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A robotic arm of a laparoscopic operating handpiece and its operating method

A technology of endoscope and arm, applied in the field of endoscope operation hand manipulator arm and its operation, can solve the problems of display screen jitter, affecting endoscope viewing, waste of human resources, etc., to meet viewing intention, solve the problem of holding endoscope, positioning precise effect

Active Publication Date: 2017-11-14
MIANYANG MEIKE ELECTRONICS EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the doctor is prone to fatigue when operating the endoscope for a long time. Unstable factors such as the doctor's emotion or physiological activities will also cause hand shaking. Since the displayed image is enlarged, tiny arm tremors may cause shocking effects on the display screen. Annoying jitter affects endoscopic viewing, wastes human resources, and increases surgical risks

Method used

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  • A robotic arm of a laparoscopic operating handpiece and its operating method
  • A robotic arm of a laparoscopic operating handpiece and its operating method
  • A robotic arm of a laparoscopic operating handpiece and its operating method

Examples

Experimental program
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Effect test

specific Embodiment 1

[0020] Such as figure 1 The robotic arm of the endoscopic operation handpiece shown includes two spherical joints, the front spherical joint 1 and the rear spherical joint 3, and a total of three joints, the middle joint 2; There are two connecting rods between the front connecting rod 4 and the rear connecting rod 5 connected between the intermediate joint 2 and the rear ball joint 3; the front ball joint 1 is connected with the laparoscopic operator through a connector 6; The rear spherical joint 3 is connected to the fixed seat 8 through the support rod 7; the front connecting rod 4 and the rear connecting rod 5 can rotate with the middle joint 2 as the center of rotation to adjust the spatial position of the two connecting rods; the laparoscopic operation The operable space of the mobile robot arm is the space between the two spherical surfaces, and the radius of the outer spherical surface is the sum of the distance from the front spherical joint 1 to the middle joint 2 a...

specific Embodiment 2

[0029] The difference from Embodiment 1 is only that the knob 9 is fixedly connected with the upper oblique plug 23, and when the knob 9 rotates inwardly, the upper oblique plug 23 and the lower oblique plug 24 move toward each other and approach each other, and the upper oblique plug 23 and the lower oblique plug 23 The inclined plug 24 simultaneously extrudes the heads of the two ejector rods and stretches out the connecting rods, so that the ejector rod 18 drives the ejector rod 14 to move toward the ball head 12, and the two ejector rod heads 141 respectively press the respective corresponding The ball head 12 locks the two ball heads at the same time. At the same time, when the knob 9 rotates inwardly, it drives the upper support 21 close to the lower support 22, so that the lower support 22 contacts the upper support 21, so that the upper support The friction force between the lower support and the lower support is increased to lock the middle joint 2, and the three joint...

specific Embodiment 3

[0030] The difference with the specific embodiment 1 and the specific embodiment 2 is that: the upper support 21 and the lower support 22 are provided with an upper bevel groove and a lower bevel groove on the central axis of rotation of the hollow interior, when the two When the ball head is fully loosened, the ends of the two ejector rods extending into the support are completely located in the groove of the upper slope and the groove of the lower slope respectively. At the same time, the two supports are separated. At the same time, the three joints are in a loose state at the same time; one end of the central shaft is connected with a knob 9, and when the knob 9 rotates inward, the knob 9 moves opposite to the rotating central shaft, and the two ejector rods are squeezed out of the connecting rod The head of the ejector rod 18 drives the ejector rod 14 to move towards the direction of the ball head 12, and the two ejector rod heads 141 press the corresponding ball head 12 r...

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Abstract

The invention provides an robot arm of an endoscope manipulator and an operation method thereof. The robot arm comprises a front ball joint, a rear ball joint, a middle joint, a front connecting joint connected between the front ball joint and the middle joint, and a rear connecting joint connected between the middle joint and the rear ball joint. The front ball joint is connected with an endoscope manipulator through a connector. The rear ball joint is connected with a fixing seat through a support rod. The front ball joint and the rear ball joint can pivot on the middle joint. The working place of the robot arm is the space between two spherical surfaces, the radius of the spherical outside surface is the sum of the distance between the front ball joint and the middle joint and the distance between the middle joint and the rear ball joint, ant the radius of the spherical inner surface is the difference between the distance between the front ball joint and the middle joint and the distance between the middle joint and the rear ball joint. The robot arm can hold the endoscope during the whole endoscope operation, and the robot arm is accurate in location, a user will be tired, a doctor can see what he need to, the technical issue that an endoscope is hard to hold in present operation can be solved.

Description

technical field [0001] The invention relates to a robotic arm of a laparoscopic operating handpiece and an operating method thereof, in particular to a robotic arm of a laparoscopic operating handpiece suitable for medical instruments in laparoscopic surgery and an operating method thereof. Background technique [0002] Traditional minimally invasive surgery requires a laparoscope to watch the whole process, and a doctor must hold the laparoscope all the way. The doctor must also be very aware of the surgeon's intentions in order to move the endoscope in the correct direction. However, the doctor is prone to fatigue when operating the endoscope for a long time. Unstable factors such as the doctor's emotion or physiological activities will also cause hand shaking. Since the displayed image is enlarged, tiny arm tremors may cause shocking effects on the display screen. Annoying jitter affects endoscopic viewing, wastes human resources, and increases surgical risks. It is ver...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B17/00B25J17/00
CPCA61B17/00234B25J17/00
Inventor 陈晖赵文军邓国勤唐浩杰
Owner MIANYANG MEIKE ELECTRONICS EQUIP
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