CN114098845B - Modularized surgical robot driving device - Google Patents
Modularized surgical robot driving device Download PDFInfo
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- CN114098845B CN114098845B CN202010882783.6A CN202010882783A CN114098845B CN 114098845 B CN114098845 B CN 114098845B CN 202010882783 A CN202010882783 A CN 202010882783A CN 114098845 B CN114098845 B CN 114098845B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention belongs to the field of medical equipment, in particular to a modularized surgical robot driving device, wherein a driving motor is arranged at one end of a C-shaped arm, an output shaft of the driving motor is connected with a base, the base is driven to rotate, and a multichannel puncture outfit is arranged at the other end of the C-shaped arm; the base is provided with a plurality of assembly stations, a driving module is arranged at each assembly station, the proximal end of each driving module is arranged on one assembly station, the distal end of each driving module is detachably provided with a surgical instrument, the driving rod of each surgical instrument is a flexible driving rod, and the flexible driving rod of each surgical instrument passes through a multichannel puncture outfit. The invention adopts a modularized design, the telescopic guide rail module enables the whole space of the driving device to be more open, the surgical instrument and the driving module support quick disassembly and assembly, the driving rod of the surgical instrument is flexible, the invention can adapt to the layout of various puncture outfits and driving devices, the space arrangement integration level is high, the whole is light, and the reliability is high.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a modularized surgical robot driving device which is suitable for completing minimally invasive surgery.
Background
The minimally invasive technology refers to the application of advanced electronic electrothermal optical equipment and technology, wherein electronic mirror image is used for replacing naked eyes for direct vision, and an elongated instrument is used for replacing a conventional scalpel to complete observation diagnosis and treatment of lesions in a patient, and aims to minimize the wounds. With the advent of minimally invasive surgical robots, doctors can realize minimally invasive, accurate and efficient operations with the help of the robots, and the minimally invasive surgical robots well assist doctors in completing minimally invasive operations. The minimally invasive surgery robot completes operations such as cutting, ablating and sewing of lesion tissues through a tiny surgery incision by using a precise surgery mechanical arm and a multi-degree-of-freedom surgery instrument, can provide a high-definition and three-dimensional surgery field, has good flexibility and accuracy, and can simulate flexible finger operation.
The single-hole endoscopic surgery is a typical minimally invasive surgery, can utilize an endoscope and a plurality of surgical instruments to carry out complex surgical operation through a tiny incision, and has the advantages of less bleeding, light pain, quick postoperative recovery, attractive appearance, small postoperative infection risk and the like. The single-hole endoscope operation driving device is integrated in a modularized manner, so that the surgical instrument can be replaced quickly in the operation process, the light weight of the surgical instrument and the multi-degree-of-freedom integrated driving are realized, the operation wound is small, and the constitution of the single-hole endoscope operation driving device is simplified.
Disclosure of Invention
In order to meet the needs of minimally invasive surgery, the invention aims to provide a modularized surgical robot driving device.
The aim of the invention is realized by the following technical scheme:
the invention comprises a C-shaped arm, a base, a driving module, a surgical instrument and a multi-channel puncture outfit, wherein one end of the C-shaped arm is provided with a driving motor, an output shaft of the driving motor is connected with the base to drive the base to rotate, and the other end of the C-shaped arm is provided with the multi-channel puncture outfit; the base is provided with a plurality of assembly stations, each assembly station is provided with a driving module, the proximal end of each driving module is arranged on one assembly station, the distal end of each driving module is detachably provided with a surgical instrument, the driving rod of each surgical instrument is a flexible driving rod, and the flexible driving rod of each surgical instrument passes through the multichannel puncture outfit.
Wherein: the plurality of assembly stations are uniformly distributed along the circumferential direction, or are arranged in a cross shape, or are arranged in a fan shape.
The driving module comprises a telescopic guide rail module and a surgical instrument driving module, wherein the proximal end of the telescopic guide rail module is arranged on the assembly station, and the surgical instrument driving module is connected with the distal end of the telescopic guide rail module.
