CN102429724A - Monopole electric hook and monopole electric ablation tool for minimally invasive surgical robot - Google Patents
Monopole electric hook and monopole electric ablation tool for minimally invasive surgical robot Download PDFInfo
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- CN102429724A CN102429724A CN2011103137093A CN201110313709A CN102429724A CN 102429724 A CN102429724 A CN 102429724A CN 2011103137093 A CN2011103137093 A CN 2011103137093A CN 201110313709 A CN201110313709 A CN 201110313709A CN 102429724 A CN102429724 A CN 102429724A
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- 238000002679 ablation Methods 0.000 title claims abstract description 30
- 230000005404 monopole Effects 0.000 title abstract 5
- 239000000919 ceramic Substances 0.000 claims abstract description 18
- 238000009413 insulation Methods 0.000 claims abstract description 15
- 238000003825 pressing Methods 0.000 claims abstract description 8
- 210000000707 wrist Anatomy 0.000 claims description 66
- 230000005611 electricity Effects 0.000 claims description 53
- 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 32
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 238000005192 partition Methods 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 10
- 230000003028 elevating effect Effects 0.000 claims description 8
- 230000013011 mating Effects 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 13
- 238000005520 cutting process Methods 0.000 abstract description 5
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 230000000740 bleeding effect Effects 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 210000000056 organ Anatomy 0.000 abstract description 3
- 125000006850 spacer group Chemical group 0.000 abstract 1
- 238000000034 method Methods 0.000 description 20
- 238000002324 minimally invasive surgery Methods 0.000 description 8
- 208000032843 Hemorrhage Diseases 0.000 description 7
- 230000001575 pathological effect Effects 0.000 description 6
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 230000015271 coagulation Effects 0.000 description 2
- 238000005345 coagulation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002439 hemostatic effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010071229 Procedural haemorrhage Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000003446 ligand Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
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Abstract
The invention discloses a monopole electric hook and a monopole electric ablation tool for a minimally invasive surgical robot. The monopole electric hook comprises an insulation electric hook base main body and an electric hook body, an opening groove is arranged on the lower portion of the electric hook body, a driving wheel I and a driving wheel II are respectively mounted on the left side and the right side of the bottom of the electric hook base main body, an inserting groove is arranged in the electric hook base main body, the lower portion of the electric hook body is inserted in the inserting groove, a ceramic spacer for insulation is embedded between the electric hook body and an inserting matching surface of the inserting groove, one end of a lead is fixedly connected with the electric hook body via an insulation wire pressing block, the other end of the lead penetrates through the opening groove of the electric hook body and the electric hook base main body, and a working end of the electric hook body is an arc-shaped hook structure. Less bleeding or even zero bleeding can be realized by the aid of the structure, operation of tissue and organ cutting, peeling and the like can be completed along optional directions, and injury to human bodies due to current leakage can be effectively avoided during surgery.
Description
Technical field
Patent of the present invention relates to a kind of Minimally Invasive Surgery instrument, the operation tool that particularly a kind of micro-wound operation robot is used, and it can be realized hemostatic function and accomplish synchronously cutting or operation technique such as peel off under the control of operating robot.
Background technology
In the orthopaedic surgical operations operation process, cutting, peeling off, sew up, tie a knot is the operation technique that the doctor often uses, in the operation technique few hemorrhage even not hemorrhage then be that the surgeon is devoted for years in the target that realizes.In open surgery, developed relevant operation tool, can be implemented under the less hemorrhage situation and accomplish resection operation operation tissue.The appearance of this type of operation tool can free the doctor from the stitching of complicacy, the operation technique of tiing a knot, reduced doctor's labor intensity.Simultaneously, help shortening operating time, guarantee the operation quality, reduce complication, practice thrift blood used in clinic.
