阅读说明：本技术 一种小型化远程手术机器人的主手运输车 (Main hand transport vehicle of miniaturized remote operation robot ) 是由 牛海涛 焦伟 褚光迪 秦斐 郑冀鲁 张昭 苑航 于 2021-11-18 设计创作，主要内容包括：本发明公开了一种小型化远程手术机器人的主手运输车,属于医疗设备技术领域,包括方形的底座、分别设置在底座四角下方的万向轮,底座上方一侧边沿竖直设置有固定板,底座上方的其余三侧边沿设置有可自动展开的第一转板、第二转板和第三转板,第一转板设置在固定板的对面,固定板的内侧设置有手术机器人的主手,底座上还设置有能量控制装备,第二或第三转板上设置有远程手术模块；固定板的上方可旋转的设置有显示器,第一转板、第二转板、第三转板和显示器分别与旋转驱动机构连接。本发明提供的小型化远程手术机器人的主手运输车,能够随时随地打开,远程操作从手手术机器人,同时方便了主手远程手术机器人的运输和防护。(The invention discloses a main hand transport vehicle of a miniaturized remote operation robot, which belongs to the technical field of medical equipment and comprises a square base and universal wheels respectively arranged below four corners of the base, wherein a fixed plate is vertically arranged at the edge of one side above the base, a first rotating plate, a second rotating plate and a third rotating plate which can be automatically unfolded are arranged at the edges of the other three sides above the base, the first rotating plate is arranged opposite to the fixed plate, a main hand of the operation robot is arranged at the inner side of the fixed plate, an energy control device is also arranged on the base, and a remote operation module is arranged on the second rotating plate or the third rotating plate; the display is rotatably arranged above the fixed plate, and the first rotating plate, the second rotating plate, the third rotating plate and the display are respectively connected with the rotary driving mechanism. The master transport vehicle of the miniaturized remote operation robot can be opened at any time and any place, remotely operates the slave operation robot, and facilitates the transportation and protection of the master operation remote operation robot.)

1. A main hand transport cart of a miniaturized remote operation robot is characterized by comprising a square base (1) and universal wheels (2) arranged below four corners of the base (1) respectively, wherein a fixed plate (5-1) is vertically arranged on one side edge above the base (1), a first rotating plate (4), a second rotating plate (6) and a third rotating plate (6-1) which can be automatically unfolded are arranged on the other three side edges above the base (1), the first rotating plate (4) is arranged opposite to the fixed plate (5-1), a main hand of an operation robot (8) is arranged on the inner side of the fixed plate (5-1), energy control equipment is arranged on the base (1), and a remote operation control module is arranged on the second rotating plate (6) or the third rotating plate (6-1);

a display (5) is rotatably arranged above the fixed plate (5-1), the display (5) can move up and down for adjustment, the other end of the display (5) is in separable contact with a display screen (7), and the first rotating plate (4), the second rotating plate (6), the third rotating plate (6-1) and the display (5) are respectively connected with a rotary driving mechanism;

supporting parts are respectively arranged on two sides of the display screen (7), and the display screen (7) can move up and down.

2. The main hand transport cart for a compact tele-surgical robot according to claim 1, wherein one side of the first rotating plate (4), the second rotating plate (6) and the third rotating plate (6-1) is hinged to the rotary driving mechanism, respectively, and the opposite side of the first rotating plate (4), the second rotating plate (6) and the third rotating plate (6-1) is in detachable contact with the display (5), respectively.

3. The main hand transport cart for the miniaturized remote surgery robot according to claim 2, wherein the rotary driving mechanism comprises a horizontally arranged first longitudinal shaft (6-0), a motor (9) disposed at one end of the first longitudinal shaft (6-0), a first bevel gear (3-1) disposed at the other end of the first longitudinal shaft (6-0), a second bevel gear (3-2) engaged with the first bevel gear (3-1), and a first transverse shaft (4-1) having one end passing through the second bevel gear (3-2);

the other end of the transverse shaft I (4-1) is provided with a bevel gear III (3-3), and the bevel gear III (3-3) is meshed with a bevel gear IV (3-4);

one end of the vertical shaft II (6-2) penetrates through the bevel gear II (3-4), the other end of the vertical shaft II is connected with a middle shaft through a transmission belt (3-5), a bevel gear V (3-6) is arranged on the middle shaft, the bevel gear V (3-6) is meshed and connected with a bevel gear VI (3-7), and a horizontal shaft II (5-2) horizontally penetrates through the center of the bevel gear VI (3-7);

the transverse shaft I (4-1) is connected with the first rotating plate (4), the longitudinal shaft I (6-0) is connected with the second rotating plate (6), the longitudinal shaft II (6-2) is connected with the third rotating plate (6-1), and the transverse shaft II (5-2) is hinged with one end of the display (5).

