CN207898498U - A kind of main hand wrist - Google Patents
A kind of main hand wrist Download PDFInfo
- Publication number
- CN207898498U CN207898498U CN201720723942.1U CN201720723942U CN207898498U CN 207898498 U CN207898498 U CN 207898498U CN 201720723942 U CN201720723942 U CN 201720723942U CN 207898498 U CN207898498 U CN 207898498U
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- Prior art keywords
- wrist
- connecting rod
- type
- motor
- main hand
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 142
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 15
- 230000033001 locomotion Effects 0.000 abstract description 6
- 210000004247 hand Anatomy 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
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Abstract
The utility model is related to a kind of main hand wrists, that which solve operation tools in existing Minimally Invasive Surgery operating process is complicated for operation, flexibility is low, eye hands movement is uncoordinated when doctor operates, the technical issues of shake of doctor's hand can influence surgical quality, it includes that L-type wrist fixes connecting rod, L-type wrist connecting rod I and L-type wrist connecting rod II, the bottom that L-type wrist connecting rod I fixes connecting rod with L-type wrist is rotatably connected, and L-type wrist connecting rod II is rotatably connected with L-type wrist connecting rod I；One end of L-type wrist connecting rod II is connected with operation handle, and the other end is rotatably connected with folding seat.The utility model is widely used in the field of medical instrument technology.
Description
Technical field
The utility model is related to the Medical Devices in the field of medical instrument technology, can be assisted in particular to one kind
Doctor implements the main hand wrist of Minimally Invasive Surgery operation.
Background technology
It is known as 20th century medical science to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,
Minimally Invasive Surgery operation refers to that doctor is insinuated into progress hand in vivo using elongated operation tool by the miniature incision of human body surface
Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast
The advantages that, this makes the pain that patient is subjected to greatly reduce；Therefore minimally invasive surgery is widely used in clinical operation.However,
While Minimally Invasive Surgery is that patient brings many interests, a series of difficulties but are brought to the operation of doctor, such as：1) due to body
The degree of freedom of the limitation of table aperture, tool is reduced to four, and flexibility substantially reduces；2) doctor operates direction and desired side
To on the contrary, eye hands movement is uncoordinated, it is easy fatigue；3) doctor can only obtain surgical scene letter by the two dimensional image on monitor
Breath lacks the feeling on depth direction；4) shake of doctor's hand may be amplified by elongated operation tool, be caused to operation
Harmful effect；5) lack force feeling.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery operation, even if such as
This, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.
Therefore, the ability for extending doctor there is an urgent need to ancillary equipment in Minimally Invasive Surgery field, to overcome above-mentioned lack
Point enables a physician to easier completion Minimally Invasive Surgery operation.
Invention content
The utility model is exactly that operation tool in existing Minimally Invasive Surgery operating process is complicated for operation, flexibility in order to solve
Low, eye hands movement is uncoordinated when doctor operates, and doctor's hand is shaken the technical issues of influencing surgical quality, and a kind of behaviour is provided
Make simple, flexibility ratio height, it is not easy to cause the main hand wrist of doctor's fatigue.
The utility model provides a kind of main hand wrist, including L-type wrist fixes connecting rod, L-type wrist connecting rod I and L-type wrist
The bottom that connecting rod II, L-type wrist connecting rod I fix connecting rod with L-type wrist is rotatably connected, L-type wrist connecting rod II and L-type wrist connecting rod
I is rotatably connected；One end of L-type wrist connecting rod II is connected with operation handle, and the other end is rotatably connected with folding seat.
Preferably, the bottom of L-type wrist fixation connecting rod is connected with wrist first motor, the side connection of L-type wrist connecting rod I
There are the second motor of wrist, the bottom of L-type wrist connecting rod II to be connected with wrist third motor；The output shaft of wrist first motor passes through
Transmission mechanism is connect with L-type wrist connecting rod I, and the second motor of wrist is connect by transmission mechanism with L-type wrist connecting rod II, wrist
Three motors are connect by transmission mechanism with folding seat.
Preferably, the output shaft of wrist first motor is connect by bevel gear with L-type wrist connecting rod I, the second motor of wrist
It is connect with L-type wrist connecting rod II by bevel gear, wrist third motor is connect by bevel gear with folding seat.
Preferably, L-type wrist connecting rod I is connect by bearing with the bottom of L-type wrist fixation connecting rod, L-type wrist connecting rod II
It is connect with L-type wrist connecting rod I by bearing, folding seat is connect with the L-type wrist connecting rod II by bearing.