Minimally Invasive Surgery is meant the operation technique that the doctor utilizes modern medical equipment such as peritoneoscope, thoracoscope and relevant device to carry out; The Minimally Invasive Surgery technology is described as 20th century medical domains to one of significant contribution of human civilization, is the theme of 21 century whole world surgery development.Compare with traditional open surgery, Minimally Invasive Surgery has advantages such as otch is little, amount of bleeding is few, recovery time is short, scar after the operation is little, is applied in the clinical operation more and more widely.In recent years; Be used for assisting the micro-wound operation robot appearance of realization Minimally Invasive Surgery and having obtained developing rapidly; It is the modernized armarium that integrates three big systems such as endoscope, controller, executor; Its appearance has overcome many shortcomings of traditional less invasive techniques, has operating flexibility height, good stability, stereoscopic vision can be provided and have the advantages such as potentiality of remote operation, has obtained in fields such as department of cardiac surgery, Urology Surgery, general surgery, department of obstetrics and gynecology and department of pediatrics promoting.In Minimally Invasive Surgery, electric ablation operation tool can significantly improve operation technique efficient, strengthens the safety of operation, particularly handles the intraoperative hemorrhage aspect and has high using value.Therefore, provide that a kind of the electric safely and efficiently ablation operation tool of operating such as in the robot Minimally Invasive Surgery, to implement cut, peel off significant.U.S. Pat 7276065 provides a kind of multiple degrees of freedom electricity ablation tool, but metal material is adopted in this instrument front end protection, realizes leakage protection through face coat.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of one pole electricity hook that is used for micro-wound operation robot with higher safety and electric ablation reliability is provided.
Another object of the present invention is to provide a kind of injury that can effectively avoid in the operative process irrelevant tissue; Can realize hemostatic function automatically; Flexible operation has the one pole electricity ablation tool that is used for micro-wound operation robot of higher safety and electric ablation reliability.
The one pole electricity hook that is used for micro-wound operation robot of the present invention; It comprises insulated electro hook Base body and electric hook body; Be provided with open slot in described electric hook body bottom; Be separately installed with driving wheel I and driving wheel II in the left and right sides, bottom of described electric hook Base body; In described electric hook Base body, have slot; The bottom of described electric hook body is inserted in the described slot and plugging together of described electric hook body and slot and is embedded with ceramic partition between the mating surface with insulation, and an end of lead and electric hook body are through insulation thread pressing block is fixedly linked and its other end passes electric hook body open slot and the setting of electric hook Base body, and the working end of described electric hook body is the arc hook formation.
The one pole electricity ablation tool that is used for micro-wound operation robot of the present invention; It comprises tool tip and instrument cases; Described tool tip comprises wrist connecting rod, wrist pedestal and one pole electricity hook; The rotation outfan of tool bar assembly one end and tool bar is fixedly linked and an end of its other end and wrist connecting rod is fixedly linked; Described tool bar is located in the described instrument cases through bearing bracket stand; Described wrist connecting rod is connected the centre bore of wrist connecting rod of a side with the wrist pedestal in, sealing plate is installed; Described one pole electricity hook comprises insulated electro hook Base body and electric hook body; Be provided with open slot in described electric hook body bottom; Be separately installed with driving wheel I and driving wheel II in the left and right sides, bottom of described electric hook Base body, in described electric hook Base body, have slot, the bottom of described electric hook body is inserted in the described slot and plugging together of described electric hook body and slot and is embedded with ceramic partition between the mating surface with insulation; One end of lead and electric hook body are fixedly mounted in the lead fixed seat through the centre bore that the insulation thread pressing block is fixedly linked and its other end passes the open slot of electric hook body, electric hook Base body and tool bar assembly; Described lead fixed seat is installed on the box body of instrument cases, adds insulated sleeve at the connecting portion of described lead and lead fixed seat, and the working end of described electric hook body is the arc hook formation; Driving wheel III is connected wrist pedestal one end through dowel fixes; The rotating shaft of driving wheel I and driving wheel II is fixedly connected on the other end of wrist pedestal, and two drive I, driving wheel III and wrist pedestals are through the described wrist connecting rod other end that is connected of bearing pin I rotation, and two drive II and two drive III are connected on the wrist pedestal through bearing pin separately; Terminal deflection actuating device, the wrist pitching links to each other with driving device respectively with the autobiography actuating device and be installed in the described instrument cases, and steel wire I one end curls up endways on the deflection actuating device and its other end is connected after two drive I, two drive II and two drive III guiding that the transmission of formation closed loop links to each other on the driving wheel II; Steel wire II one end curl up on the wrist elevating gear and its other end be connected on the driving wheel III and form the closed loop type of belt drive; Steel wire III one end curls up on the rotation actuating device and its other end curls up formation closed loop transmission on tool bar; The parallel setting of rotation axis of described terminal deflection actuating device, wrist pitching and autobiography actuating device, described tool bar rotation axis and driving wheel II rotation axis all with the perpendicular setting of the rotation axis of driving wheel III.