The surgical instrument driving module comprises a box body, a limiting mechanism, a locking mechanism, a power device integration module and an isolation device, wherein the box body is connected with the distal end of the telescopic guide rail module, and the isolation device is arranged at the proximal end of the surgical instrument; the limiting mechanism comprises guide posts, a cover plate A, movable limiting plates and springs A, wherein the power device integration module comprises a mounting plate fixedly connected to the box body and a plurality of power devices mounted on the mounting plate, the cover plate A is connected with the mounting plate through a plurality of guide posts, the movable limiting plates are reciprocally movably positioned between the cover plate A and the mounting plate, the guide posts penetrate through the movable limiting plates, each guide post is sleeved with a spring A, and two ends of each spring A are respectively abutted against the movable limiting plates and the mounting plate; the output end of each power device is connected with a butt joint disc, and each butt joint disc is penetrated by a movable limiting plate and a cover plate A respectively; the isolating device comprises a switching disc, a cover plate B and an isolating plate, wherein the isolating plate is arranged at the proximal end of the surgical instrument, the switching discs which are the same in number and one-to-one corresponding to the number of the butt-joint discs are packaged on the isolating plate through the cover plate B, one end of each switching disc is connected with the corresponding butt-joint disc, the other end of each switching disc is connected with a flexible driving rod of the surgical instrument, and the isolating plate is spliced with the cover plate A when the surgical instrument is arranged and is connected with the locking mechanism arranged on the cover plate A.
The cover plate A is provided with a notch, the movable limiting plate is provided with a top block A corresponding to the notch, the isolation plate is provided with a top block B corresponding to the notch, when the isolation plate is spliced with the cover plate A, the top block B passes through the notch to be abutted with the top block A, the movable limiting plate is pushed towards the box body direction, and the spring A is in a compressed state; after the isolation plate is separated from the cover plate A, the movable limiting plate is reset under the action of the elasticity of the spring A.
Positioning holes which are the same as the number of the butt joint discs in one-to-one correspondence are formed in the movable limiting plate, and each butt joint disc passes through the corresponding positioning hole; and each movable limiting plate below the positioning hole is provided with a limiting stop, and each butt joint disc is provided with a screw for changing.
The locking mechanism comprises a button, a spring B and a mounting frame, wherein the mounting frame is mounted on the cover plate A, a clamping groove A is formed in the mounting frame, the button is arranged in the clamping groove A in a penetrating mode, one end of the button is a pressing end, the other end of the button is in a hook shape, and the spring B is arranged between the other end of the button and the mounting frame; the partition plate is provided with a locking hole for the button to pass through in a hook shape.
One end of the butt joint disc is provided with a bulge A for connecting with the adapter disc, and the other end of the butt joint disc is provided with a mounting hole; one side of the adapter plate is provided with a groove B for being connected with the bulge A of the adapter plate, and the other side of the adapter plate is provided with a bulge B for being connected with the surgical instrument.
The cover plate A extends towards the direction of the isolation plate to form an extension part A, and a groove A is formed in the extension part A; an extension part B is arranged on the isolation plate, the extension part B is inserted into the groove A when the isolation plate is inserted into the cover plate A, and a clamping groove B for inserting surgical instruments is formed in the extension part B; and guide rails are arranged on the isolation plates at two sides of the clamping groove B.
The isolation cover is arranged at the outer edge of one side of the isolation plate, which faces the limiting mechanism, and the box body, the limiting mechanism, the locking mechanism, the power device integrated module, the C-shaped arm, the base and the telescopic guide rail module are covered inside the isolation cover.
The invention has the advantages and positive effects that:
the invention adopts a modularized design, integrates and packages the power device and related transmission parts into a whole, and realizes the modularization of the driving part of the surgical instrument; the telescopic guide rail module enables the whole space of the driving device to be more open, the surgical instruments can be rapidly disassembled and assembled, multiple degrees of freedom driving of multiple surgical instruments can be simultaneously supported, the spatial arrangement integration level is high, the whole is light, and the reliability is high; meanwhile, as the driving rod of the surgical instrument is flexible, the surgical instrument can adapt to the layout of various puncture outfit structures and driving devices.
