Auxiliary surgical robot

Abstract

The utility model discloses an auxiliary surgical robot, belongs to the technical field of medical auxiliary instruments, and solves the problems of low surgical efficiency, large workload of auxiliary personnel, limited operation flexibility, unsmooth cooperation and increased time cost and operation difficulty in the prior art. Comprising a fixed base provided with a supporting stand column, a first mechanical arm is arranged in the middle of the supporting stand column, the rear end of the first mechanical arm is rotationally connected with the supporting stand column through a mechanical arm connecting clamping sleeve, and an endoscope lens assembly is arranged at the front end of the first mechanical arm and movably connected with the end of the first mechanical arm through a rotary connector; a display screen is arranged at the extending end of the screen connecting frame on the upper portion of the supporting stand column. The auxiliary lens is reasonable in design, can assist an operator, can relieve the workload of an assistant, improves the operation efficiency, can reduce the number of incisions in an operation, reduces the bleeding risk, can reduce mutual interference between a lens and an instrument, ensures the optimal operation view field support, and effectively improves the operation accuracy and safety.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical auxiliary appliance, specifically relates to an auxiliary operation robot. BACKGROUND

[0002] The existing operation robot such as da Vinci robot cannot reach the expected operation efficiency under the high-strength operation environment, and the operation efficiency is low;Especially in China, a surgeon needs to perform multiple operations a day, and the number and time arrangement of robot operations are difficult to adapt to the high-frequency demand in China.Moreover, although the existing operation robot liberates the operator, the work burden of the operation team is not reduced, and instead, due to the complexity of robot operation, the workload of auxiliary personnel is increased, especially in the case of high-frequency operation, the problem of assistant resource shortage is more prominent.At the same time, the existing operation robot is usually large in size, and the mechanical arm limits the operation flexibility of the assistant, resulting in complicated preparation work before operation, unsmooth cooperation during operation, and other situations, which increases the time cost and operation difficulty in the operation process.In addition, the existing structure of the operation robot needs to be operated through multiple incisions, which not only causes more trauma to the patient, but also increases the risk of bleeding.Therefore, it is necessary to improve the existing operation auxiliary robot. SUMMARY

[0003] The utility model is just in view of the above -mentioned problem, provides a kind of auxiliary operator, can reduce the work burden of assistant, improve overall operation efficiency, and can reduce the number of incisions in operation, reduce the risk of bleeding, and can reduce the situation of mutual interference of lens and instrument, ensure the best operation visual field support, effectively improve the operation accuracy and safety of auxiliary operation robot.

[0004] The utility model adopts the technical scheme that the auxiliary operation robot includes fixed base, and is characterized by: the fixed base is provided with a vertical support column, the middle part of the support column is provided with a horizontal first mechanical arm, the rear end of the first mechanical arm is connected with the column body of the support column through a mechanical arm connecting sleeve, the front end of the first mechanical arm is provided with a laparoscope lens assembly, and the laparoscope lens assembly is movably connected with the end of the first mechanical arm through a rotary connector;The upper part of the support column is further provided with a screen connecting frame, and the extension end of the screen connecting frame is provided with a display screen.

[0005] The first mechanical arm comprises a connecting rear swing arm, the rear end of the connecting rear swing arm is hinged to the rear swing arm hinged lug on the mechanical arm connecting sleeve, the front end of the connecting rear swing arm is hinged to the lifting front swing arm, and the hinged part between the lifting front swing arm and the connecting rear swing arm is further provided with a front swing arm driving motor, the output end of the front swing arm driving motor is connected with the hinged rotating shaft between the front and rear swing arms; the front end of the lifting front swing arm is connected with the rotary connecting head. The mechanical arm connecting sleeve is rotatably sleeved on the supporting column, and the hinging between the connecting rear swing arm and the rear swing arm hinged lug of the mechanical arm connecting sleeve is used to facilitate the adjustment of the swing angle of the connecting rear swing arm, and the front swing arm driving motor is used to drive the lifting front swing arm to swing up and down around the hinged rotating shaft and change the angle.