Compared with prior art, one pole electricity hook and the multiple degrees of freedom one pole electricity ablation tool that is used for micro-wound operation robot provided by the invention has following beneficial effect:
1. multiple degrees of freedom one pole electricity ablation tool of the present invention is implemented operation technique in use when can utilize energy with tissue coagulation, compare with existing incision-hemostasis-sew application, and it can realize less hemorrhage, and is even not hemorrhage.
2. multiple degrees of freedom one pole of the present invention electricity ablation tool has a plurality of degree of freedom, can guarantee the motility operated, makes it accomplish excision to tissue, organ along any direction, operation such as peels off.
3. multiple degrees of freedom one pole electricity ablation tool of the present invention is installed on the robot fast replacing device; After operative doctor is located; Can be under ROBOT CONTROL; Automatically accomplish the operation of solidifying, therefore can practice thrift operating time to a great extent, and can reduce the labor intensity of operative doctor tissue.
4, the processing safety of one pole electricity hook of the present invention is high.Adopt several anti electric leakage design, can effectively avoid the injury that leakage of current causes human body in the operation process.
5, one pole electricity hook of the present invention can improve operation efficient.Terminal adopt be easy to realize colluding cut, the arcuate structure design of strip operation, cooperate effective current, can improve the operating efficiency of Minimally Invasive Surgery.
6. the terminal operation part of one pole electricity hook of the present invention can have various ways and size, the demand in the time of can satisfying different tissues, organ operation.
7. one pole electricity hook of the present invention can be accepted multiple form of energy, can satisfy the requirement of different hospital conditions.
Description of drawings
Fig. 1 is used for the population structure sketch map of the one pole electricity ablation tool of minimally invasive robot for the present invention;
Fig. 2 is used for the end structure sketch map of the one pole electricity ablation tool of minimally invasive robot for the present invention;
Fig. 3 is used for the anti-leakage structure decomposing schematic representation of the one pole electricity hook of minimally invasive robot for the present invention;
Fig. 4 is used for the end structure decomposing schematic representation of the one pole electricity hook of minimally invasive robot for the present invention;
Fig. 5 the present invention is used for the terminal silk drive mechanism sketch map of the one pole electricity ablation tool of minimally invasive robot;
Fig. 6-1 and Fig. 6-2 is used for the silk transmission principle sketch map of the one pole electricity ablation tool of minimally invasive robot for the present invention;
Fig. 7 is the operation principle sketch map that is used for the one pole electricity ablation tool of minimally invasive robot of the present invention;
Fig. 8-1 and Fig. 8-2 is used for the method for using sketch map of the one pole electricity ablation tool of minimally invasive robot for the present invention.
The specific embodiment
Below in conjunction with figure apparatus of the present invention are explained:
The one pole electricity hook 2-3 that is used for micro-wound operation robot; It comprises insulated electro hook Base body 3-1 and electric hook body 2-5; Be provided with open slot in described electric hook body 2-5 bottom; Driving wheel I3-3, driving wheel II5-6 are through driving the left and right sides, bottom that pin 5-10 is fixedly mounted on described electric hook Base body 3-1 respectively, and driving wheel II5-6 links to each other through steel wire I5-8 with terminal deflection actuating device 605, and driving wheel I is an auxiliary component; Electric hook body 2-5 is is symmetrical set, and electric hook Base body 3-1 and wrist pedestal 2-2 are separated to reduce friction between the two.In described electric hook Base body 3-1, have slot; The bottom of described electric hook body 2-5 is inserted in the described slot and is embedded with ceramic partition between the mating surface with insulation bottom and the plugging together of slot of described electric hook body 2-5; The end of lead 2-6 and electric hook body 2-5 are fixedly linked through insulation thread pressing block 3-5 and its other end passes electric hook body 2-5 open slot and electric hook Base body 3-1 setting, the working end of described electric hook body 2-5 is the arc hook formation.