4. The main hand transport cart of the miniaturized telesurgical robot according to claim 3, wherein the protective vertical cylinders (3) are respectively arranged above the four corners of the base (1), the protective vertical cylinders (3) are in a shell shape, the bottom end of each protective vertical cylinder is open, and the top end of each protective vertical cylinder is closed;

the bevel gear I (3-1), the bevel gear II (3-2), the bevel gear III (3-3), the bevel gear IV (3-4), the bevel gear V (3-6) and the bevel gear VI (3-7) are respectively arranged in the corresponding protective vertical cylinders (3);

the longitudinal axis I (6-0), the longitudinal axis II (6-2), the transverse axis I (4-1) and the transverse axis II (5-2) are respectively hinged on the two adjacent protective vertical cylinders (3).

5. The main hand transport cart for a miniaturized telesurgical robot according to claim 4, characterized in that the display screen (7) is arranged on top of two adjacent protective uprights (3) of the cart, and the display screen (7) is arranged above the first rotating plate (4), and the support part is connected with the protective uprights (3).

6. The main hand-transport cart of a miniaturized tele-surgical robot according to claim 5, characterized in that the fixing plate (5-1) is arranged between two other adjacent protective uprights (3).

7. The main hand transport cart for a miniaturized remote surgical robot according to any one of claims 1 to 6, wherein the main hand of the surgical robot (8) comprises a left hand and a right hand, the left hand and the right hand are identical in structure and mirror-symmetrical with respect to the center plane of the fixing plate (5-1), and the left hand and the right hand can move up and down along the height direction of the fixing plate (5-1).

8. The main hand transport cart for the miniaturized telesurgical robot according to claim 7, wherein the display (5) is telescopically disposed on a slot plate (5-3), the slot plate (5-3) is hinge-coupled with a transverse shaft two (5-2), one end of the display (5) is coupled with an electric push rod one (5-4), and the electric push rod one (5-4) is disposed on the slot plate (5-3);

a guide post (8-8) vertically penetrates through the fixed seat (8-1), the guide post (8-8) is arranged in the fixed plate (5-1), the fixed plate (5-1) is in a shell shape, a threaded cap (8-6) and a threaded rod (8-7) are arranged below the fixed seat (8-1), the threaded rod (8-7) is vertically arranged on the base (1), and the threaded cap (8-6) is sleeved on the threaded rod (8-7);

and two ends of the display screen (7) are respectively hinged with a second electric push rod (7-1), and the second electric push rods (7-1) are arranged at the top end of the protective vertical cylinder (3).

Technical Field

The invention relates to the technical field of medical instruments, in particular to a main hand transport vehicle of a miniaturized remote operation robot.

Background

With the continuous development of medical science, the use of surgical robots is more and more extensive, and doctors operate in an operating room before, and the surgical robots are controlled to perform surgical operation. The doctor sits in front of the master robot, and operates the master robot by watching the 3D image display, and the accurate control is carried out various surgical operations from the hand surgical robot arm.

With the development of communication technology, teleoperation surgery has become a reality, and the surgery scene of the doctor can no longer be limited in the operating room. In the actual use process, the existing robot is heavy in master hand, large in size, time-consuming and labor-consuming in moving, and becomes a 'neck clamp' problem which limits the application scene of the robot. Therefore, how to miniaturize, carry and network the main hand of the surgical robot so as to expand the application scene of the surgical robot, and the doctor can use the main hand of the robot to enter the surgical state to rescue the patient at any time and any place under the network support becomes a problem to be solved urgently. The technical problem is solved by the scheme.