Drawings
FIG. 1 is a schematic perspective view of the present invention (with the surgical instrument in a retracted state);
FIG. 2 is a front elevational view of the structure of the present invention;
FIG. 3 is a schematic perspective view of the present invention (with the surgical instrument in an extended state);
FIG. 4 is a schematic perspective view of a C-arm according to the present invention;
FIG. 5 is a schematic perspective view of a surgical instrument according to the present invention;
FIG. 6 is a layout of an assembly station on a base of the present invention;
FIG. 7 is a layout of another assembly station on the base of the present invention;
FIG. 8 is a layout of yet another assembly station on the base of the present invention;
FIG. 9 is a schematic perspective view of a multi-channel puncture outfit according to the present invention;
FIG. 10 is a schematic perspective view of the integrated module of the cartridge, the limiting mechanism, the locking mechanism and the power device in the driving module according to the present invention;
FIG. 11 is a schematic diagram showing a second perspective view of the integrated module of the box, the limiting mechanism, the locking mechanism and the power device in the driving module of the present invention;
FIG. 12 is a schematic perspective view of the integrated module of the power device with the cassette removed from the drive module according to one embodiment of the present invention;
FIG. 13 is a second perspective view of the integrated module of the present invention with the housing and cover plate A removed and the spacing mechanism, locking mechanism and power device removed;
FIG. 14 is a front view of the cartridge, spacing mechanism, locking mechanism and power device integration module of the drive module of the present invention;
FIG. 15 is a schematic perspective view of a movable limiting plate in a limiting mechanism of a driving module according to the present invention;
FIG. 16 is a schematic perspective view of a docking tray in a power plant integration module of the drive module of the present invention;
FIG. 17 is a schematic diagram of a perspective view of an isolation device in a driving module according to the present invention;
wherein: 1 is a box body, 2 is a limiting mechanism, 201 is a guide pillar, 202 is a cover plate A,203 is a movable limiting plate, 204 is a spring A,205 is a limiting stop, 206 is a positioning hole, 207 is a top block A,208 is an extension part A,209 is a groove A,210 is a notch, 3 is a locking mechanism, 301 is a clamping groove A,302 is a button, 303 is a spring B,304 is a mounting frame, 4 is a power device integrated module, 401 is a mounting plate, 402 is a power device, 403 is a butt plate, 4031 is a bulge A,4032 is a mounting hole, 5 is an isolating device, 501 is a butt plate, 5011 is a bulge B,502 is a cover plate B,503 is a isolating plate, 504 is a top block B,505 is a guide rail, 506 is an extension part B,507 is a clamping groove B,508 is a locking hole, 509 is an isolating cover, 6 is a surgical instrument, 7 is a C-shaped arm, 8 is a base, 9 is a telescopic guide rail module, 10 is a surgical instrument driving module, 11 is a multichannel puncture device, 12 is a flexible driving rod, 13 is an assembly station.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the invention comprises a C-shaped arm 7, a base 8, a driving module, a surgical instrument 6 and a multi-channel puncture outfit 11, wherein the C-shaped arm 7 is the tail end of a mechanical arm system, one end of the C-shaped arm 7 is internally provided with a driving motor, an output shaft of the driving motor is connected with the base 8 rotatably arranged at one end of the C-shaped arm 7, the base 8 is driven to rotate, and the other end of the C-shaped arm 7 is provided with the multi-channel puncture outfit 11; the base 8 is provided with a plurality of assembly stations 13, a driving module is arranged at each assembly station 13, the proximal end of each driving module is arranged on one assembly station 13, the distal end of each driving module is detachably provided with a surgical instrument 6, the driving rod of each surgical instrument 6 is a flexible driving rod 12, and the flexible driving rod 12 of each surgical instrument 6 passes through the multichannel puncture outfit 11.