The one pole electricity ablation tool that is used for micro-wound operation robot; It comprises tool tip 1-1 and instrument cases 1-2; Described tool tip 1-1 comprises wrist connecting rod 2-1, wrist pedestal 2-2 and one pole electricity hook 2-3; The rotation outfan of tool bar assembly 1-3 one end and tool bar is fixedly linked and the end of its other end and wrist connecting rod 2-1 is fixedly linked; Described tool bar is located in the described instrument cases 1-2 through bearing bracket stand; Described wrist pedestal 2-2 is installed on the wrist connecting rod 2-1 through bearing pin I2-7 rotation; Described wrist connecting rod 2-1 is connected the centre bore of wrist connecting rod of a side with wrist pedestal 2-2 in, sealing plate 5-1 is installed; Described one pole electricity hook 2-3 comprises insulated electro hook Base body 3-1 and electric hook body 2-5; Be provided with open slot in described electric hook body 2-5 bottom; Driving wheel I3-3, driving wheel II5-6 are through driving the left and right sides, bottom that pin 5-10 is fixedly mounted on described electric hook Base body 3-1 respectively; In described electric hook Base body 3-1, have slot, the bottom of described electric hook body 2-5 is inserted in the described slot and is embedded with ceramic partition between the mating surface with insulation bottom and the plugging together of slot of described electric hook body 2-5, and the centre bore that the end of lead 2-6 and electric hook body 2-5 are fixedly linked through the thread pressing block 3-5 that insulate and its other end passes the open slot of electric hook body 2-5, electric hook Base body 3-1 and tool bar assembly 1-3 is fixedly mounted in the lead fixed seat 1-4; Described lead fixed seat 1-4 is installed on the box body of instrument cases 1-2; Connecting portion at described lead 2-6 and lead fixed seat 1-4 adds insulated sleeve 1-5, and the working end of described electric hook body 2-5 is the arc hook formation, and driving wheel III5-7 is connected wrist pedestal 2-2 one end through dowel fixes; The rotating shaft of driving wheel I and driving wheel II is fixedly connected on the other end of wrist pedestal; Two drive I5-2, driving wheel III5-7, wrist pedestal 2-2 are through the other ends that are connected described wrist connecting rod 2-1 of bearing pin I2-7 rotation, and two drive II5-3, two drive III5-5 are connected on the wrist pedestal 2-2 through bearing pin III5-4 separately, and terminal deflection actuating device 605, wrist elevating gear 604 links to each other with driving device respectively with autobiography actuating device 601 and be installed in the described instrument cases 1-2.Steel wire I5-8 one end curls up endways on the deflection actuating device 605 and its other end is connected driving wheel II5-6 and goes up and form the closed loop transmission and link to each other after two drive I5-2, two drive II5-3, two drive III5-5 guiding; Steel wire II5-9 one end curl up on the wrist elevating gear 604 and its other end be connected on the driving wheel III5-7 and form the closed loop type of belt drive; Steel wire III603 one end curl up on the rotation actuating device 601 and its other end curl up on tool bar 602 and to form the closed loop transmission, the parallel setting of rotation axis of described terminal deflection actuating device 605, wrist elevating gear 604 and autobiography actuating device 601.The rotation axis of described rotation degree of freedom R1, terminal deflection degree of freedom R3 all with the perpendicular setting of rotation axis of wrist pitching degree of freedom R2.Instrument cases in this device and tool bar assembly also can adopt disclosed structure in the patent (patent No. 200910305201,200910306053).