Preferably, wrist first motor, the second motor of wrist and wrist third motor are connected separately with encoder.
Preferably, main hand wrist connects linear module, and linear module includes main hand leading screw and wrist seat, wrist seat and master
Nut connection on hand leading screw, L-type wrist are fixed connecting rod and are fixedly connected with wrist seat.
Preferably, main hand leading screw is connected with motor.
The utility model has the advantages that compared with prior art：
(1) it is used as input control end, the device action for controlling clamping Minimally Invasive Surgery instrument has easy to operate, clever
It is active high, eye hands movement problem of disharmony in existing minimal invasive techniques can be overcome, and then surgical fatigue can be reduced, and protect
Demonstrate,prove surgical quality.
(2) will not there is a situation where the shakes of doctor's hand by elongated operation tool amplification, ensure the steady of surgical procedure
It is qualitative.
(3) the utility model has many advantages, such as small, light-weight, easy to use, and can be with conventional Minimally Invasive Surgery device
Tool/equipment combination, reduces operation cost.
The utility model further feature is clearly stated that in the description of detailed description below.
Description of the drawings
Fig. 1 is the structural schematic diagram of main hand wrist；
Fig. 2 is the structural schematic diagram of main hand wrist；
Fig. 3 is the structural schematic diagram of wrist slide.
Symbol description in figure：
1051. wrists fix connecting rod, and 1052. wrist connecting rod I, 1053. wrist connecting rod II, 1054. folding seats, 1055. grasp
Make handle, 1056. wrist first motors, 1057. the second motors of wrist, 1058. wrist third motors, 1059. bevel gears,
1060. bevel gears, 1061. bevel gears, 1062. flute profile joint faces, 1063. mounting grooves, 104. wrist slides, 1041. main hand silks
Thick stick, 1042. main hand guide rails, 1043. wrist seats.
Specific implementation mode
Main hand wrist shown in Fig. 1 and 2, including wrist fix connecting rod 1051, wrist connecting rod I1052, wrist connecting rod
One end of II1053, the wrist connecting rod I1052 with L shape are fixed by bearing rotary mounted on the wrist with L shape
The bottom of connecting rod 1051, the wrist connecting rod I1052 can fix the hand of 1051 bottom surface of connecting rod by being installed on the wrist
Wrist first motor 1056 is driven by bevel gear 1060；One end of wrist connecting rod II1053 with L shape passes through bearing rotary
Ground is mounted on the top of the wrist connecting rod I1052, and the wrist connecting rod II1053 can be by being installed on the wrist
The second motor of wrist 1057 of the sides connecting rod I1052 is driven by bevel gear 1059；Folding seat 1054 by bearing rotary is pacified
Mounted in the other end of the wrist connecting rod II1053, the folding seat 1054 can be by being installed on the wrist connecting rod
The wrist third motor 1058 of the bottom surfaces II1053 is driven by bevel gear 1061；The folding angle of the folding seat 1054 can lead to
The sensor measurement of installation inside it is crossed to obtain.Operation is installed with by driving end in the wrist connecting rod II1053
Handle 1055.Operator can be operated by holding operation handle 1055, and doctor, which holds operation handle 1055, makes wrist connecting rod
I1052 is rotated, and wrist first motor 1056 just will produce motor message；Doctor, which holds operation handle 1055, makes wrist connecting rod
II1053 is rotated, and the second motor of wrist 1057 just will produce motor message；Doctor holds operation handle 1055 and is opened with finger rotation
Seat 1054 is closed, wrist third motor 1058 just will produce motor message.The wrist of L shape fix connecting rod 1051 be equipped with for and
The mounting groove 1063 and flute profile joint face 1062 that external other component is fixedly connected.
Wrist first motor 1056, the second motor of wrist 1057, wrist third motor 1058 are provided with encoder, for anti-
Present the movement angle of each motor；Entire main hand wrist is motion input device, and doctor can be carried out by holding operation handle 1055
Operation, the movable information of each motor encoder record doctor's hand, the external device for controlling Minimally Invasive Surgery instrument can
To be controlled surgical instrument according to the movable information.For example, Publication No. CN105286989A and CN105286999A
Surgical instrument disclosed in Chinese invention patent application, control device can according to above-mentioned movable information to surgical instrument into
Row control.