In this embodiment, there are four assembling stations 13, which are uniformly distributed along the circumferential direction, as shown in fig. 6, and each assembling station 13 is provided with a driving module; alternatively, the four assembling stations 13 are arranged in a cross shape and are respectively positioned at four corners of the cross shape, as shown in fig. 7; alternatively, the four assembly stations 13 are arranged in a fan shape, as shown in fig. 8.
The number of the channels of the multi-channel puncture outfit 11 can be flexibly adjusted according to the number of the surgical instruments, and the number can be three channels, four channels or five channels in general; the outer contour shape of the multi-channel puncture outfit 11 can also be adjusted according to the specific use scene, and can be round or oblong. As shown in fig. 9, the multi-channel puncture device 11 of the present embodiment may be a "multi-channel puncture device for endoscopic surgery" having a filing date of 2020, 6 and 19 and a filing number of 202021149829.5.
The drive module of this embodiment comprises a telescopic rail module 9 and a surgical instrument drive module 10, the proximal end of the telescopic rail module 9 being mounted on the assembly station 13, the surgical instrument drive module 10 being connected to the distal end of the telescopic rail module 9. The telescopic rail module 9 of the present embodiment may employ a telescopic cylinder.
As shown in fig. 10 to 17, the surgical instrument drive module 10 of the present embodiment includes a case 1, a limiting mechanism 2, a locking mechanism 3, a power device integration module 4, and an isolation device 5, wherein the case 1 is connected to a distal end of a telescopic rail module 9, and the isolation device 5 is mounted to a proximal end of a surgical instrument 6.
The limiting mechanism 2 of the embodiment comprises a guide post 201, a cover plate A202, a movable limiting plate 203 and a spring A204, wherein the power device integrated module 4 comprises a mounting plate 401 fixedly connected to the box body 1 and a plurality of power devices 402 mounted on the mounting plate 401, the cover plate A202 is mounted on the mounting plate 401 through a plurality of guide posts 201, the movable limiting plate 203 is reciprocally movably positioned between the cover plate A202 and the mounting plate 401, each guide post 201 is penetrated by the movable limiting plate 203, and two ends of each guide post 201 are respectively fixedly connected to the cover plate A202 and the mounting plate 401; a spring a204 is sleeved on each guide pillar 201, and two ends of the spring a204 are respectively abutted against the movable limiting plate 203 and the mounting plate 401. The output end of each power device 402 is connected with a butt joint disc 403, and each butt joint disc 403 is penetrated by the movable limiting plate 203 and the cover plate A202 respectively. The mounting plate 401 of this embodiment is L-shaped, one side of the L-shape is fixedly connected with the box body 1, each power device 402 is mounted on the other side of the L-shape, and each guide pillar 201 is fixedly connected on the other side of the L-shape. The number of power units 402 may vary depending on the specific requirements of the drive, and the power units 402 of this embodiment employ dc servomotors.
The isolation device 5 of this embodiment includes a switching disc 501, a cover plate B502 and an isolation plate 503, where the isolation plate 503 is mounted at the proximal end of the surgical instrument 6, the switching discs 501 corresponding to the number of the docking discs 403 one by one are packaged on the isolation plate 503 by the cover plate B502, one end of the switching disc 501 is connected to the corresponding docking disc 403, the other end is connected to the flexible driving rod 12 of the surgical instrument 6, and the isolation plate 503 is spliced with the cover plate a202 and connected to the locking mechanism 3 when the surgical instrument 6 is mounted. In this embodiment, a shielding cover 509 is mounted on the outer edge of the side of the shielding plate 503 facing the limiting mechanism 2, and the case 1, the limiting mechanism 2, the locking mechanism 3, the power unit integration module 4, the C-arm 7, the base 8 and the telescopic rail module 9 are all covered in the shielding cover 509 except for the surgical instrument 6 and the multi-channel puncture outfit 11. The shielding cover 509 of this embodiment is made of plastic.
