Medical manipulator

Abstract

The utility model discloses a medical manipulator which comprises a grip, a supporting frame installed at the top of the grip, a sleeve installed at the top end of the supporting frame and a head working assembly installed at the top end of the sleeve. And a steel wire 1, a steel wire 2, a steel wire 3, a steel wire 4, a steel wire 5 and a steel wire 6. A disc is fixed to the surface of the top of the grip, an up-down rotating frame capable of rotating vertically is rotationally installed at the bottom end of the supporting frame, a C-shaped frame capable of rotating horizontally is rotationally installed at the front end of the up-down rotating frame, the disc is rotationally installed at the bottom of the C-shaped frame, and a cross-shaped rotating frame is rotationally installed at the top of the C-shaped frame. According to the medical manipulator, the modular product design concept is adopted, the internal transmission steel wires of the head working part and the tail holding part are connected in a segmented mode, assembling is convenient, the head working part is treated as medical waste after being used, the tail holding part can be reused, and the number and cost of minimally invasive surgery consumables can be reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of minimally invasive surgical instruments, and in particular relates to a medical manipulator. Background Art

[0002] With the continuous advancement of medical technology, minimally invasive surgery has become an important trend in modern medicine. The development of traditional laparoscopic surgical instruments has become relatively mature, and the types and functions of instruments have basically been solidified. However, since most traditional laparoscopic surgical instruments have single functions, facing the increasing difficulty of minimally invasive surgery, multi-degree-of-freedom surgical robots such as the Da Vinci have shown great operational advantages. However, due to the complexity of such robots and their commercial monopoly, the cost of using such robots for minimally invasive surgery remains high, which limits the large-scale promotion of such surgical robots.

[0003] In recent years, with the advancement of technology, a surgical manipulator device has emerged that is a cross between traditional laparoscopic surgical instruments and multi-degree-of-freedom surgical robots. It not only has the multiple degrees of freedom and high flexibility of the da Vinci robot, but also has the low cost of traditional laparoscopic surgery due to its purely mechanical structure. Based on these characteristics, it is favored by more and more medical institutions and is rapidly becoming popular.

[0004] This type of medical manipulator mainly consists of a working part at the head, a gripping part at the tail, and an internal wire rope winding system. The working part is a thin rod-like structure with a tool head at the head, which needs to enter the human tissue when working. Since the manipulator structure is very compact, it generally adopts an integrated design and is installed with a whole section of wire winding, which is difficult to install. After a single use, the entire device needs to be treated as medical waste, which causes a large amount of resource waste. For this reason, the utility model proposes a medical manipulator. Utility Model Content

[0005] The purpose of the present utility model is to provide a medical manipulator to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a medical manipulator, comprising

[0007] A grip, a support mounted on the top of the grip, a sleeve mounted on the top of the support, and a head working assembly mounted on the top of the sleeve;

[0008] and steel wire one, steel wire two, steel wire three, steel wire four, steel wire five, and steel wire six;

[0009] A disc is fixed to the top surface of the handle, and the bottom end of the support frame is rotatably mounted with an upper and lower rotating frame that can rotate vertically, and the front end of the upper and lower rotating frame is rotatably mounted with a C-shaped frame that can rotate horizontally, the disc is rotatably mounted on the bottom of the C-shaped frame, and the top of the C-shaped frame is rotatably mounted with a cross-shaped rotating frame, the front end of the cross-shaped rotating frame is rotatably connected to the disc, and finger sleeve 2 and finger sleeve 1 are provided in front of the disc, and two shafts are rotatably mounted on the bottom of the front end of the cross-shaped rotating frame, and the top ends of finger sleeve 2 and finger sleeve 1 extend to the bottom of the cross-shaped rotating frame and are fixedly connected to the two shafts respectively.

[0010] Preferably, upper double-row wheels and lower double-row wheels are installed on the connecting shaft between the cross-shaped rotating frame and the C-shaped frame.