Combine each width of cloth figure that the process of installing and using of apparatus of the present invention is specified below again:
Shown in Figure 1 is a kind of population structure sketch map that is used for the one pole electricity ablation tool of minimally invasive robot of the present invention.This electric ablation tool can comprise tool tip 1-1, instrument cases 1-2, tool bar assembly 1-3.The end of described tool bar assembly 1-3 is installed on the described instrument cases 1-2 rotatably and the wrist connecting rod of its other end and tool tip 1-1 is fixedly linked, and the rotation axis of described tool bar assembly 1-3 is vertical each other with the wrist rotation axis of described tool tip 1-1.The lead front end of one pole electricity hook links to each other with tool tip 1-1, and draw behind described tool bar assembly 1-3, instrument cases 1-2 the lead rear end, is used to connect power source generator.For preventing that the lead rear end from described instrument cases 1-2 play taking place; Lead fixed seat 1-4 is installed so that lead is retrained in the rear portion of described instrument cases 1-2; Lead installs the sleeve pipe 1-5 of insulation material additional at the connecting portion with described lead fixed seat 1-4; The leaky that produces to prevent the lead wearing and tearing, wire end is connected with terminal 1-6.
The end structure sketch map that is used for the one pole electricity ablation tool of minimally invasive robot for the present invention shown in Figure 2.Described tool tip 1-1 can comprise wrist connecting rod 2-1, wrist pedestal 2-2, one pole electricity hook 2-3.One pole electricity hook 2-3 can comprise electric hook pedestal 2-4, electric hook body 2-5 and lead 2-6.The end of described wrist connecting rod 2-1 is fixedly mounted on the described tool bar assembly 1-3; Described wrist pedestal 2-2 is through the other end that is installed in wrist connecting rod 2-1 of bearing pin I2-7 rotation; Described one pole electricity hook 2-3 is through the other end that is installed in described wrist pedestal 2-2 of bearing pin II 2-8 rotation; Described electric hook body 2-5 is fixedly mounted on the described electric hook pedestal 2-4, and the end of described lead 2-6 and electric hook body 2-5 are fixedly linked, and the other end is drawn through described tool bar assembly 1-3, instrument cases 1-2; When real work, the terminal 1-6 of wire terminals is connected on the power source generator.Electric hook pedestal 2-4 and the lead 2-4 part of described one pole electricity hook 2-3 all adopt anticreeper.The rotation axis of the wrist pitching degree of freedom R2 of described tool tip 1-1 is vertical with the rotation axis of the rotation degree of freedom R1 of described tool bar assembly 1-3; The rotation axis of the terminal deflection degree of freedom R3 of described one pole electricity hook 2-3 on wrist pedestal 2-2 is vertical with the rotation axis of described wrist pitching degree of freedom R2.
Fig. 3, anti-leakage structure and the end structure decomposing schematic representation that is used for the one pole electricity hook of minimally invasive robotic surgery instrument for the present invention shown in Figure 4.Described electric hook body 2-5 is fixedly mounted on the electric hook Base body 3-1; For preventing that described lead 2-6 front end and electric hook body 2-5 from leaky taking place; The whole ambroin material that adopts of electricity hook Base body 3-1; In real work; Described electric hook body 2-5 is in the energising condition of high temperature for a long time; For reducing the influence of high temperature, and further optimize the anticreep design of described tool tip 1-1, between described electric hook body 2-5 and electric hook Base body 3-1, embed ceramic partition (ceramic partition I4-1, ceramic partition II4-2, ceramic partition III4-3, ceramic partition IV4-4, ceramic partition V4-5) as one embodiment of the present invention to described electric hook Base body 3-1.Described electric hook pedestal 2-4 can comprise electric hook Base body 3-1, right baffle plate 3-2, right baffle-plate 3-4, opening holder 3-6.The integral installation sequence ligand of described one pole electricity hook 2-3 is: on forward and backward, right, inferior of described electric hook body 2-5, mount described ceramic partition 4-1,4-2,4-4,4-5; Electric hook body 2-5 is packed among the described electric hook Base body 3-1; Lead 2-6 introduces via the open slot of the wire guide of electric hook Base body 3-1, electric hook body 2-5; Lead 2-6 front end is realized and being connected of electric hook body 2-5 through thread pressing block 3-5; Mount the ceramic partition III4-3 of left surface, encapsulate right baffle plate 3-2, right baffle-plate 3-4 and the opening holder 3-6 of described electric hook pedestal 2-4 subsequently, to realize fixing ceramic partition; At last ceramic frame 4-6 is embedded the opening holder, with realize electric hook body 2-5 be completely fixed and electric hook body 2-5 and electric hook pedestal 2-4 between isolation fully.Pottery is the good insulation performance material, and has resistant to elevated temperatures characteristic, so the electric hook pedestal of embedded ceramic partition design and ambroin material can be realized double-deck anticreep function.Certainly the fit structure that plugs together between the electric hook body 2-5 among the present invention and the electric hook Base body 3-1 can also be according to other fit structure of actual instructions for use employing.