The locking mechanism 3 of the embodiment comprises a button 302, a spring B303 and a mounting frame 304, wherein the mounting frame 304 is mounted on the cover plate A202, a clamping groove A301 is formed in the mounting frame 304, the button 302 is arranged in the clamping groove A301 in a penetrating mode, one end of the button 302 is a pressing end, the other end of the button 302 is in a hook shape, and the spring B303 is arranged between the other end of the button 302 and the mounting frame 304; the partition plate 503 is provided with a locking hole 508 through which the other end of the button 302 is hooked.
The cover plate a202 of the embodiment is provided with a notch 210, when the isolation plate 503 is spliced with the cover plate a202, the notch 210 passes through to push the movable limiting plate 203 to the direction of the box body 1, and the spring a204 is in a compressed state; after the separation plate 503 is separated from the cover plate a202, the movable limiting plate 203 is reset by the elastic force of the spring a 204. In this embodiment, a notch 210 is formed on each of the left and right sides of the cover plate a202, a top block a207 corresponding to the notch 210 is disposed on the left and right sides of the movable limiting plate 203, a top block B504 corresponding to the notch 210 is disposed on the left and right sides of the separation plate 503, and when the separation plate 503 is inserted into the cover plate a202, the top block B504 is abutted against the top block a207 through the notch 210, so that the movable limiting plate 203 is pushed along the guide pillar 201 toward the box body 1.
The movable limiting plate 203 of the embodiment is provided with positioning holes 206 which are the same as the butt joint discs 403 in number and correspond to each other one by one, and each butt joint disc 403 passes through the corresponding positioning hole 206 and then passes out of the cover plate A202; a limit stop 205 is provided on the movable limit plate 203 below each positioning hole 206. One end face of the docking plate 403 of the present embodiment is provided with a protrusion a4031 for connecting with the adaptor plate 501, and the protrusion a4031 is strip-shaped; the other end of the docking plate 403 is provided with two mounting holes 4032, one is used for mounting a zero-finding (mechanical limiting) screw, and the other is used for being connected with the output end of the power device 402. The screw is located on the side of the movable limiting plate 203 facing the isolation plate 503.
The adapter plate 501 of this embodiment has a recess B on one side for connection with the docking plate 403 and a protrusion B5011 on the other side for connection with the surgical instrument 6. The groove B is a strip-shaped groove for accommodating the strip-shaped protrusion A4031; the projection B5011 is also strip-shaped and is connected to the drive rod of the surgical instrument 6.
The cover plate a202 of the embodiment extends towards the direction of the isolation plate 503 towards one side surface of the isolation plate 503 to form an extension part a208, and a groove a209 is formed on the extension part a 208; the partition plate 503 is provided with an extension portion B506, the extension portion B506 is inserted into the groove a209 when the partition plate 503 is inserted into the cover plate a202, the extension portion B506 is provided with a clamping groove B507 into which the surgical instrument 6 is inserted, the partition plate 503 on both sides of the clamping groove B507 is provided with a guide rail 505, and the surgical instrument 6 is inserted through the guide rail 505.
The material of the isolation device 5 of the present invention may be a polymer material, such as ABS, and the processing mode may be injection molding or 3D printing.
The present invention allows for the simultaneous installation of a plurality of surgical instruments 6, each surgical instrument 6 and its corresponding surgical instrument drive module 10 being mounted on a separate telescopic rail module 9, the number being dependent on the particular requirements, without restriction. In this embodiment, four telescopic rail modules 9 are used, i.e. a combination of one endoscope and three surgical instruments is used.
The surgical instrument 6 of the present invention has a telescopic degree of freedom driven by the telescopic rail module 9, a rotational degree of freedom driven by rotation of the base 8, a pitching degree of freedom or a yawing degree of freedom which pitching or yawing with the C-arm 7.