Disclosure of Invention

The invention aims to provide a main hand transport vehicle of a miniaturized remote operation robot, which solves the technical problems of large size, poor flexibility, difficulty in transportation and protection and the like of the existing robot.

A main hand transport vehicle of a miniaturized remote operation robot comprises a square base and universal wheels respectively arranged below four corners of the base, wherein a fixed plate is vertically arranged on one side edge above the base, a first rotating plate, a second rotating plate and a third rotating plate which can be automatically unfolded are arranged on the other three side edges above the base, the first rotating plate is arranged opposite to the fixed plate, a main hand of the operation robot is arranged on the inner side of the fixed plate, energy control equipment is arranged on the base, and a remote operation control module is arranged on the second rotating plate or the third rotating plate;

a display is rotatably arranged above the fixed plate, the display can move up and down to be adjusted, the other end of the display is in separable contact with a display screen, and the first rotating plate, the second rotating plate, the third rotating plate and the display are respectively connected with a rotary driving mechanism;

supporting parts are respectively arranged on two sides of the display screen, and the display screen can move up and down.

One side of the first rotating plate, one side of the second rotating plate and one side of the third rotating plate are respectively hinged on the rotary driving mechanism, and the other opposite sides of the first rotating plate, the second rotating plate and the third rotating plate are respectively in separable contact with the display.

The rotary driving mechanism comprises a first longitudinal shaft arranged horizontally, a motor arranged at one end of the first longitudinal shaft, a first bevel gear arranged at the other end of the first longitudinal shaft, a second bevel gear in meshed connection with the first bevel gear, and a first transverse shaft with one end penetrating through the second bevel gear;

the other end of the transverse shaft I is provided with a bevel gear III, the bevel gear III is meshed with a bevel gear IV, one end of the bevel gear III penetrates through a longitudinal shaft II of the bevel gear IV, the other end of the bevel gear III is connected with a middle shaft through a transmission belt, a bevel gear V is arranged on the middle shaft and meshed with a bevel gear V, and the center of the bevel gear V horizontally penetrates through the transverse shaft II;

the first transverse shaft is connected with the first rotating plate, the first longitudinal shaft is connected with the second rotating plate, the second longitudinal shaft is connected with the third rotating plate, and the second transverse shaft is hinged with one end of the display.

Protective vertical cylinders are respectively arranged above the four corners of the base, the protective vertical cylinders are in a shell shape, the bottom end of each protective vertical cylinder is open, and the top end of each protective vertical cylinder is closed;

the first bevel gear and the second bevel gear, the third bevel gear and the fourth bevel gear, and the fifth bevel gear and the sixth bevel gear are respectively arranged in the corresponding protective vertical cylinders;

the longitudinal shaft I, the longitudinal shaft II, the transverse shaft I and the transverse shaft II are respectively hinged to the two adjacent protective vertical cylinders.

The display screen sets up wherein two adjacent the protection is found a section of thick bamboo top, just the display screen sets up first rotor plate top, the supporting part with the protection is found a section of thick bamboo and is connected.

The fixing plate is arranged between the other two adjacent protective vertical cylinders.

The master hand of surgical robot includes left operation hand and right operation hand, the structure of left operation hand and right operation hand is unanimous and about mirror symmetry is personally submitted in the center of fixed plate, left operation hand with right operation hand can follow the direction of height of fixed plate reciprocates.

The left operating hand comprises a fixed seat arranged on the fixed plate, an operating arm I with one end hinged with the fixed seat, an operating arm II with one end hinged with the other end of the operating arm, and an L-shaped arm with one end hinged with the other end of the operating arm II, and the L-shaped arm is also provided with a handrail;

the second operating arm is of a folding structure which is bent towards the first operating arm, and the handrail is square and hinged to the other end of the L-shaped arm.

The display is arranged on a groove plate in a telescopic mode, the groove plate is hinged to the transverse shaft II, one end of the display is connected with a first electric push rod, and the first electric push rod is arranged on the groove plate;

the fixing seat is vertically penetrated with a guide post, the guide post is arranged in the fixing plate, the fixing plate is in a shell shape, a threaded cap and a threaded rod are arranged below the fixing seat, the threaded rod is vertically arranged on the base, and the threaded cap is sleeved on the threaded rod;

and the two ends of the display screen are respectively hinged with a second electric push rod, and the second electric push rod is arranged at the top end of the protective vertical cylinder.

