Source: https://patents.google.com/patent/RU2577656C1/en
Timestamp: 2020-01-29 08:13:47
Document Index: 318214956

Matched Legal Cases: ['art 4', 'art 16', 'art 4', 'art 4', 'art 5', 'art 4', 'art 4']

RU2577656C1 - Functional structure of preliminary longitudinal displacement with turning devices electromagnetic retainers medical instrument in toroidal surgical robot system with extension lid (russian logic - version 2) - Google Patents
Functional structure of preliminary longitudinal displacement with turning devices electromagnetic retainers medical instrument in toroidal surgical robot system with extension lid (russian logic - version 2) Download PDF
RU2577656C1
RU2577656C1 RU2015110270/12A RU2015110270A RU2577656C1 RU 2577656 C1 RU2577656 C1 RU 2577656C1 RU 2015110270/12 A RU2015110270/12 A RU 2015110270/12A RU 2015110270 A RU2015110270 A RU 2015110270A RU 2577656 C1 RU2577656 C1 RU 2577656C1
RU2015110270/12A
2015-03-23 Application filed by Лев Петрович Петренко filed Critical Лев Петрович Петренко
2015-03-23 Priority to RU2015110270/12A priority Critical patent/RU2577656C1/en
2016-03-20 Publication of RU2577656C1 publication Critical patent/RU2577656C1/en
238000007514 turning Methods 0 abstract title 4
SUBSTANCE: functional structure of preliminary longitudinal displacement and turning of magnetic detents for medical instruments in the toroidal surgical robot system with an extension lid, in which a common housing of the robot system has a toroidal shape with an inner sliding part with a spherical lifted cover aligned with which in its lower part there is fixed a tool table with a possibility of reciprocal turning and magnetic detents for medical instruments; at that, the common housing of the robot system comprises several pairs of bent rods, which are arranged regularly in circle in the lower part of the common housing and their lower parts are fixed on a common or individual plate with the possibility of reciprocating turn inside the toroidal common body of the robot system, and top parts of bent rods are fixed to each other by means of a fixed axial rod for preliminary turn with a fixed on it first gear located inside the first part of the first housing with extension elements and functionally connected to the first drive with reduction gear for turn of the housings of extension elements is secured on one side on one half of the first part of the first housing with extension elements, where there is also fixed an extending part of the linear drive the housing of which is fixed on one half of the second part of the first housing with extension elements, where there is fixed the second drive with reduction gear, in which the axial rod has thread and is fixed in the hole with thread in longitudinal direction of the rod of the first part of the second housing and perpendicular to it, in the middle part of the rod of the first part of the second housing is a hole with thread, where there is fixed the rod of the rotor with thread to turn the drive with reduction gear, which is fixed in the second part of the second body for turning the housings with extension elements and is oriented towards the hole with longitudinal thread.
EFFECT: invention can be used in various medical procedures.
The functional structure of the sliding element (device) of the clamp of a multifunctional diagnostic and surgical robotic system with the possibility of information and computer control (see UA Patent No. 72500) is known, which includes a clamping device for operating elements with the possibility of two turns and connected by a first drive that performs the function of a hinge , with an intermediate turn device, which includes a second drive, which also performs the function of a hinge connected to additional devices m of the axial rotation of the clamp, a linear drive is introduced, the housing of which is fixed in the spherical housing of the robotic system, and a drive with a gearbox is fixed on the sliding part of the linear drive with two straps, in which the outer part of the gearbox is fixed with one strap, and the stator part of the gear the gearbox with the help of an axial rod is rotatably connected to the second bar, while the stator housing is connected to an additional axial clamp reversal device (prototype).
The known prototype has technological capabilities, which are that the functional structure of the retractable clamping device (clamp) of the medical instrument of the multifunctional diagnostic and surgical robotic system with other retractable clamping devices are located in one common housing and are made with the possibility of turning, shifting and holding various instruments over medical table.
A disadvantage of the known functional structure of the retractable device of the clamp of the medical instrument is the limited accuracy of the rotation of the retractable element of the clamp, since two consecutive elements in the clamping device are directly functionally connected to the stator and to the rotor of the common drive with the gearbox, so the error from the mutual rotation is not minimized.
The technical result of the proposed invention is the improvement of the known functional structure of the preliminary longitudinal displacement and rotation of the devices of the electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable lid.