As shown in figure 3,104 interior parallel of wrist slide is equipped with main hand leading screw 1041 and main hand guide rail 1042, wrist seat
1043 are fixedly linked with the sliding block of the main hand guide rail 1042, and are fixedly linked with the nut of the main hand leading screw 1041.
Wrist seat 1043 will make linear slide under the constraint of main hand guide rail 1042, then the main hand hand being fixedly mounted on wrist seat 1043
Wrist will also make linear slide.
Main hand leading screw 1041 is connected with sliding third motor, and sliding third motor is connected with encoder.
Main hand wrist on wrist seat 1043 will also make linear slide.Make wrist seat 1043 when operator holds main hand wrist
When moving in a straight line, sliding third motor just will produce motor message, which can be used as Minimally Invasive Surgery instrument control dress
The input signal set.
Schematically the utility model and embodiments thereof are described above, description is not limiting, attached drawing
Shown in also be the utility model one of embodiment, actual structure is not limited to this.So if this field
Technical staff enlightened by it, without deviating from the purpose of the present invention, the part configuration that takes other form,
Driving device and connection type not inventively design frame mode similar with the technical solution and embodiment, should all belong to
In the scope of protection of the utility model.
Claims (7)
1. a kind of main hand wrist, which is characterized in that fix connecting rod, L-type wrist connecting rod I and L-type wrist connecting rod including L-type wrist
The bottom that II, L-type wrist connecting rod I fix connecting rod with L-type wrist is rotatably connected, and L-type wrist connecting rod II is revolved with L-type wrist connecting rod I
Turn connection；One end of the L-type wrist connecting rod II is connected with operation handle, and the other end is rotatably connected with folding seat.
2. main hand wrist according to claim 1, which is characterized in that the bottom that the L-type wrist fixes connecting rod is connected with
The side of wrist first motor, the L-type wrist connecting rod I is connected with the second motor of wrist, the bottom of the L-type wrist connecting rod II
It is connected with wrist third motor；The output shaft of the wrist first motor is connect by transmission mechanism with L-type wrist connecting rod I, institute
The second motor of wrist is stated to connect with L-type wrist connecting rod II by transmission mechanism, the wrist third motor by transmission mechanism with
Open and close seat connection.
3. main hand wrist according to claim 2, which is characterized in that the output shaft of the wrist first motor is by boring tooth
Wheel is connect with L-type wrist connecting rod I, and the second motor of the wrist is connect by bevel gear with L-type wrist connecting rod II, the wrist the
Three motors are connect by bevel gear with folding seat.
4. main hand wrist according to claim 2 or 3, which is characterized in that L-type wrist connecting rod I passes through bearing and L-type wrist
The bottom connection of fixed connecting rod, L-type wrist connecting rod II are connect by bearing with L-type wrist connecting rod I, folding seat and the L-type hand
Wrist connecting rod II is connected by bearing.
5. main hand wrist according to claim 4, which is characterized in that the wrist first motor, the second motor of wrist and
Wrist third motor is connected separately with encoder.
6. main hand wrist according to claim 5, which is characterized in that the main hand wrist connects linear module, described
Linear module includes main hand leading screw and wrist seat, and wrist seat is connect with the nut on the main hand leading screw, and the L-type wrist is fixed
Connecting rod is fixedly connected with wrist seat.
7. main hand wrist according to claim 6, which is characterized in that the main hand leading screw is connected with motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720723942.1U CN207898498U (en) | 2017-06-21 | 2017-06-21 | A kind of main hand wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720723942.1U CN207898498U (en) | 2017-06-21 | 2017-06-21 | A kind of main hand wrist |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207898498U true CN207898498U (en) | 2018-09-25 |
Family
ID=63569861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720723942.1U Active CN207898498U (en) | 2017-06-21 | 2017-06-21 | A kind of main hand wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207898498U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393588A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Doctor's station for Minimally Invasive Surgery |
| CN112370168A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Minimally invasive surgery robot system |
| CN112370174A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Doctor operating table |
-
2017
- 2017-06-21 CN CN201720723942.1U patent/CN207898498U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393588A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Doctor's station for Minimally Invasive Surgery |
| CN110393588B (en) * | 2019-08-30 | 2024-05-03 | 山东威高手术机器人有限公司 | Doctor operation table for minimally invasive surgery |
| CN112370168A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Minimally invasive surgery robot system |
| CN112370174A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Doctor operating table |
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