[0011] Preferably, an upper boss wheel and a lower boss wheel are mounted on the inner side of the C-shaped frame via a rotating shaft, and side wheels are rotatably mounted on both side surfaces of the C-shaped frame.

[0012] Preferably, a rope loop is fixed to the top of the second finger sleeve and the first finger sleeve, a rack is fixed on each of the two rope loops, and the two rope loops are meshed through the rack.

[0013] Preferably, a U-shaped support is fixed to the top end of the sleeve, and the head working assembly includes an upper and lower rotating seats rotatably mounted on the inner side of the U-shaped support, and a clamping tooth 1 and a clamping tooth 2 are rotatably mounted in the upper and lower rotating seats.

[0014] Preferably, a plurality of cylindrical support shafts are fixed on the inner side of the support frame.

[0015] Preferably, the sleeve is a hollow tubular structure.

[0016] Preferably, a threaded sleeve is fixed to the top end of the support frame, and the bottom end of the sleeve is threadedly connected to the threaded sleeve.

[0017] Compared with the existing technology, the beneficial effects of the present invention are: the medical manipulator of the present invention adopts a modular product design concept, and the internal transmission wires of the head working part and the tail holding part are connected in a segmented form, which is convenient for assembly. The head working part is treated as medical waste after use, and the tail holding part can be reused, which can reduce the number and cost of consumables for minimally invasive surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a right side view of the utility model;

[0019] Figure 2 For this utility model Figure 1 A partial enlarged view of area A in the middle;

[0020] Figure 3 It is a left view of the utility model;

[0021] Figure 4 For this utility model Figure 3 A partial enlarged view of the middle B area;

[0022] Figure 5 This is a schematic diagram of the structure of the head working component of the utility model;

[0023] In the figure: 1. Handle; 11. Disc; 12. Finger sleeve 1; 13. Finger sleeve 2; 14. Cross-shaped rotating frame; 15. Shaft; 2. Support frame; 21. C-shaped frame; 211. Side wheel; 212. Upper boss wheel; 213. Lower boss wheel; 214. Upper double-row wheels; 215. Lower double-row wheels; 22. Upper and lower rotating frames; 3. Sleeve; 31. U-shaped support frame; 4. Head working assembly; 41. Upper and lower rotating seats; 42. Clamping tooth 1; 43. Clamping tooth 2; 5. Steel wire 1; 6. Steel wire 2; 7. Steel wire 3; 8. Steel wire 4; 9. Steel wire 5. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Example

[0026] See also Figures 1 to 5 , is an embodiment of the present utility model, which provides a technical solution: a medical manipulator, comprising

[0027] A handle 1, a support frame 2 mounted on the top of the handle 1, a sleeve 3 mounted on the top of the support frame 2, and a head working assembly 4 mounted on the top of the sleeve 3;

[0028] and steel wire one 5, steel wire two 6, steel wire three 7, steel wire four 8, steel wire five 9 and steel wire six;

[0029] A disc 11 is welded and fixed to the top surface of the handle 1, and the bottom end of the support frame 2 is rotatably mounted with an upper and lower rotating frame 22 that can rotate vertically, and the front end of the upper and lower rotating frame 22 is rotatably mounted with a C-shaped frame 21 that can rotate horizontally. The disc 11 is rotatably mounted on the bottom of the C-shaped frame 21, and a cross-shaped rotating frame 14 is rotatably mounted on the top of the C-shaped frame 21. The front end of the cross-shaped rotating frame 14 is rotatably connected to the disc 11, and finger sleeve 2 13 and finger sleeve 1 12 are provided in front of the disc 11. Two shafts 15 are rotatably mounted on the bottom of the front end of the cross-shaped rotating frame 14, and the top ends of finger sleeve 2 13 and finger sleeve 1 12 extend to the bottom of the cross-shaped rotating frame 14 and are fixedly connected to the two shafts 15 respectively.