Fig. 5 and Fig. 6-1,6-2 are depicted as silk drive mechanism and the principle schematic that the present invention is used for the one pole electricity ablation tool of minimally invasive robot.Shown in Figure 5 is described tool tip 1-1 silk drive mechanism sketch map, and Fig. 6-1,6-2 are depicted as the silk transmission principle sketch map that the present invention is used for the one pole electricity ablation tool of minimally invasive robot.Sealing plate 5-1 prevents that in order to described tool bar assembly 1-3 is sealed the interior gas of operation process mesenteron from leaking via the endoporus of described tool bar assembly 1-3.Steel wire I5-8 one end curls up endways on the deflection actuating device 605; The other end is connected on the driving wheel II5-6 after drive I5-2, drive II5-3, drive III5-5 guiding; Thereby form the closed loop type of belt drive; Described terminal deflection actuating device 605 produces under the driving of driving device and rotatablely moves, and through the closed loop transmission of described steel wire I5-8, finally realizes the motion of terminal deflection degree of freedom R3; Steel wire II5-9 one end curls up on wrist elevating gear 604; The other end is connected on the driving wheel III5-7; Form the closed loop type of belt drive; Described wrist elevating gear 604 rotates under the driving of driving device, through the closed loop transmission of described steel wire II5-9, finally realizes the motion of wrist pitching degree of freedom R2; Steel wire III603 one end curls up on rotation actuating device 601; The other end curls up on tool bar 602; Described rotation actuating device 601 rotates under the driving of driving device, and the closed loop transmission through described steel wire III603 finally realizes the motion of rotation degree of freedom R1.Described driving wheel II5-6 fixes through driving pin 5-10 and described one pole electricity hook 2-3; Driving wheel III5-7 is connected on the wrist pedestal 2-2 through dowel fixes; Drive I5-2, driving wheel III5-7, wrist pedestal 2-2 are connected on the described wrist connecting rod 2-1 through bearing pin I2-7 rotation, and described drive II5-3, drive III5-5 are connected on the wrist pedestal 2-2 through bearing pin III5-4.End deflection actuating device 605, wrist elevating gear 604 and autobiography actuating device 601 can be installed in the described instrument cases 1-2, and described driving device is installed on the main body system of minimally invasive robot, can include the motor that fixedly installs.
The operation principle sketch map that is used for the one pole electricity ablation tool of minimally invasive robot for the present invention shown in Figure 7.The electricity ablation tool can realize rotation degree of freedom R1, wrist pitching degree of freedom R2, terminal deflection degree of freedom R3.Described three degree of freedom can be realized described one pole electricity hook 2-3 flexible rotation spatially.Described electric hook body 2-5 adopts unique arc design, and the multiple degrees of freedom one pole electricity hook that makes the present invention be used for minimally invasive robot has two work surface B and G, and the B face is a release surface, and the G face is for colluding tangent plane.In the actual operation operating process; In the time of need striking or excise operation to pathological tissues; Make G face contact diseased region; To the instrument energising, the motion on the described three degree of freedom of adjustment instrument makes the G work surface of described electric hook body 2-5 contact pathological tissues all the time and progressively strikes subsequently; In the time of need carrying out strip operation to pathological tissues, make B face contact diseased region, subsequently to the instrument energising, the motion on the adjustment instrument three degree of freedom makes the B work surface of described electric hook body 2-5 contact pathological tissues all the time and progressively implements strip operation.