The invention achieves the following remarkable effects:

(1) the surgical robot and the transport vehicle are integrated, the integrated design enables the main hand of the surgical robot to be easily transported, the position of the surgical robot can be conveniently changed according to the actual surgical situation, the miniaturization and the convenience of the surgical robot are greatly improved, and the surgical robot can be opened and used in the shortest time;

(2) the first rotating plate, the second rotating plate and the third rotating plate are arranged, and under the action of the rotary driving mechanism, the first rotating plate, the second rotating plate and the third rotating plate can be opened simultaneously, so that the surgical robot is complete in technological sense, efficient operation of the surgical robot can be realized, and the operation efficiency is greatly improved;

(3) the display is arranged at the top end of the transport vehicle, and is opened under the action of the rotary driving mechanism, so that the display not only can play a display function, but also can serve as a top cover for protecting the top end of the surgical robot, and in addition, the display and the top cover are integrally designed, so that the operation robot has the effects of simplifying the structure and saving the space;

(4) the four protective vertical cylinders are arranged, so that on one hand, the bevel gears in the rotary driving mechanism can be protected, the bevel gears are prevented from leaking, the attractiveness is improved, and the safety factor is also increased; on the other hand, the protective vertical cylinder is connected with a driving shaft in the rotary driving mechanism and also has the function of supporting and positioning.

Drawings

Fig. 1 is a schematic structural diagram of a main hand transport vehicle in an embodiment of the invention.

Fig. 2 is a view showing the structure of the opened interior of the main hand-transport vehicle according to the embodiment of the present invention.

Fig. 3 is an open external structure view of the main hand transport vehicle in the embodiment of the invention.

FIG. 4 is a block diagram of a master hand of a surgical robot in an embodiment of the present invention.

Fig. 5 is a structural view of a rotation driving mechanism in the embodiment of the present invention.

Wherein the reference numerals are: 1. a base; 2. A universal wheel; 3. a protective vertical cylinder; 3-1, a first bevel gear; 3-2, a bevel gear II; 3-3, bevel gear III; 3-4, bevel gear four; 3-5, a transmission belt; 3-6 and a bevel gear five; 3-7 and a bevel gear six; 4. a first rotating plate; 4-1, a horizontal axis I; 5. a display; 5-1, fixing plates; 5-2, the horizontal axis II; 5-3, a groove plate; 5-4, electrically pushing the first rod; 6. a second rotating plate; 6-0, longitudinal axis one; 6-1, a third rotating plate; 6-2, longitudinal axis two; 7. a display screen; 7-1, an electric push rod II; 8. a surgical robot; 8-1, fixing seats; 8-2, operating arm one; 8-3, operating arm II; 8-4, L-arm; 8-5, a handrail; 8-6, a screw cap; 8-7, a threaded rod; 8-8, a guide post; 9. an electric motor.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present solution is described below by way of specific embodiments.

Example 1

Referring to fig. 1, 2 and 3, a main hand transport cart of a miniaturized remote operation robot comprises a square base 1 and universal wheels 2 respectively arranged below four corners of the base 1, wherein a fixed plate 5-1 is vertically arranged at the edge of one side above the base 1, a first rotating plate 4, a second rotating plate 6 and a third rotating plate 6-1 which can be automatically unfolded are arranged at the edges of the other three sides above the base 1, the first rotating plate 4 is arranged opposite to the fixed plate 5-1, a main hand of an operation robot 8 is arranged at the inner side of the fixed plate 5-1, energy control equipment is arranged on the base 1, and a remote operation control module is arranged on the second rotating plate 6 or the third rotating plate 6-1;

a display 5 is rotatably arranged above the fixed plate 5-1, the display 5 can move up and down for adjustment, the other end of the display 5 is in separable contact with a display screen, and the first rotating plate 4, the second rotating plate 6, the third rotating plate 6-1 and the display 5 are respectively connected with a rotation driving mechanism;

supporting parts are respectively arranged on two sides of the display screen 7, and the display screen 7 can move up and down.