[0006] The rear swing arm hinged lug on the mechanical arm connecting sleeve is provided with a rear swing arm positioning clamping tooth, and correspondingly, the rear end of the connecting rear swing arm is provided with a rear swing arm positioning clamping block for cooperating with the rear swing arm positioning clamping tooth, and the rear end of the rear swing arm positioning clamping block and the bottom of the clamping block mounting groove are further provided with a clamping block pressing spring. The cooperation of the rear swing arm positioning clamping block and the rear swing arm positioning clamping tooth on the rear swing arm hinged lug is used to fix the swing position of the connecting rear swing arm.

[0007] The endoscope lens assembly comprises a camera connecting seat hinged to the front end of the rotary connecting head, a connecting seat driving motor is arranged between the camera connecting seat and the rotary connecting head, a first focusing telescopic sleeve and a second focusing telescopic sleeve are sequentially inserted and arranged at the front end of the camera connecting seat, and a focusing linear motor is arranged inside the camera connecting seat, the driving end of the focusing linear motor is connected with the first focusing telescopic sleeve and the second focusing telescopic sleeve respectively; a flexible connecting goose neck pipe is arranged at the front end of the second focusing telescopic sleeve, a micro camera is arranged at the front end of the flexible connecting goose neck pipe, and a sensor and a light are further arranged on the micro camera; a rotary driving motor is arranged between the rotary connecting head and the first mechanical arm end. The connecting seat driving motor is used to drive the pitching and rolling of the endoscope lens assembly, and the rotary driving motor is used to drive the rotary connecting head and the endoscope lens assembly thereon to rotate along the axial direction; at the same time, the first focusing telescopic sleeve and the second focusing telescopic sleeve are driven to expand and contract in sections by the focusing linear motor, so as to automatically adjust the focal length of the micro camera at the front end of the flexible connecting goose neck pipe.

[0008] The screen connecting frame comprises a screen rotating seat rotatably connected to the upper end of the supporting column, a connecting rod hinged lug plate is arranged on the screen rotating seat, an adjusting upper connecting rod and an adjusting lower connecting rod are arranged on the connecting rod hinged lug plate, the rear ends of the adjusting upper connecting rod and the adjusting lower connecting rod are respectively hinged to two groups of hinge holes on the connecting rod hinged lug plate, the front ends of the adjusting upper connecting rod and the adjusting lower connecting rod are respectively hinged to connecting rod hinge blocks, and the rear side of the display screen is connected to the connecting rod hinge blocks through a screen hinge plate. During the adjustment of the height of the display screen by the screen connecting frame, the four-connecting-rod mechanism formed by the adjusting upper connecting rod, the adjusting lower connecting rod and the connecting rod hinge blocks is used to effectively maintain the posture of the display screen, thereby facilitating the observation of medical staff.

[0009] The lower side of the adjusting upper connecting rod is provided with a U-shaped groove arranged along the extending direction of the connecting rod, and the adjusting lower connecting rod is arranged in the U-shaped groove on the lower side of the adjusting upper connecting rod. The integration of the entire screen connecting frame is improved, and the occupied space is effectively reduced.

[0010] The supporting column is further provided with a second mechanical arm for fixing instruments, the rear end of the second mechanical arm is rotatably sleeved on the supporting column through a mechanical arm connecting sleeve, and the front end of the second mechanical arm is provided with an instrument fixing part. The auxiliary instruments are arranged on the instrument fixing part at the front end of the second mechanical arm with smaller size, and the second mechanical arm is used as an "assistant" role to provide assistance when special operation is required.

[0011] Brake casters are arranged at the four corners of the lower side of the fixing base. The movement of the entire device is facilitated.

[0012] The auxiliary surgical robot further comprises an ultrasonic knife used for cutting and hemostasis of diseased tissues during surgery.

[0013] The auxiliary surgical robot further comprises intelligent glasses for synchronously displaying the captured images and voice-controlling the mechanical arm.