The installation and working principle of the invention is as follows:
the telescopic guide rail modules 9 are respectively installed at the assembling stations 13 on the base 8, the assembled surgical instrument driving modules 10 are installed at the distal ends of the telescopic guide rail modules 9, finally the multi-channel puncture outfit 11 and the surgical instruments 6 are installed, the surgical instruments 6 slide in the radial direction through the guide rails 505 on the isolation plates 503, and the flexible driving rods 12 of the surgical instruments 6 pass through the puncture outfit 11 installed at the other ends of the C-shaped arms 7
The movable limiting plate 203 in the limiting mechanism 2 is jacked up by the spring A204 in a natural state, at the moment, the output end of the power device 402 drives the butt joint disc 403 to rotate, the screw on the butt joint disc 403 rotates along with the butt joint disc 403, the butt joint disc 403 rotates forward and backward for one time, and the rotation in each direction is stopped after being contacted with the limiting stop 205 on the movable limiting plate 203, so that the limiting change-giving function is completed.
When the isolation device 5 and the limiting mechanism 2 are installed, the extension part B506 on the isolation plate 503 firstly slides into the groove A209 on the cover plate A202 to be buckled along the axial direction; the button 302 is pressed downwards, the spring B303 is compressed, the hooked other end of the button 302 passes through the locking hole 508 on the isolation plate 503, and after the hand is loosened, the button 302 is reset under the action of the spring B303, so that the isolation device 5 is locked on the limiting mechanism 2. In the above process, the top block B504 on the isolation plate 503 passes through the notch 210 on the cover plate a202, contacts the top block a207 on the movable limiting plate 203, and pushes the movable limiting plate 203 to compress in the axial direction, and the limit stop 205 is far away from the screw on the docking plate 403. The protrusion a4031 on the docking plate 403 is inserted into the groove B on the adaptor plate 501, the output end of the power device 402 drives the docking plate 403 to rotate, and the docking plate 403 drives the adaptor plate 501 to rotate through the docking plate 403 without contacting with the limit stop 205 on the movable limit plate 203, and then the flexible driving rod 12 of the surgical instrument 6 is driven by the adaptor plate 501 to act.
Claims (8)
1. A modular surgical robot drive, characterized by: the surgical instrument comprises a C-shaped arm (7), a base (8), a driving module, a surgical instrument (6) and a multi-channel puncture outfit (11), wherein a driving motor is installed at one end of the C-shaped arm (7), an output shaft of the driving motor is connected with the base (8), the base (8) is driven to rotate, and the multi-channel puncture outfit (11) is arranged at the other end of the C-shaped arm (7); the base (8) is provided with a plurality of assembly stations (13), a driving module is arranged at each assembly station (13), the proximal end of each driving module is arranged on one assembly station (13), the distal end of each driving module is detachably provided with a surgical instrument (6), the driving rod of each surgical instrument (6) is a flexible driving rod (12), and the flexible driving rod (12) of each surgical instrument (6) is penetrated by the multichannel puncture outfit (11);
the driving module comprises a telescopic guide rail module (9) and a surgical instrument driving module (10), wherein the proximal end of the telescopic guide rail module (9) is arranged on the assembly station (13), and the surgical instrument driving module (10) is connected with the distal end of the telescopic guide rail module (9);
the surgical instrument driving module (10) comprises a box body (1), a limiting mechanism (2), a locking mechanism (3), a power device integration module (4) and an isolation device (5), wherein the box body (1) is connected with the far end of the telescopic guide rail module (9), and the isolation device (5) is arranged at the near end of the surgical instrument (6); the limiting mechanism (2) comprises guide posts (201), a cover plate A (202), movable limiting plates (203) and springs A (204), the power device integrated module (4) comprises a mounting plate (401) fixedly connected to the box body (1) and a plurality of power devices (402) mounted on the mounting plate (401), the cover plate A (202) is connected with the mounting plate (401) through a plurality of guide posts (201), the movable limiting plates (203) are reciprocally movably positioned between the cover plate A (202) and the mounting plate (401), each guide post (201) is penetrated by each movable limiting plate (203), each guide post (201) is sleeved with a spring A (204), and two ends of each spring A (204) are respectively abutted against the movable limiting plate (203) and the mounting plate (401); the output end of each power device (402) is connected with a butt joint disc (403), and each butt joint disc (403) is penetrated by the movable limiting plate (203) and the cover plate A (202) respectively; the isolating device (5) comprises a switching disc (501), a cover plate B (502) and isolating plates (503), wherein the isolating plates (503) are arranged at the proximal end of the surgical instrument (6), the switching discs (501) which are the same in number and correspond to each other one by one are packaged on the isolating plates (503) through the cover plate B (502), one end of each switching disc (501) is connected with the corresponding switching disc (403), the other end of each switching disc is connected with a flexible driving rod (12) of the surgical instrument (6), and the isolating plates (503) are spliced with the cover plate A (202) when the surgical instrument (6) is arranged and are connected with the locking mechanism (3) arranged on the cover plate A (202).