The universal wheel is provided with a locking structure, when the main hand transport vehicle is stopped at a proper position, the main hand transport vehicle is positioned by the locking structure, the existing universal wheel is often provided with a locking structure, and the specific structure of the locking structure is not detailed herein.

The remote operation module is arranged on the rotating plate, and the energy control equipment is particularly provided with electric energy platform control interfaces at a remote master operation end and a remote slave operation end respectively for connecting an electric energy device of the power supply knife and the ultrasonic knife. The remote main operation end is connected with a foot switch of the electric energy platform, the remote slave operation end is connected with an interface of the foot switch of the electric energy platform, the foot switch is arranged on the upper end face of the base, the foot switch is easy to realize in the prior art and can be purchased in the market, and detailed description is omitted.

One side of the first rotating plate 4, one side of the second rotating plate 6 and one side of the third rotating plate 6-1 are respectively hinged on the rotary driving mechanism, and the other opposite sides of the first rotating plate 4, the second rotating plate 6 and the third rotating plate 6-1 are respectively in separable contact with the display.

Referring to FIG. 5, the rotary driving mechanism includes a horizontally disposed longitudinal shaft I6-0, a motor 9 disposed at one end of the longitudinal shaft I6-0, a bevel gear I3-1 disposed at the other end of the longitudinal shaft I6-0, a bevel gear II 3-2 in meshing connection with the bevel gear I3-1, and a transverse shaft I4-1 having one end passing through the bevel gear II 3-2;

the other end of the transverse shaft I4-1 is provided with a bevel gear III 3-3, the bevel gear III 3-3 is in meshed connection with a bevel gear IV 3-4, one end of the bevel gear IV passes through a longitudinal shaft II 6-2 of the bevel gear IV 3-4, the other end of the bevel gear III is connected with a middle shaft through a transmission belt 3-5, a bevel gear V3-6 is arranged on the middle shaft, the bevel gear V3-6 is in meshed connection with a bevel gear VI 3-7, and the center of the bevel gear VI 3-7 is horizontally provided with a transverse shaft II 5-2 in a penetrating mode;

the first transverse shaft 4-1 is connected with the first rotating plate 4, the first longitudinal shaft 6-0 is connected with the second rotating plate 6, the second longitudinal shaft 6-2 is connected with the third rotating plate 6-1, and the second transverse shaft 5-2 is hinged with one end of the display.

Preferably, the motor 9 is connected with the controller, and under the action of the controller, the motor 9 is started to enable the longitudinal shaft I6-0, the longitudinal shaft II 6-2, the transverse shaft I4-1 and the transverse shaft II 5-2 to work slowly for safety, so that the first rotating plate 4, the second rotating plate 6, the third rotating plate 6-1 and the display are opened slowly.

Preferably, the first rotating plate 4, the second rotating plate 6 and the third rotating plate 6-1 are completely suspended or level with the ground during movement, so that people can operate the main handcart without being influenced by the rotating plates, and the rotating speed of the transverse shaft two 5-2 is less than that of the transverse shaft one 4-1, and can be realized by adjusting the outer diameters of the ends of the transverse shaft one 4-1 and the transverse shaft two 5-2.

The upper parts of the four corners of the base 1 are respectively provided with a protective vertical cylinder 3, the protective vertical cylinder 3 is in a shell shape, the bottom end is open, and the top end is closed;

the bevel gear I3-1 and the bevel gear II 3-2, the bevel gear III 3-3 and the bevel gear IV 3-4, the bevel gear V3-6 and the bevel gear VI 3-7 are respectively arranged in the corresponding protective vertical cylinders 3;

the longitudinal shaft I6-0, the longitudinal shaft II 6-2, the transverse shaft I4-1 and the transverse shaft II 5-2 are respectively hinged on the two adjacent protective vertical cylinders 3.

The display screen 7 sets up and founds a section of thick bamboo 3 top at two adjacent protection wherein, and the display screen 7 sets up in first rotor 4 top, and the supporting part is connected with a protection vertical section of thick bamboo 3.

The fixing plate 5-1 is arranged between two adjacent protective vertical cylinders 3.