[0014] The utility model discloses a beneficial effect: since the utility model discloses a fixed base, is provided with the vertical arrangement's support column on the fixed base, the middle part of support column is provided with the transverse arrangement's first mechanical arm, and the rear end of first mechanical arm is rotatably connected with the column body of support column through mechanical arm connecting sleeve, and the front end of first mechanical arm is provided with endoscope lens assembly, and endoscope lens assembly is movably connected with the end of first mechanical arm through rotary connector, the upper portion of support column is provided with screen connecting frame, and the extension end of screen connecting frame is provided with the structure form of display screen, so it is reasonable in design, and the structure is compact, can assist the operator, can reduce the work burden of assistant, improves the whole operation efficiency, and can greatly reduce the number of incisions in operation, thereby reducing the risk of bleeding, reducing the pain of patient, simultaneously, can provide high-definition operation visual field, ensures the best visual field support, reduces the interference situation of lens and instrument each other, makes the operation process more accurate and smooth, effectively improves the accuracy and safety of operation. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model.

[0016] Figure 2 It is Figure 1 A view of.

[0017] Figure 3 It is Figure 1 The connecting structure schematic diagram of first mechanical arm and endoscope lens assembly in.

[0018] Figure 4 It is Figure 3 B view of.

[0019] Figure 5 It is Figure 3 An internal structure sectional view of.

[0020] Figure 6 It is Figure 2 The structure schematic diagram of screen connecting frame in.

[0021] Figure 7 It is Figure 6 An internal structure sectional view of.

[0022] The figure serial number explanation: 1 fixed base, 2 support column, 3 mechanical arm connecting sleeve, 4 first mechanical arm, 5 rotary connector, 6 endoscope lens assembly, 7 ultrasonic knife, 8 screen connecting frame, 9 display screen, 10 intelligent glasses, 11 with brake casters, 12 rear swing arm hinged lug, 13 rear swing arm positioning clamping tooth, 14 connecting rear swing arm, 15 lifting front swing arm, 16 front swing arm drive motor, 17 rotary drive motor, 18 camera connecting seat, 19 first focusing telescopic sleeve, 20 second focusing telescopic sleeve, 21 flexible connecting swan neck pipe, 22 miniature camera, 23 connecting seat drive motor, 24 hinged shaft, 25 rear swing arm positioning clamping block, 26 clamping block pressing spring, 27 focusing linear motor, 28 screen rotary seat, 29 connecting rod hinged lug, 30 adjusting upper connecting rod, 31 adjusting lower connecting rod, 32 connecting rod hinged block, 33 screen hinged plate. DETAILED DESCRIPTION

[0023] According to Figures 1 to 7 The specific structure of the utility model is explained in detail. The auxiliary surgical robot comprises a fixed base 1 at the bottom, in order to facilitate the movement of the whole device, brake casters 11 are arranged at the four corners of the lower side of the fixed base 1. The upper side of the fixed base 1 is provided with a vertical support column 2, and the middle part of the support column 2 is provided with a transversely arranged first mechanical arm 4. The first mechanical arm 4 is composed of a connecting rear swing arm 14, the rear end of the connecting rear swing arm 14 is hinged to the rear swing arm hinged lug 12 arranged on the mechanical arm connecting sleeve 3 with damping, and the front end of the connecting rear swing arm 14 is hingedly provided with a lifting front swing arm 15, and a front swing arm drive motor 16 is further arranged at the hinged part between the lifting front swing arm 15 and the connecting rear swing arm 14, and the output end of the front swing arm drive motor 16 is connected with the hinged shaft 24 between the front and rear swing arms. Further, the mechanical arm connecting sleeve 3 with damping is rotatably arranged on the support column 2, so that the first mechanical arm 4 is rotatably connected with the column body of the support column 2, and the hinging between the connecting rear swing arm 14 and the rear swing arm hinged lug 12 of the mechanical arm connecting sleeve 3 facilitates the adjustment of the swing angle of the connecting rear swing arm 14, and the front swing arm drive motor 16 is used to drive the lifting front swing arm 15 to swing up and down around the hinged shaft 24 to change the angle.