Fig. 8-1,8-2 are depicted as the method for using sketch map that the present invention is used for the one pole electricity ablation tool of minimally invasive robot.In the actual operation operating process; Operative doctor is at first confirmed tissue 801 that will excise and the tissue 802 that needs to keep, and the control robot positions instrument of the present invention, accurately adjusts the work surface contact pathological tissues that described tool tip 1-1 makes electric hook body 2-5; Energized generator produce power; This energy is passed to electric hook body 2-5 through described terminal 1-6 and lead 2-6, under the situation that realizes tissue coagulation, accomplishes synchronously and strikes/strip operation.Fig. 8-1 is depicted as the operating process of striking motion, and Fig. 8-2 is depicted as the operating process of peeling off motion.Implement in the operative process along the line of cut 804 of planning at described electric hook work surface B/G; Described electric hook body 2-5 can form a zone of solidifying 803 on pathological tissues; The final completion safely and efficiently the tissue 801 of need excision and the lock out operation of the reservation tissue 802 that needs, 805 is electric hook body cutting moving direction among the figure.
Because organizing of line of cut 804 regions solidified; Therefore in cutting process, organizing can be not hemorrhage again, and is easy to realize striking/strip operation, and this is a considerable advantage of the present invention; Blood used in clinic can be practiced thrift to a great extent, and the complication that blood transfusion causes can be reduced.Can effectively improve operation efficient, reduce the labor intensity of operative doctor, this is another advantage of the present invention.
It is pointed out that the arcual electric hook body of described the present invention can be provided with different radians and length according to the actual requirements.Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiment of the present invention, and practical structure is not limited thereto.If those skilled in the art is enlightened by it; Under the situation that does not break away from the invention aim; Adopt the transmission, driving device of other form and without the connected mode of Creative Design, frame mode similar with this technical scheme and embodiment all should belong to protection scope of the present invention.
Claims (2)
1. the one pole electricity hook that is used for micro-wound operation robot; It is characterized in that: it comprises insulated electro hook Base body and electric hook body; Be provided with open slot in described electric hook body bottom; Be separately installed with driving wheel I and driving wheel II in the left and right sides, bottom of described electric hook Base body; In described electric hook Base body, have slot; The bottom of described electric hook body is inserted in the described slot and plugging together of described electric hook body and slot and is embedded with ceramic partition between the mating surface with insulation, and an end of lead and electric hook body are through insulation thread pressing block is fixedly linked and its other end passes electric hook body open slot and the setting of electric hook Base body, and the working end of described electric hook body is the arc hook formation.
2. the one pole electricity ablation tool that is used for micro-wound operation robot; It comprises tool tip and instrument cases; It is characterized in that: described tool tip comprises wrist connecting rod, wrist pedestal and one pole electricity hook; The rotation outfan of tool bar assembly one end and tool bar is fixedly linked and an end of its other end and wrist connecting rod is fixedly linked; Described tool bar is located in the described instrument cases through bearing bracket stand; Described wrist connecting rod is connected the centre bore of wrist connecting rod of a side with the wrist pedestal in, sealing plate is installed; Described one pole electricity hook comprises insulated electro hook Base body and electric hook body; Be provided with open slot in described electric hook body bottom; Be separately installed with driving wheel I and driving wheel II in the left and right sides, bottom of described electric hook Base body, in described electric hook Base body, have slot, the bottom of described electric hook body is inserted in the described slot and plugging together of described electric hook body and slot and is embedded with ceramic partition between the mating surface with insulation; One end of lead and electric hook body are fixedly mounted in the lead fixed seat through the centre bore that the insulation thread pressing block is fixedly linked and its other end passes the open slot of electric hook body, electric hook Base body and tool bar assembly; Described lead fixed seat is installed on the box body of instrument