Functional structure of preliminary longitudinal displacement and reversal of devices of electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable cover, including linear actuators and several sequential housings of retractable elements, which are made with the possibility of relative reversal by means of an appropriate actuator with a reducer and in the initial position are positionally positioned in common the case of the robotic system, while the overall case of the robotic of the system is made of a toroidal shape with an internal sliding part with a spherical cover with the possibility of lifting, coaxially in the lower part of which the instrument table is fixed with the possibility of a reciprocating turn, and with electromagnetic devices for holding medical instruments, while several pairs are introduced into the common case of the robotic system bent rods that are evenly spaced around in the lower part of the common housing and their lower parts are fixed on a common or individual a plate with the possibility of a reciprocating turn inside the toroidal common body of the robotic system, and the upper parts of the curved rods are fixed to each other by means of a fixed axial pre-turn rod with the first gear fixed on it, which is positionally located inside the first part of the first housing of the sliding elements and is functionally connected to the first a drive with a gearbox, which is mounted on one side on one of the the breech of the first part of the first housing of the sliding elements, where the sliding part of the linear actuator is also fixed, the housing of which is fixed on one of the halves of the second part of the first housing of the sliding elements, where the second drive with the gearbox is also fixed, in which the axial shaft of the rotor is threaded and fixed in the hole with a thread, which is made in the longitudinal direction of the rod of the first part of the second case and orthogonal to it, in the middle part of the rod of the first part of the second case there is a threaded hole, where The rotor shaft with a turn drive thread with a reducer is fixed, which is fixed in the second part of the second turn housing of the drawer housings and is oriented orthogonally to a hole with a longitudinal direction thread.
In FIG. 1 shows the functional structure of the first and second parts of the first housing of the sliding elements with the possibility of longitudinal displacement of the second part of the first housing of the sliding elements. In FIG. 2 shows two curved rods that are arranged uniformly in a circle in the lower part of the common body and their lower parts are fixed on a common or individual plate with the possibility of a reciprocating turn inside the toroidal common body of the robotic system, and the upper parts of the curved rods are fixed to each other by means of a fixed axial pre-turn rod with the first gear fixed on it, which is positionally located inside the first part of the first extension housing ny elements. In FIG. Figure 3 shows a toroidal robotic system with an internal retractable part with a spherical cover with the possibility of lifting, coaxially with which a medical table with the possibility of a reciprocating turn is fixed in its lower part, and with electromagnetic devices for holding medical instruments. In FIG. 4 shows the positional position of the retractable electromagnetic devices for holding the housings of the medical instrument over the upper part of the medical table.
The functional structure of the preliminary longitudinal displacement and rotation of the devices of the electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable cover, including linear actuators 1 and several sequential cases of retractable elements 2 (Fig. 3), which are made with the possibility of relative reversal by means of an appropriate drive with a gearbox and in the initial position are positionally located in the common housing 3 of the robotic system, while the common housing 3 of the robotic system is made of a toroidal shape with an internal retractable part 4 with a spherical cover 5 with the possibility of lifting, coaxially with which the tool table 6 is fixed in its lower part with the possibility of a reciprocating turn, and with electromagnetic devices 7 for holding medical instruments 8, while in general body 3 of the robotic system introduced several pairs of curved rods 9 and 10, which are arranged evenly in a circle in the lower part of the common body 3 and their lower parts are fixed on the common her or an individual plate 11 with the possibility of a reciprocating turn inside the toroidal common housing 3 of the robotic system, and the upper parts of the curved rods 9 and 10 are fixed to each other by means of a fixed axial rod 12 (Fig. 1 and 2) a preliminary reversal with the first gear 13 fixed on it, which is positionally located inside the first part of the first housing 14 of the retractable elements and is functionally connected to the first drive with a reducer 15, which is rotated on one side to rotate the housings of the retractable elements 2 the first part of the first housing 14 of the sliding elements, where the sliding part 16 of the linear actuator 1 is also fixed, the housing of which is fixed to one of the halves of the second part of the first housing 17 of the sliding elements, g e, a second drive with a gearbox 18 is also fixed, in which the axial shaft of the rotor 19 is threaded and fixed in a hole with a thread 20, which is made in the longitudinal direction of the shaft 21 of the first part of the second body 22 and orthogonal to it, in the middle part of the shaft 21 of the first part of the second of the housing 22, a hole with a thread 23 is made, where the shaft of the rotor 24 is fixed with a thread of a U-turn drive with a reducer 25, which is fixed in the second part of the second U-turn housing 26 of the drawer housings and is oriented orthogonally to the hole th threaded longitudinal direction. In FIG. 3 shows the positional position of the common housing 3 of the toroidal surgical robotic system with retractable elements 2 and with electromagnetic devices 7 holding the housings 8 of the surgical and diagnostic devices in the "Instrument receiving" zone and the positional position of the retractable elements 2 of the electromagnetic holding of the housings 8 surgical and diagnostic devices in the "Zone the medical procedure "over the upper movable part of the medical table 27. In this case, the removable upper part of the retractable cover 6 is coaxial laid on an inner sliding part 4 of the housing 3 common toroidal surgical robot system, which at the bottom is connected to the first ends of three wires 28, and their second ends are fixed on the winding device 29 lifting actuator extendable cover section 5 and the tool 6. In FIG. 4 shows the positional position of the buildings 8 of the surgical and diagnostic devices with electromagnetic devices 30 for their retention in the "Area of medical procedures."
The procedure for preliminary longitudinal displacement and rotation of the electromagnetic clamp devices of a medical instrument in a toroidal surgical robotic system with a retractable lid is as follows.
