Percutaneous operation interventional equipment based on three axes

Abstract

The utility model discloses a percutaneous operation interventional device based on three axes, which comprises a base, an adjusting table and three groups of connecting arms, clamping mechanisms used for clamping interventional tools are arranged on the base and the adjusting table, and driving mechanisms matched with the connecting arms in number are arranged on the base. The driving mechanisms are arranged in the outline periphery of the upper surface of the base, the connecting arms are movably hinged between the driving mechanisms and the adjusting table, the driving mechanisms independently drive the corresponding connecting arms to rotate so as to adjust the postures of the adjusting table and the intervention tool, and the connecting arms are always located in a projection area of the base in the moving process. The device has the advantages of compact structure and improved operation safety.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a percutaneous surgical intervention device based on a three-axis approach. Background Technology

[0002] Percutaneous surgery, also known as minimally invasive surgery, is a broad medical term referring to surgical procedures performed through small incisions or without incisions. These procedures aim to minimize trauma to the body, improve recovery speed, and reduce pain and surgical complications.

[0003] Interventional robotic devices are high-tech medical devices specifically designed to assist surgeons in performing various minimally invasive surgeries. These robots, through precise control systems combined with high-resolution image guidance and advanced sensing technology, help doctors perform extremely precise operations, especially in areas difficult to access manually. Existing interventional devices include Chinese patent application publication number CN107007353B, such as... Figure 1 As shown, the adjustment mechanism includes a base, multiple arms, and a lifting platform. One end of each arm is connected to the base at equal angles. The following defects exist: the drive mechanism in the adjustment mechanism extends beyond the outline of the base, making it prone to collision damage. Furthermore, during the adjustment process, the range of motion of the arms is too large, exceeding the projection area of ​​the base, which will cause great inconvenience to the doctor's operation. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a percutaneous surgical intervention device based on three axes.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A triaxial percutaneous surgical intervention device includes a base, an adjustment platform, and three sets of connecting arms. The base and the adjustment platform are each equipped with a clamping mechanism for mounting interventional tools. The base is provided with a drive mechanism matching the number of connecting arms. Each drive mechanism is arranged within the outer periphery of the upper surface of the base. Each connecting arm is movably hinged between the drive mechanism and the adjustment platform. Each drive mechanism independently drives the corresponding connecting arm to rotate in order to adjust the posture of the adjustment platform and the interventional tools. During the movement, each connecting arm is always located within the projection area of ​​the base.

[0007] As a further improvement to the above technical solution:

[0008] Each of the aforementioned drive mechanisms is arranged within the outline of the upper surface of the base.

[0009] The driving mechanism comprises a driving motor and a rotating arm, the driving motor is fixed on the base, the rotating arm is connected on the driving shaft of the driving motor, and the connecting arm is movably hinged on the rotating arm.

[0010] The clamping mechanism comprises a telescopic arm and a clamping jaw connected on the telescopic arm, and the interventional tool is clamped on the clamping jaws on the base and the adjusting table.

[0011] Three groups of supporting arms are further connected between the base and the adjusting table in a spherical hinge mode.

[0012] The base is further provided with a connecting pin for fixed connection.

[0013] Compared with the prior art, the interventional device has the advantages that:

[0014] The three driving mechanisms independently drive the connecting arm to adjust the posture of the adjusting table, so that the angle of the interventional tool is adjusted, the accuracy of the operation is ensured, in addition, the connecting arm is kept in the projection area of the base during the adjustment process, the movement track of the connecting arm is limited, the boundary is defined through the base, the doctor can clearly know the activity range of the connecting arm, the bumping and mis-touch during the adjustment process are avoided, and the safety of the operation operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is an interventional device structure schematic diagram in the prior art.

[0016] Figure 2 is an overall structure schematic diagram (perspective view) of the interventional device of the utility model.

[0017] Figure 3 is an overall structure schematic diagram (front view) of the interventional device of the utility model.

[0018] Figure 4 is an overall structure schematic diagram (top view) of the interventional device of the utility model.

[0019] The numbers in the drawing represent:

[0020] 1, base; 2, adjusting table; 3, connecting arm; 4, clamping mechanism; 41, telescopic arm; 42, clamping jaw; 5, driving mechanism; 51, driving motor; 52, rotating arm; 6, supporting arm; 7, connecting pin. DETAILED DESCRIPTION

[0021] The utility model will be further explained in detail below by combining with the drawing and specific embodiment of the specification.