[0030] An upper double-row wheel 214 and a lower double-row wheel 215 are installed on the connecting shaft between the cross-shaped rotating frame 14 and the C-shaped frame 21 .

[0031] An upper boss wheel 212 and a lower boss wheel 213 are mounted on the inner side of the C-shaped frame 21 via a rotating shaft, and side wheels 211 are rotatably mounted on both side surfaces of the C-shaped frame 21 .

[0032] Among them, a rope loop is fixed on the top of finger sleeve 2 13 and finger sleeve 1 12, and a rack is fixed on both rope loops. The two rope loops are engaged through the rack, so that finger sleeve 12 and finger sleeve 2 13 can rotate outward or inward at the same time to achieve synchronous opening and closing actions.

[0033] Among them, a U-shaped support 31 is fixed to the top of the sleeve 3, and the head working component 4 includes an upper and lower rotating seat 41 rotatably installed on the inner side of the U-shaped support 31, and a clamping tooth 1 42 and a clamping tooth 2 43 are rotatably installed in the upper and lower rotating seat 41.

[0034] Among them, a plurality of cylindrical support shafts are fixed on the inner side of the support frame 2 for supporting a plurality of steel ropes.

[0035] The casing 3 is a hollow tubular structure for smooth passage of multiple steel ropes.

[0036] Among them, a threaded sleeve is fixed on the top of the support frame 2, and the bottom end of the sleeve 3 is threadedly connected to the threaded sleeve to realize the connection between the sleeve 3 and the support frame 2 and the subsequent disassembly and assembly, so that the sleeve 3 can be treated as medical waste after subsequent use, and the handle 1 and the support frame 2 can be reused after disinfection.

[0037] During actual assembly, the front ends of the steel wire 1 5 and the steel wire 2 6 are fixed to the rope loops at the top of the finger sleeve 2 13 and the finger sleeve 1 12 respectively. The steel wire 2 6 on the finger sleeve 1 12 will first pass around the upper double-row wheel 214, then pass around the upper boss wheel 212, and then pass around the wheel rim on one side of the upper and lower rotating frames 22, and pass through the support frame 2 and the sleeve 3 and then connect to one side of the clamping teeth 1 42 and the clamping teeth 2 43, while the steel wire 1 5 on the finger sleeve 2 13 will first pass around the upper double-row wheel 214, then pass around the upper boss wheel 212, and then pass around the wheel rim on one side of the upper and lower rotating frames 22, and pass through the support frame 2 and the sleeve 3 and then connect to one side of the clamping teeth 1 42 and the clamping teeth 2 43. It goes around the lower double-row wheel 215, then around the lower boss wheel 213, then around the wheel rim on one side of the upper and lower rotating frames 22, and passes through the support frame 2 and the sleeve 3 and is connected to one side of the clamping teeth 1 42 and the clamping teeth 2 43; and the front ends of the steel wire 3 7 and the steel wire 4 8 are respectively fixed to the rope loops at the top of the finger sleeve 1 12 and the finger sleeve 2 13. The steel wire 3 7 on the finger sleeve 12 will first go around the upper double-row wheel 214, and then go around the upper boss wheel 212. The steel wire six at the bottom of the upper and lower rotating frames 22 will pass through the inner sides of the support frame 2 and the sleeve 3 and be connected to the top of the upper and lower rotating seats 41, completing the connection of the six steel wire ropes on the entire medical manipulator;

