircular notch (250) of lower hinge (222), described under hinged
Seat (227) is arranged on the edge of pedestal and is positioned at semicircular notch.
A kind of bindiny mechanism for laparoscopic surgery robotic tool, it is characterised in that: described
Upper cover (23) is provided with the first locating dowel (231) and the first hole, location (232), and described first locating dowel is positioned at the central authorities of upper cover
Place, the first hole, location is positioned at the periphery of the first locating dowel；The bottom face of described wheel shaft (40) is provided with the second hole, location and the 3rd
Hole, location, described second hole, location is positioned at the centre of wheel shaft bottom face, and the 3rd hole, location is positioned at the periphery in the second hole, location；Institute
Stating and be provided with the second locating dowel (312) and the 4th hole, location (304) every the bottom surface of bacterium plate (30), the end face every bacterium plate is provided with the
Three locating dowels (313) and the 4th locating dowel (314), described 4th location hole and the 3rd locating dowel be positioned at the centre every bacterium plate,
3rd locating dowel hollow；Described first locating dowel is upward through the 4th hole, location and inserts the 3rd locating dowel, described first location
Hole coordinates with the second locating dowel, and described 3rd locating dowel coordinates with the second hole, location, described 4th locating dowel and the 3rd hole, location
Coordinate.
A kind of bindiny mechanism for laparoscopic surgery robotic tool, it is characterised in that: described
The quantity of the first hole, location (232) is three, hole, three first location along the circumference of upper cover (23) to being uniformly distributed, three first
Hole, two first location in hole, location is rounded, and the hole, one first location in hole, three first location uses straight trough mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610480169.0A CN106137396B (en) | 2016-06-27 | 2016-06-27 | A kind of bindiny mechanism for laparoscopic surgery robotic tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610480169.0A CN106137396B (en) | 2016-06-27 | 2016-06-27 | A kind of bindiny mechanism for laparoscopic surgery robotic tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106137396A true CN106137396A (en) | 2016-11-23 |
| CN106137396B CN106137396B (en) | 2018-11-27 |
Family
ID=57349343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610480169.0A Active CN106137396B (en) | 2016-06-27 | 2016-06-27 | A kind of bindiny mechanism for laparoscopic surgery robotic tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106137396B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667579A (en) * | 2016-12-30 | 2017-05-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Connecting mechanism for laparoscopic surgery robot instruments |
| CN106704344A (en) * | 2016-12-26 | 2017-05-24 | 苏州康多机器人有限公司 | Quick connecting assembly |
| CN111012501A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN112008645A (en) * | 2020-08-25 | 2020-12-01 | 苏州哲思达智能设备科技有限公司 | Tool jig for assembling surgical robot instrument connecting mechanism |
| CN113854950A (en) * | 2021-10-29 | 2021-12-31 | 南京佗道医疗科技有限公司 | A multiplex laparoscope |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224574A (en) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | A nine-degree-of-freedom hybrid robot combining active and passive |
| US20120329003A1 (en) * | 2010-03-05 | 2012-12-27 | Chae Bung Lee | Articulator |
| CN103379874A (en) * | 2011-02-14 | 2013-10-30 | 直观外科手术操作公司 | Presentation of optimally curved articulated link structures and associated methods |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN204500799U (en) * | 2014-12-17 | 2015-07-29 | 苏州康多机器人有限公司 | A kind of multiple degrees of freedom operating theater instruments for Minimally Invasive Surgery |
| US20150230866A1 (en) * | 2014-02-20 | 2015-08-20 | Hiwin Technologies Corp. | Medical instrument holding apparatus |
| CN105125263A (en) * | 2010-05-14 | 2015-12-09 | 直观外科手术操作公司 | Surgical system sterile drape |
| CN105246428A (en) * | 2013-01-11 | 2016-01-13 | 美的洛博迪克斯公司 | Articulating surgical instruments and methods of deploying the same |
| CN205964162U (en) * | 2016-06-27 | 2017-02-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A coupling mechanism for laparoscopic surgery robot apparatus |