Before performing the medical procedure (Figs. 3 and 4), before lifting the sliding cover 5 and the sliding part 4, or after lifting them, its upper part 5 is removed together with the tool table 6 and the case 8 of surgical and diagnostic devices are inserted in its electromagnetic devices 7 in a circle and then the retractable cover 5 is returned to its original position on the retractable part 4 for performing various medical procedures in the "medical procedure execution area", and for its implementation, the retractable cover 5 and the retractable part 4 are lifted instrumental table 6 and carry out the reversal of successive cases of sliding elements 2 first into the zone "Reception of the tool", and then in the "Zone of the medical procedure" above the medical table 27 and when it is realized, there is a need for longitudinal displacement and rotation of the electromagnetic devices 30 holding the buildings 8 surgical and diagnostic tools. And this longitudinal displacement procedure (Fig. 1) is performed by means of a linear actuator 1, and the corrective turn of the electromagnetic devices 30 for holding the housings 8 of surgical and diagnostic instruments is performed by the first actuator with a reducer 15 and the first gear 13, which is fixed on a fixed axial rod 12, and also by means of a second drive with a gearbox 18 and a U-turn drive with a gearbox 25.
Using the proposed technical solution allows to increase the accuracy of the mutual rotation of the elements of the retractable clamping device (clamp) of a medical instrument in a toroidal surgical robotic system with a retractable lid.
Functional structure of preliminary longitudinal displacement and reversal of devices of electromagnetic clamps of a medical instrument in a toroidal surgical robotic system with a retractable cover, including linear actuators and several sequential housings of retractable elements, which are made with the possibility of relative reversal by means of an appropriate actuator with a reducer and in the initial position are positionally positioned in common the housing of the robotic system, characterized in that the common core The whisker of the robotic system is made of a toroidal shape with an internal retractable part with a spherical cover with the possibility of lifting, coaxially with the tool table with the possibility of a reciprocating turn, and with electromagnetic devices for holding medical instruments, and several medical devices are retained in the common case of the robotic system pairs of curved rods that are evenly spaced around in the lower part of the common housing and their lower parts are fixed on a common or ind an individual plate with the possibility of a reciprocating turn inside the toroidal common body of the robotic system, and the upper parts of the curved rods are fixed to each other by means of a fixed axial pre-turn rod with the first gear fixed on it, which is positionally located inside the first part of the first housing of the sliding elements and is functionally connected to the first drive with a gearbox, which is mounted on one side to rotate the sliding element housings and one of the halves of the first part of the first housing of the sliding elements, where the sliding part of the linear actuator is also fixed, the housing of which is fixed to one of the halves of the second part of the first housing of the sliding elements, where the second drive with the gearbox, in which the axial shaft of the rotor is threaded, is also fixed fixed in the threaded hole, which is made in the longitudinal direction of the rod of the first part of the second case and orthogonal to it, in the middle part of the rod of the first part of the second case, a hole with a cut bout, wherein the rotor shaft is mounted with a turn threaded drive gear, which is fixed to the second portion of the second casing turning housings and sliding elements oriented orthogonally threaded hole longitudinal direction.
RU2015110270/12A 2015-03-23 2015-03-23 Functional structure of preliminary longitudinal displacement with turning devices electromagnetic retainers medical instrument in toroidal surgical robot system with extension lid (russian logic - version 2) RU2577656C1 (en)
RU2015110270/12A RU2577656C1 (en) 2015-03-23 2015-03-23 Functional structure of preliminary longitudinal displacement with turning devices electromagnetic retainers medical instrument in toroidal surgical robot system with extension lid (russian logic - version 2)
RU2577656C1 true RU2577656C1 (en) 2016-03-20
ID=55647952
RU (1) RU2577656C1 (en)
JP2010206495A (en) * 2009-03-03 2010-09-16 Olympus Medical Systems Corp Electronic image observation apparatus
UA72500U (en) * 2011-12-19 2012-08-27 Юрий Иванович Русанов Yu. RUSANOV APPLIANCE FOR EXTENSIBLE MECHANISM OF CLAMPING MULTIFUNCTIONAL DIAGNOSTIC-AND-SURGICAL ROBOTICAL SYSTEM OF SURGICAL TABLE SUITABLE FOR INFORMATION COMPUTERIZED CONTROL
2015-03-23 RU RU2015110270/12A patent/RU2577656C1/en active
KR20100031437A (en) 2010-03-22 Tool for minimally invasive surgery and method for using the same
ES2658968T3 (en) 2018-03-13 Extendable articulated probe device
Lehman et al. 2011 Dexterous miniature robot for advanced minimally invasive surgery
US9539016B2 (en) 2017-01-10 Multiple loop snare
US20020151820A1 (en) 2002-10-17 Positioner for medical devices such as biopsy needles
JP5861255B2 (en) 2016-02-16 Robot hand and robot
EP2079564A2 (en) 2009-07-22 Steerable multi-linked device having a modular link assembly
US6001097A (en) 1999-12-14 Fracture reducing apparatus
US20110054254A1 (en) 2011-03-03 Coil arrangement for guiding a magnetic element in a working space
ES2639100T3 (en) 2017-10-25 Articulated tool positioner and system that uses the same