[0022] For example, Figures 2 to 4As shown, the triaxial based percutaneous surgical intervention device of the embodiment comprises a base 1, an adjusting table 2 and three sets of connecting arms 3, the base 1 and the adjusting table 2 are both provided with clamping mechanisms 4 for clamping intervention tools, the base 1 is provided with driving mechanisms 5 matching the number of the connecting arms 3, each connecting arm 3 is movably hinged between the driving mechanism 5 and the adjusting table 2, each driving mechanism 5 independently drives the corresponding connecting arm 3 to rotate to adjust the posture of the adjusting table 2 and the intervention tool, and each connecting arm 3 is always located within the projection area of the base 1 during the movement. The triaxial based percutaneous surgical intervention device of the embodiment adjusts the posture of the adjusting table 2 through the three driving mechanisms 5 independently driving the connecting arms 3, thereby adjusting the angle of the intervention tool, ensuring the accuracy of the operation, in addition, the connecting arms 3 are always located within the projection area of the base 1 during the adjustment process, limiting the movement track of the connecting arms 3, and the boundary is delimited through the base 1, which is convenient for the doctor to clearly understand the activity range of the connecting arms 3, avoids knocking and mis-touching during the adjustment process, and improves the safety of the operation.

[0023] In the embodiment, each driving mechanism 5 is arranged in the contour periphery of the upper surface of the base 1. Such arrangement makes the structure compact, and the base 1 can protect the driving mechanism 5 from being knocked and damaged.

[0024] In the embodiment, the driving mechanism 5 comprises a driving motor 51 and a rotating arm 52, the driving motor 51 is fixedly installed on the base 1, the rotating arm 52 is connected to the driving shaft of the driving motor 51, and the connecting arm 3 is movably hinged to the rotating arm 52. In the structure, such arrangement improves the flexibility of the action of the connecting arm 3, and ensures the accuracy and stability of the movement of the connecting arm 3, thereby improving the flexibility and control ability of the intervention tool, in addition, the driving motor 51 and the rotating arm 52 are both arranged within the contour range of the base 1, that is, the hinge point of the connecting arm 3 and the rotating arm 52 is always located within the contour range of the base 1, and the rotating range of the rotating arm 52 is limited by the arrangement of the driving motor 51, so that the connecting arm 3 is always kept within the projection area of the base 1 during the movement.

[0025] In the embodiment, the clamping mechanism 4 comprises a telescopic arm 41 and a clamping jaw 42 connected to the telescopic arm 41, and the intervention tool is clamped on the clamping jaw 42 on the base 1 and the adjusting table 2. In the structure, the telescopic arm 41 expands the operation range of the intervention tool, and the intervention tool is fixed by the upper and lower clamping jaws 42 to form double-point constraint, thereby avoiding the swing and deviation of the intervention tool.

[0026] In the embodiment, three sets of supporting arms 6 are further ball-hinged between the base 1 and the adjusting table 2, and each supporting arm 6 is provided as a telescopic structure. The supporting arm 6 improves the stability of the structure, and is provided as a telescopic structure to adapt to the lifting movement of the adjusting table 2 during the adjustment.

[0027] In the embodiment, the base 1 is further provided with a connecting pin 7 for connection and fixation.

[0028] Although the utility model has disclosed as above with preferable embodiments, however, not to limit the utility model. Any skilled person in the art, without departing from the utility model technical scheme range, can utilize the above disclosed technical content to make many possible changes and modifications to the utility model technical scheme, or modify as equivalent change equivalent embodiment. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model, which does not deviate from the content of the utility model technical scheme, should fall within the scope of protection of the utility model technical scheme.

Claims

1. A triaxial percutaneous surgical intervention device, characterized in that: The device includes a base (1), an adjustment platform (2), and three sets of connecting arms (3). Both the base (1) and the adjustment platform (2) are equipped with clamping mechanisms (4) for mounting interventional tools. The base (1) is equipped with a drive mechanism (5) matching the number of connecting arms (3). Each drive mechanism (5) is arranged in the outer periphery of the upper surface of the base (1). Each connecting arm (3) is movably hinged between the drive mechanism (5) and the adjustment platform (2). Each drive mechanism (5) independently drives the corresponding connecting arm (3) to rotate in order to adjust the posture of the adjustment platform (2) and the interventional tool. During the movement, each connecting arm (3) is always located within the projection area of ​​the base (1).

2. The triaxial percutaneous surgical intervention device according to claim 1, characterized in that: The drive mechanism (5) includes a drive motor (51) and a rotating arm (52). The drive motor (51) is fixed on the base (1), the rotating arm (52) is connected to the drive shaft of the drive motor (51), and the connecting arm (3) is movably hinged to the rotating arm (52).

3. The triaxial percutaneous surgical intervention device according to claim 2, characterized in that: The clamping mechanism (4) includes a telescopic arm (41) and a gripper (42) connected to the telescopic arm (41). The intervention tool is simultaneously clamped on the gripper (42) on the base (1) and the adjustment table (2).

4. The triaxial percutaneous surgical intervention device according to claim 3, characterized in that: Three sets of support arms (6) are also connected by a ball joint between the base (1) and the adjustment platform (2), and each support arm (6) is configured as a telescopic structure.

5. The triaxial percutaneous surgical intervention device according to claim 4, characterized in that: The base (1) is also provided with a connecting pin (7) for connection and fixation.

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