[0024] Moreover, a plurality of rear swing arm positioning clamping teeth 13 arranged along an arc are arranged on the rear swing arm hinged lug 12 of the mechanical arm connecting sleeve 3; correspondingly, a rear swing arm positioning clamping block 25 for cooperating with the rear swing arm positioning clamping teeth 13 is arranged in the clamping block mounting groove at the rear end of the connecting rear swing arm 14 of the first mechanical arm 4, and a clamping block pressing spring 26 is further arranged between the rear end of the rear swing arm positioning clamping block 25 and the bottom of the clamping block mounting groove; the cooperation of the rear swing arm positioning clamping block 25 and the rear swing arm positioning clamping teeth 13 on the rear swing arm hinged lug 12 is used to fix the swing position of the connecting rear swing arm 14.

[0025] The front end of the lifting fore-swing arm 15 of the first mechanical arm 4 is provided with a laparoscope lens assembly 6, and the laparoscope lens assembly 6 is movably connected to the front end of the lifting fore-swing arm 15 through a rotary connector 5. The laparoscope lens assembly 6 comprises a camera connector seat 18 hingedly connected to the front end of the rotary connector 5, and a connector seat driving motor 23 is arranged between the camera connector seat 18 and the rotary connector 5. The front end of the camera connector seat 18 is sequentially provided with a first-stage focusing telescopic sleeve 19 and a second-stage focusing telescopic sleeve 20. A focusing linear motor 27 is arranged inside the camera connector seat 18, and the driving end of the focusing linear motor 27 is connected to the first-stage focusing telescopic sleeve 19 and the second-stage focusing telescopic sleeve 20, respectively. Meanwhile, the front end of the second-stage focusing telescopic sleeve 20 is provided with a flexible connecting gooseneck tube 21 which can freely bend and is fixed in position, and the front end of the flexible connecting gooseneck tube 21 is provided with a miniature camera 22. The miniature camera 22 is further provided with a sensor and a light respectively. A rotary driving motor 17 is arranged between the rotary connector 5 and the front end of the lifting fore-swing arm 15 of the first mechanical arm 4. Thus, the laparoscope lens assembly 6 is driven to swing up and down by the connector seat driving motor 23, and the rotary connector 5 and the laparoscope lens assembly 6 thereon are driven to rotate along the axial direction by the rotary driving motor 17. Meanwhile, the first-stage focusing telescopic sleeve 19 and the second-stage focusing telescopic sleeve 20 are driven to expand and contract in stages by the focusing linear motor 27, so as to automatically adjust the focal length of the miniature camera 22 at the front end of the flexible connecting gooseneck tube 21.

[0026] In addition, a second mechanical arm for fixing auxiliary instruments can also be arranged on the support column 2, and the size of the second mechanical arm is smaller than that of the first mechanical arm 4, so as to facilitate auxiliary operation. The rear end of the second mechanical arm is rotatably sleeved on the support column 2 through a mechanical arm connecting sleeve 3 with damping, and the front end of the second mechanical arm is provided with an instrument fixing part. Then, the auxiliary instruments are arranged on the instrument fixing part at the front end of the second mechanical arm with smaller size (smaller volume), so as to use the second mechanical arm as an "assistant" role to provide assistance when special operation is needed, such as intraoperative exposure of the field of view. Moreover, the auxiliary surgical robot further comprises an ultrasonic knife 7 used for cutting and hemostasis of diseased tissues during surgery, and an intelligent glasses 10 used for synchronously displaying images shot by the laparoscope lens assembly 6 and voice-controlling the mechanical arm.