-
2016
- 2016-06-27 CN CN201610480169.0A patent/CN106137396B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224574A (en) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | A nine-degree-of-freedom hybrid robot combining active and passive |
| US20120329003A1 (en) * | 2010-03-05 | 2012-12-27 | Chae Bung Lee | Articulator |
| CN105125263A (en) * | 2010-05-14 | 2015-12-09 | 直观外科手术操作公司 | Surgical system sterile drape |
| CN103379874A (en) * | 2011-02-14 | 2013-10-30 | 直观外科手术操作公司 | Presentation of optimally curved articulated link structures and associated methods |
| CN105246428A (en) * | 2013-01-11 | 2016-01-13 | 美的洛博迪克斯公司 | Articulating surgical instruments and methods of deploying the same |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| US20150230866A1 (en) * | 2014-02-20 | 2015-08-20 | Hiwin Technologies Corp. | Medical instrument holding apparatus |
| CN204500799U (en) * | 2014-12-17 | 2015-07-29 | 苏州康多机器人有限公司 | A kind of multiple degrees of freedom operating theater instruments for Minimally Invasive Surgery |
| CN205964162U (en) * | 2016-06-27 | 2017-02-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A coupling mechanism for laparoscopic surgery robot apparatus |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106704344A (en) * | 2016-12-26 | 2017-05-24 | 苏州康多机器人有限公司 | Quick connecting assembly |
| CN106704344B (en) * | 2016-12-26 | 2019-01-04 | 苏州康多机器人有限公司 | One kind connecing sub-assembly fastly |
| CN106667579A (en) * | 2016-12-30 | 2017-05-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Connecting mechanism for laparoscopic surgery robot instruments |
| CN111012501A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN111012501B (en) * | 2018-10-09 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN112008645A (en) * | 2020-08-25 | 2020-12-01 | 苏州哲思达智能设备科技有限公司 | Tool jig for assembling surgical robot instrument connecting mechanism |
| CN112008645B (en) * | 2020-08-25 | 2021-11-05 | 周长学 | Tool jig for assembling surgical robot instrument connecting mechanism |
| CN113854950A (en) * | 2021-10-29 | 2021-12-31 | 南京佗道医疗科技有限公司 | A multiplex laparoscope |
| CN113854950B (en) * | 2021-10-29 | 2024-09-24 | 佗道医疗科技有限公司 | Multiplexing laparoscope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106137396B (en) | 2018-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6680862B2 (en) | Surgical arm | |
| CN106137396A (en) | A kind of bindiny mechanism for laparoscopic surgery robotic tool | |
| CN102499759B (en) | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery | |
| US9642642B2 (en) | Guide tip introducer and method to create thereof | |
| US9070307B2 (en) | Surgical simulation device and assembly | |
| JP4856109B2 (en) | Surgical instrument and surgical instrument | |
| CN104814792B (en) | Separable multi-arm soft robotic arm device | |
| KR20150064120A (en) | Surgical training model for laparoscopic procedures | |
| CN104546031B (en) | A kind of multiple degrees of freedom operating theater instruments for Minimally Invasive Surgery | |
| CN109330697A (en) | Minimally invasive surgery from operating equipment components and surgical robots | |
| CN105078524A (en) | Instrument for surgical operation | |
| CN211155980U (en) | Suturing device for endoscope and endoscope forceps | |
| CN205964162U (en) | A coupling mechanism for laparoscopic surgery robot apparatus | |
| CN108618845B (en) | Parallel brain surgery minimally invasive surgery robot capable of being fixed on skull | |
| CN108836792B (en) | A deep muscle release instrument | |
| CN109259813A (en) | Clamping device for endoscopic purse stapler | |
| CN109925061A (en) | A kind of bionic surgical Instrument | |
| CN207822415U (en) | Orthopaedics hand convalescence device | |
| TWI770509B (en) | Multi-segment-rotation robotic arm | |
| US11926047B2 (en) | Systems and methods for facilitating surgical practice | |
| CN113230078B (en) | A device for immobilizing the patient's head during cervical spine surgery | |
| CN109770970B (en) | Abdominal cavity minimally invasive surgery robot | |
| CN109893211A (en) | A kind of minimally invasive abdominal operation equipment clamps together device | |
| CN213309613U (en) | Shoulder arthroscope operation fixing frame | |
| CN204500799U (en) | A kind of multiple degrees of freedom operating theater instruments for Minimally Invasive Surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
|
| CP03 | Change of name, title or address |