cases, adds insulated sleeve at the connecting portion of described lead and lead fixed seat, and the working end of described electric hook body is the arc hook formation; Driving wheel III is connected wrist pedestal one end through dowel fixes; The rotating shaft of driving wheel I and driving wheel II is fixedly connected on the other end of wrist pedestal, and two drive I, driving wheel III and wrist pedestals are through the described wrist connecting rod other end that is connected of bearing pin I rotation, and two drive II and two drive III are connected on the wrist pedestal through bearing pin separately; Terminal deflection actuating device, the wrist pitching links to each other with driving device respectively with the autobiography actuating device and be installed in the described instrument cases, and steel wire I one end curls up endways on the deflection actuating device and its other end is connected after two drive I, two drive II and two drive III guiding that the transmission of formation closed loop links to each other on the driving wheel II; Steel wire II one end curl up on the wrist elevating gear and its other end be connected on the driving wheel III and form the closed loop type of belt drive; Steel wire III one end curls up on the rotation actuating device and its other end curls up formation closed loop transmission on tool bar; The parallel setting of rotation axis of described terminal deflection actuating device, wrist pitching and autobiography actuating device, described tool bar rotation axis and driving wheel II rotation axis all with the perpendicular setting of the rotation axis of driving wheel III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201110313709 CN102429724B (en) | 2011-10-17 | 2011-10-17 | Monopole electric hook and monopole electric ablation tool for minimally invasive surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110313709 CN102429724B (en) | 2011-10-17 | 2011-10-17 | Monopole electric hook and monopole electric ablation tool for minimally invasive surgical robot |
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| Publication Number | Publication Date |
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| CN102429724A true CN102429724A (en) | 2012-05-02 |
| CN102429724B CN102429724B (en) | 2013-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110313709 Active CN102429724B (en) | 2011-10-17 | 2011-10-17 | Monopole electric hook and monopole electric ablation tool for minimally invasive surgical robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104490429A (en) * | 2014-12-29 | 2015-04-08 | 天津工业大学 | Instrument with function of quickly replacing end executor for minimally invasive surgery |
| CN105212987A (en) * | 2015-09-29 | 2016-01-06 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of end effector mechanism of micro-apparatus of performing the operation |
| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN112168342A (en) * | 2020-09-30 | 2021-01-05 | 山东威高手术机器人有限公司 | Monopole electric hook surgical instrument |
| CN114224476A (en) * | 2021-12-17 | 2022-03-25 | 常州唯精医疗机器人有限公司 | Electrosurgery surgical instrument wire fixing device, surgical instrument and minimally invasive surgery robot |
| WO2022199694A1 (en) * | 2021-03-25 | 2022-09-29 | 成都博恩思医学机器人有限公司 | Electric hook structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104490429A (en) * | 2014-12-29 | 2015-04-08 | 天津工业大学 | Instrument with function of quickly replacing end executor for minimally invasive surgery |
| CN104490429B (en) * | 2014-12-29 | 2018-01-23 | 天津工业大学 | Micro-wound surgical operation apparatus with fast changeable end effector function |
| CN105212987A (en) * | 2015-09-29 | 2016-01-06 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of end effector mechanism of micro-apparatus of performing the operation |
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| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN106691593B (en) * | 2016-12-30 | 2023-12-19 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Micro-instrument clamping mechanism for minimally invasive surgery |
| CN112168342A (en) * | 2020-09-30 | 2021-01-05 | 山东威高手术机器人有限公司 | Monopole electric hook surgical instrument |
| WO2022199694A1 (en) * | 2021-03-25 | 2022-09-29 | 成都博恩思医学机器人有限公司 | Electric hook structure |
| CN114224476A (en) * | 2021-12-17 | 2022-03-25 | 常州唯精医疗机器人有限公司 | Electrosurgery surgical instrument wire fixing device, surgical instrument and minimally invasive surgery robot |
| CN114224476B (en) * | 2021-12-17 | 2023-08-29 | 常州唯精医疗机器人有限公司 | Electrosurgical instrument wire fixing device, surgical instrument and minimally invasive surgical robot |
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| CN102429724B (en) | 2013-04-10 |
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Effective date of registration: 20220913 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Effective date of registration: 20220913 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. |