2. The modular surgical robot drive of claim 1, wherein: the plurality of assembly stations (13) are uniformly distributed along the circumferential direction, or are arranged in a cross shape or are arranged in a fan shape.
3. The modular surgical robot drive of claim 1, wherein: the cover plate A (202) is provided with a notch (210), the movable limiting plate (203) is provided with a top block A (207) corresponding to the notch (210), the isolation plate (503) is provided with a top block B (504) corresponding to the notch (210), when the isolation plate (503) is inserted into the cover plate A (202), the top block B (504) is abutted with the top block A (207) through the notch (210), the movable limiting plate (203) is pushed towards the direction of the box body (1), and the spring A (204) is in a compressed state; after the isolation plate (503) is separated from the cover plate A (202), the movable limiting plate (203) is reset under the action of the elastic force of the spring A (204).
4. The modular surgical robot drive of claim 1, wherein: positioning holes (206) which are the same as the butt joint discs (403) in number and correspond to each other one by one are formed in the movable limiting plate (203), and each butt joint disc (403) passes through the corresponding positioning hole (206); and a limit stop (205) is arranged on the movable limit plate (203) below each positioning hole (206), and a screw for changing is arranged on each butt joint disc (403).
5. The modular surgical robot drive of claim 1, wherein: the locking mechanism (3) comprises a button (302), a spring B (303) and a mounting frame (304), wherein the mounting frame (304) is mounted on the cover plate A (202), a clamping groove A (301) is formed in the mounting frame (304), the button (302) is arranged in the clamping groove A (301) in a penetrating mode, one end of the button (302) is a pressing end, the other end of the button is in a hook shape, and the spring B (303) is arranged between the other end of the button (302) and the mounting frame (304); the isolation plate (503) is provided with a locking hole (508) for the button (302) to pass through in a hook shape.
6. The modular surgical robot drive of claim 1, wherein: one end of the butt joint disc (403) is provided with a bulge A (4031) for connecting with the adapter disc (501), and the other end is provided with a mounting hole (4032); one side of the adapter plate (501) is provided with a groove B used for being connected with a bulge A (4031) of the butt plate (403), and the other side is provided with a bulge B (5011) used for being connected with the surgical instrument (6).
7. The modular surgical robot drive of claim 1, wherein: the cover plate A (202) extends towards one side surface of the isolation plate (503) towards the isolation plate (503) to form an extension part A (208), and a groove A (209) is formed in the extension part A (208); an extension part B (506) is arranged on the isolation plate (503), the extension part B (506) is inserted into the groove A (209) when the isolation plate (503) is inserted into the cover plate A (202), and a clamping groove B (507) for inserting a surgical instrument (6) is formed in the extension part B (506); guide rails (505) are arranged on the isolation plates (503) at two sides of the clamping groove B (507).
8. The modular surgical robot drive of claim 1, wherein: isolation board (503) installs cage (509) towards the one side outward flange of stop gear (2), box body (1), stop gear (2), locking mechanism (3), power device integrated module (4), C arm (7), base (8) and scalable guide rail module (9) are all covered in this cage (509) inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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