[0027] The upper part of the support column 2 is further provided with a screen connecting frame 8, and the extending end of the screen connecting frame 8 is provided with a display screen 9. The screen connecting frame 8 comprises a screen rotary seat 28 rotatably connected to the upper end of the support column 2, and a connecting rod hinged lug plate 29 is arranged on the screen rotary seat 28. The connecting rod hinged lug plate 29 is provided with an adjusting upper connecting rod 30 and an adjusting lower connecting rod 31. The rear ends of the adjusting upper connecting rod 30 and the adjusting lower connecting rod 31 are respectively hinged to two groups of hinge holes on the connecting rod hinged lug plate 29, and the front ends of the adjusting upper connecting rod 30 and the adjusting lower connecting rod 31 are respectively hinged to connecting rod hinge blocks 32. Moreover, the rear side of the display screen 9 is connected to the connecting rod hinge blocks 32 through a horizontally arranged screen hinge plate 33. Furthermore, in order to improve the integration of the entire screen connecting frame 8 and effectively reduce the occupied space, the lower side of the adjusting upper connecting rod 30 is provided with a U-shaped groove arranged along the extending direction of the connecting rod, and the adjusting lower connecting rod 31 is arranged in the U-shaped groove on the lower side of the adjusting upper connecting rod 30. Furthermore, in the process of adjusting the height of the display screen 9 by the screen connecting frame 8, the four-bar mechanism formed by the adjusting upper connecting rod 30, the adjusting lower connecting rod 31 and the connecting rod hinge blocks 32 can be used to effectively maintain the posture of the display screen 9, which is convenient for medical staff to watch during operation.

[0028] When the auxiliary surgical robot is in use, first, the position of the fixed base 1 is fixed, and the first mechanical arm 4 is rotated to the required direction around the column axis of the support column 2 by using the mechanical arm connecting sleeve 3 with damping. Then, the adjustment of the swing angle of the connecting rear swing arm 14 is facilitated by the hinge between the connecting rear swing arm 14 of the first mechanical arm 4 and the rear swing arm hinge lug plate 12 of the mechanical arm connecting sleeve 3, and the swing position of the connecting rear swing arm 14 is fixed by the cooperation of the rear swing arm positioning clamping teeth 13 on the rear swing arm hinge lug plate 12 and the rear swing arm positioning clamping block 25. At the same time, the lifting front swing arm 15 is driven to swing up and down around the hinge shaft 24 by the front swing arm driving motor 16, thereby adjusting the height of the endoscope lens assembly 6. Then, the camera connecting seat 18 of the endoscope lens assembly 6 is driven to swing up and down by the connecting seat driving motor 23, so as to change the pitch angle; the rotation driving motor 17 drives the rotation connecting head 5 and the endoscope lens assembly 6 thereon to produce axial rotation, so as to adjust the shooting position of the miniature camera 22 and the illumination angle of the illuminating lamp; and the first-stage focusing telescopic sleeve 19 and the second-stage focusing telescopic sleeve 20 are driven to stretch and contract in sections by the focusing linear motor 27, so as to automatically adjust the focal length of the miniature camera 22. It can be understood that according to specific use needs, the posture of the flexible connecting goose neck pipe 21 can be manually adjusted, and the miniature camera 22 is fine-tuned.

[0029] Subsequently, the position of the display screen 9 arranged on the screen connecting frame 8 at the upper end of the support column 2 is adjusted by using the four-bar linkage mechanism formed by the screen swivel base 28 and the adjusting upper link 30 and the adjusting lower link 31, so as to facilitate the medical staff to watch the image captured by the miniature camera 22 during the operation process. Moreover, the auxiliary instrument can be arranged on the instrument fixing portion at the front end of the second mechanical arm arranged on the support column 2, and then the second mechanical arm with a smaller size is used as an “assistant” role (for example, the operation of implementing intraoperative exposure field of view) to provide assistance when special operation is needed. During the operation process, the doctor can use the ultrasonic knife 7 to cut the diseased tissue and stop bleeding, and can display the image captured by the laparoscope lens assembly 6 synchronously through the smart glasses 10 worn by the doctor and control the action of the mechanical arm by voice.

Claims

1. A surgical robot to assist a surgeon, comprising a fixed base (1), characterized in that: The fixed base (1) is provided with a vertical support column (2), the middle part of the support column (2) is provided with a transversely arranged first mechanical arm (4), the rear end of the first mechanical arm (4) is connected with the column body of the support column (2) through a mechanical arm connecting sleeve (3), the front end of the first mechanical arm (4) is provided with a laparoscope lens assembly (6), and the laparoscope lens assembly (6) is movably connected with the end of the first mechanical arm (4) through a rotary connecting head (5); the upper part of the support column (2) is further provided with a screen connecting frame (8), and the extension end of the screen connecting frame (8) is provided with a display screen (9).