Referring to fig. 4, the main hand of the surgical robot 8 includes a left hand and a right hand, which are identical in structure and are mirror-symmetrical with respect to the center plane of the fixing plate 5-1.

The left operating hand comprises a fixed seat 8-1 arranged on the fixed plate 5-1, an operating arm I8-2 with one end hinged with the fixed seat 8-1, an operating arm II 8-3 with one end hinged with the other end of the operating arm II, and an L-shaped arm 8-4 with one end hinged with the other end of the operating arm II 8-3, wherein the L-shaped arm 8-4 is also provided with an armrest 8-5;

the second operating arm 8-3 is a folding structure bending towards the first operating arm 8-2, and the armrest 8-5 is square and hinged at the other end of the L-shaped arm 8-4.

The specific structure of the surgical robot 8 is conventional and will not be described in detail here.

The display 5 is arranged on the slot plate 5-3 in a telescopic mode, the slot plate 5-3 is hinged with the transverse shaft II 5-2, one end of the display 5 is connected with the electric push rod I5-4, and the electric push rod I5-4 is arranged on the slot plate 5-3;

a guide post 8-8 vertically penetrates through the fixed seat 8-1, the guide post 8-8 is arranged in the fixed plate 5-1, the fixed plate 5-1 is shell-shaped, a threaded cap 8-6 and a threaded rod 8-7 are arranged below the fixed seat 8-1, the threaded rod 8-7 is vertically arranged on the base 1, and the threaded cap 8-6 is sleeved on the threaded rod 8-7;

and two ends of the display screen 7 are respectively hinged with a second electric push rod 7-1, and the second electric push rod 7-1 is arranged at the top end of the protective vertical cylinder 3.

Note:

the remote operation robot in the scheme is mainly used for laparoscopic surgery, and the main hand transport vehicle is designed for improving the conception of the existing remote abdominal operation robot system. It has two kinds of modes of operation and control of local operation function and teleoperation function. The surgical robot refers to a doctor for performing minimally invasive surgery on a patient with the aid of a mechanical system.

Wherein, long-range abdominal cavity operation robot comprises five parts: the system comprises a doctor operating table, a patient operating table, a master end remote control box, a slave end remote control box and a three-dimensional endoscope camera system, wherein the doctor operating table, namely a master hand in the scheme, in practical application, mutually supports and works with the patient operating table (slave hand) at different places, the master end remote control box, the slave end remote control box and the three-dimensional endoscope camera system are all the prior art, detailed description is not given here, and other parts which are not mentioned in the remote abdominal cavity operation robot in the scheme are all regarded as the prior art and are not detailed;

the specific working process of the invention is as follows:

because the universal wheels 2 are arranged at the bottom end of the transport cart, the transport cart is pushed to a place where doctors can conveniently go to the hospital, the controller is started to control the rotary driving mechanism to work, at this time, the first rotating plate 4, the second rotating plate 6, the third rotating plate 6-1 and the display 5 are unfolded simultaneously until the surgical robot 8 is completely exposed, at the moment, the doctor operates the handrails 8-5, and because all parts of the surgical robot 8 can rotate, the surgical situation of remote patients can be displayed on the display;

in addition, the height of the display can be adjusted according to the action of the electric push rod I, and the threaded cap is supported below the fixed seat, and the fixed seat can slide up and down along the guide post, so that the height of the fixed seat can be adjusted by adjusting the height of the threaded cap;

the electric push rod II is arranged, so that the electric push rod II is respectively connected with the two ends of the display screen, the height of the display screen can be adjusted, and people can adjust the height of the display screen according to the height of the people.

During actual operation, the surgeon performs the operation, only the two hands of the surgeon do not touch the patient, and the robot system is only a platform for assisting the operation and does not automatically perform any action. During operation, a surgeon sits in front of a doctor operating table, and holds the handle with two hands to operate the doctor mechanical arm to synchronously control instruments on the patient mechanical arm to execute various operation actions by watching the 3D image display.

The technical features of the present invention which are not described in the above embodiments may be implemented by or using the prior art, and are not described herein again, of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and variations, modifications, additions or substitutions which may be made by those skilled in the art within the spirit and scope of the present invention should also fall within the protection scope of the present invention.