[0038] In actual work use, when the handle 1 is rotated counterclockwise, the steel wire 1 5 and the steel wire 2 6 are tightened, and the steel wire 3 7 and the steel wire 4 8 are loosened, driving the clamping teeth 1 42 and the clamping teeth 2 43 to rotate right toward the thumb, and when the handle 1 is rotated clockwise, the steel wire 3 7 and the steel wire 4 8 are tightened, and the steel wire 1 5 and the steel wire 2 6 are loosened, driving the clamping teeth 1 42 and the clamping teeth 2 43 to rotate left toward the index finger; and when the handle 1 is rotated counterclockwise downward, the steel wire 5 9 is tightened, and the steel wire 6 is loosened, driving the clamping teeth 1 42 and the clamping teeth 2 43 Rotate downward, when the handle 1 rotates upward clockwise, steel wire six is ​​tightened, steel wire five 9 is relaxed, driving clamping teeth 1 42 and clamping teeth 2 43 to rotate upward; and when the disc 11 and the finger sleeve 1 12 are opened, steel wire two 6 and steel wire four 8 are tightened, steel wire one 5 and steel wire three 7 are relaxed, driving clamping teeth 1 42 and clamping teeth 2 43 to open and relax; when the disc 11 and the finger sleeve 1 12 are closed, steel wire one 5 and steel wire three 7 are tightened, steel wire two 6 and steel wire four 8 are relaxed, driving clamping teeth 1 42 and clamping teeth 2 43 to close and clamp.

[0039] Although embodiments of the present invention have been shown and described (see the detailed description above for details), it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medical manipulator, characterized in that: include A handle (1), a support frame (2) mounted on the top of the handle (1), a sleeve (3) mounted on the top of the support frame (2), and a head working assembly (4) mounted on the top of the sleeve (3); and steel wire one (5), steel wire two (6), steel wire three (7), steel wire four (8), steel wire five (9) and steel wire six; A disc (11) is fixed on the top surface of the handle (1), and an upper and lower rotating frame (22) that can rotate vertically is rotatably installed at the bottom end of the support frame (2), and a C-shaped frame (21) that can rotate horizontally is rotatably installed at the front end of the upper and lower rotating frame (22). The disc (11) is rotatably installed at the bottom of the C-shaped frame (21), and a cross-shaped rotating frame (14) is rotatably installed at the top of the C-shaped frame (21). The front end of the cross-shaped rotating frame (14) is rotatably connected to the disc (11), and a finger sleeve 2 (13) and a finger sleeve 1 (12) are provided in front of the disc (11). Two shafts (15) are rotatably installed at the bottom of the front end of the cross-shaped rotating frame (14), and the top ends of the finger sleeve 2 (13) and the finger sleeve 1 (12) both extend to the bottom of the cross-shaped rotating frame (14) and are fixedly connected to the two shafts (15) respectively.

2. The medical manipulator according to claim 1, characterized in that: An upper double-row wheel (214) and a lower double-row wheel (215) are installed on the connecting shaft between the cross-shaped rotating frame (14) and the C-shaped frame (21).

3. The medical manipulator according to claim 1, characterized in that: An upper boss wheel (212) and a lower boss wheel (213) are installed on the inner side of the C-shaped frame (21) via a rotating shaft, and side wheels (211) are rotatably installed on both side surfaces of the C-shaped frame (21).

4. The medical manipulator according to claim 1, characterized in that: A rope loop is fixed on the top of the finger sleeve 2 (13) and the finger sleeve 1 (12), and a rack is fixed on the two rope loops, and the two rope loops are meshed through the rack.

5. The medical manipulator according to claim 1, characterized in that: A U-shaped support frame (31) is fixed to the top end of the sleeve (3), and the head working assembly (4) includes an upper and lower rotating seat (41) rotatably mounted on the inner side of the U-shaped support frame (31), and a clamping tooth 1 (42) and a clamping tooth 2 (43) are rotatably mounted in the upper and lower rotating seat (41).

6. The medical manipulator according to claim 1, characterized in that: A plurality of cylindrical support shafts are fixed on the inner side of the support frame (2).

7. The medical manipulator according to claim 1, characterized in that: The sleeve (3) is a hollow tubular structure.

8. The medical manipulator according to claim 1, characterized in that: A threaded sleeve is fixed to the top end of the support frame (2), and the bottom end of the sleeve (3) is threadedly connected to the threaded sleeve.

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