2. The assistive surgical robot of claim 1, wherein: The first mechanical arm (4) comprises a connecting rear swing arm (14), the rear end of the connecting rear swing arm (14) is hingedly connected with a rear swing arm hinged lug plate (12) on the mechanical arm connecting sleeve (3), the front end of the connecting rear swing arm (14) is hingedly provided with a lifting front swing arm (15), and the hinged part between the lifting front swing arm (15) and the connecting rear swing arm (14) is further provided with a front swing arm driving motor (16), and the output end of the front swing arm driving motor (16) is connected with a hinged rotating shaft (24) between the front and rear swing arms; the front end of the lifting front swing arm (15) is connected with the rotary connecting head (5).

3. The assistive surgical robot of claim 2, wherein: The rear swing arm hinged lug plate (12) on the mechanical arm connecting sleeve (3) is provided with a rear swing arm positioning clamping tooth (13), and correspondingly, the rear end of the connecting rear swing arm (14) is provided with a rear swing arm positioning clamping block (25) for cooperating with the rear swing arm positioning clamping tooth (13), and a clamping block pressing spring (26) is further arranged between the rear end of the rear swing arm positioning clamping block (25) and the bottom of the clamping block mounting groove.

4. The assistive surgical robot of claim 1, wherein: The laparoscope lens assembly (6) comprises a camera connecting seat (18) hingedly connected with the front end of the rotary connecting head (5), a connecting seat driving motor (23) is arranged between the camera connecting seat (18) and the rotary connecting head (5), a first-stage focusing telescopic sleeve (19) and a second-stage focusing telescopic sleeve (20) are sequentially inserted and arranged at the front end of the camera connecting seat (18), and a focusing linear motor (27) is arranged in the camera connecting seat (18), and the driving ends of the focusing linear motor (27) are connected with the first-stage focusing telescopic sleeve (19) and the second-stage focusing telescopic sleeve (20) respectively; a flexible connecting goose neck pipe (21) is arranged at the front end of the second-stage focusing telescopic sleeve (20), and a micro camera (22) is arranged at the front end of the flexible connecting goose neck pipe (21), and a sensor and a light are further arranged on the micro camera (22); a rotary driving motor (17) is arranged between the rotary connecting head (5) and the end of the first mechanical arm (4).

5. The assistive surgical robot of claim 1, wherein: The screen connecting frame (8) comprises a screen rotating seat (28) rotatably connected to the upper end of the support column (2), and a connecting rod hinged lug plate (29) is arranged on the screen rotating seat (28), an adjusting upper connecting rod (30) and an adjusting lower connecting rod (31) are arranged on the connecting rod hinged lug plate (29), the rear ends of the adjusting upper connecting rod (30) and the adjusting lower connecting rod (31) are respectively hinged to two groups of hinged holes on the connecting rod hinged lug plate (29), the front ends of the adjusting upper connecting rod (30) and the adjusting lower connecting rod (31) are respectively hinged to connecting rod hinged blocks (32), and the rear side of the display screen (9) is connected to the connecting rod hinged blocks (32) through a screen hinged plate (33).

6. The assistive surgical robot of claim 5, wherein: The lower side of the adjusting upper connecting rod (30) is provided with a U-shaped groove arranged along the extending direction of the connecting rod, and the adjusting lower connecting rod (31) is arranged in the U-shaped groove on the lower side of the adjusting upper connecting rod (30).

7. The assistive surgical robot of claim 1, wherein: A second mechanical arm for fixing instruments is further arranged on the support column (2), the rear end of the second mechanical arm is rotatably sleeved on the support column (2) through a mechanical arm connecting sleeve (3), and the front end of the second mechanical arm is provided with an instrument fixing part.

8. The assistive surgical robot of claim 1, wherein: Brake casters (11) are arranged at the four corners of the lower side of the fixing base (1).

9. The assistive surgical robot of claim 1, wherein: An ultrasonic knife (7) for cutting lesion tissues and stopping bleeding during surgery is further included.

10. The assistive surgical robot of claim 1, wherein: An intelligent glasses (10) for synchronously displaying a shooting image and voice-controlling a mechanical arm is further included.

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