CN106264733B - A kind of suspension type surgical instrument - Google Patents

Abstract

The invention discloses a kind of suspension type surgical instruments, including rack-mounted suspension body, the lifting body being mounted on suspension body, the swing arm being mounted on lifting body, the rotating mechanism for being mounted on swing arm front end, the spill spin block being mounted on rotating mechanism, the mechanical claw hand for being mounted on spill spin block one end and the surgical knife tool for being mounted on the spill spin block other end.It is mobile that suspension body can make horizontal vertical and horizontal on the rack；Lifting body can make elevating movement with respect to suspension body.After horizontal longitudinal direction, horizontal cross, lifting moving, surgical knife tool to sufferer is waited at dissection.Surgical knife tool dissects sufferer.After the completion of dissection, rotating mechanism driving spill spin block accurately rotates 180 degree, and the mechanical claw hand of the spill spin block other end is located at dissection, and protrudes at dissection that taking-up sufferer device is dirty or other objects.The present invention can reduce medical worker's labor intensity, improve working efficiency, avoid sufferer infected.

Description

A kind of suspension type surgical instrument

Technical field

The present invention relates to medical instruments, in particular to a kind of suspension type surgical instrument.

Background technique

Traditional operation, medical worker generally using dissecting tool and take object tool；Traditional operation is carried out using manual mode, Medical worker's large labor intensity, working efficiency is low, and sufferer susceptible.

Summary of the invention

Technical problem solved by the invention: traditional operation is carried out using manual mode, medical worker's large labor intensity, work Make low efficiency, and sufferer susceptible.

In order to solve the above technical problems, the invention provides the following technical scheme: a kind of suspension type surgical instrument, including installation Suspension body on the rack, the lifting body being mounted on suspension body, the swing arm being mounted on lifting body, be mounted on swing arm before The rotating mechanism at end, the spill spin block being mounted on rotating mechanism, the mechanical claw hand for being mounted on spill spin block one end and it is mounted on rotation The surgical knife tool of the block other end；The lifting body can make elevating movement, the rotating mechanism driving spill spin block rotation with respect to suspension body Turn；

The rotating mechanism includes rotary components, latch components, driving assembly, cover board；

The rotary components include rotating seat, the fixed brake disc and the 6th gear for being set in rotating seat periphery；The rotation Switch block is fixedly connected with rotating seat；

The latch components include being fixed at the intracorporal basal disc of shell, a pair of of the brake(-holder) block being mounted on basal disc, sliding Solution lock slide on basal disc is set；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, a pair of of brake(-holder) block One end is hinged and other end elastic connection；On basal disc, solution lock slide slides the solution lock slide elastic connection equipped with a pair Bar, one end of a pair of of brake(-holder) block elastic connection open up a pair of of slide slot, and slide slot is in bending, and a pair of of slide slot bilateral symmetry is set It sets, a pair slides bar and is slidably fitted in a pair of of slide slot；

The driving component includes the annulus for being driven by driving device and being rotated, and the center line of annulus rotation deviates rotating seat The center line of rotation, the inner sidewall of annulus are equipped with tooth section and multiple push rods, and tooth section is fixedly installed and push rod sliding setting, tooth section It can be engaged with the 6th gear；

The cover board is fixed on shell, and cover board is equipped with circular orbit, the center line of circular orbit and annulus Center line is overlapped, and the push rod is equipped with the slide bar cooperated with circular orbit, and circular orbit is equipped with the arc track of one section of indent；When When slide bar is located in arc track, push rod pushes solution lock slide and a pair is made to slide bar translation, meanwhile, the 6th gear is opened with tooth section Begin to engage.

According to the above technical scheme, a kind of working principle of suspension type surgical instrument of the present invention is as follows:

First, it is mobile that the suspension body can make horizontal vertical and horizontal on the rack；Lifting body can rise with respect to suspension body Drop movement.After horizontal longitudinal direction, horizontal cross, lifting moving, surgical knife tool to sufferer is waited at dissection.

Second, surgical knife tool dissects sufferer.After the completion of dissection, rotating mechanism driving spill spin block accurately rotates one 180 degree, the mechanical claw hand of the spill spin block other end is located at dissection, and protrudes at dissection and take out that sufferer device is dirty or other objects.

Third, the working principle that above-mentioned rotating mechanism driving spill spin block rotates 180 degree every time are as follows: driving device Annulus rotation is driven, annulus drives push rod rotation thereon, and the slide bar on push rod moves in circular orbit.When slide bar run to When one section of arc track of circular orbit, slide bar drives push rod mobile to the center of annulus, the end continuous action of multiple push rods In on solution lock slide, solution center translation of the lock slide to basal disc is pushed, a pair solved on lock slide slides bar with one-to-one side Formula translates in a pair of of slide slot, since slide slot is in bending, a pair of rectilinear translation, which slides bar, can drive a pair of of system One end of movable plate elastic connection is opened, in this way, be changed by the initial state by a pair of of brake(-holder) block friction catch can for rotating seat The state rotated freely.No longer rotating seat is braked synchronously with a pair of of brake(-holder) block, on the inside of the tooth section on annulus inner sidewall, i.e. annulus One section of tooth on wall, starts to engage with the 6th gear, and drives the 6th gear and the rotating seat being firmly connected with it rotation, rotation Seat drives spill spin block rotation；When rotating seat rotates 180 degree, six gear of tooth Duan Yu is disengaged, meanwhile, it is multiple to push away Bar all passes through one section of arc track of circular orbit, in this way, solution lock slide of the elastic connection on basal disc resets, a pair is slided Bar resets therewith, and one end of a pair of of brake(-holder) block elastic connection also resets therewith, a pair of of brake(-holder) block friction catch brake disc again, into And brake rotating seat.So far, spill spin block rotates 180 degree with the rotation of rotating seat.

Through the above technical solutions, rotating mechanism can automatically and fixed angle rotate the spill spin block, make thereon Surgical knife tool or mechanical claw hand are in operating position.

As the present invention to a kind of explanation of rotating mechanism, the rotating mechanism includes that the L shape of installation on a swing arm connects Arm is connect, the shell is arranged on L shape linking arm；The cover board is sealed on shell, the rotary components, latch components, drive Dynamic component is mounted in shell.

As the present invention to a kind of explanation of rotating mechanism, in rotary components, the rotating seat is articulated on basal disc, rotation Seat is equipped with a pair of of locating rod, and the spill spin block is fixedly connected with rotating seat by a pair of of locating rod.

As the present invention to a kind of explanation of rotating mechanism, in latch components, the basal disc is fixed on shell by support column In vivo, the support column is located at the side in annulus and being located at rotating seat；

As the present invention to a kind of explanation of latch components, the basal disc is equipped with a pillar, and pillar is equipped with swivel pin； The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the left end of the first brake(-holder) block It is hinged on swivel pin with the left end of the second brake(-holder) block, the right end of the first brake(-holder) block and the right end of the second brake(-holder) block are stretched by first The connection of contracting spring；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is equipped with the second top pillar, and first Top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable spring；First brake(-holder) block and The equal semicircular in shape of second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, the first adjustable spring With the trend for closing up the first brake(-holder) block and the second brake(-holder) block, and the setting of the first top pillar and the second top pillar then has blocking should The effect of kind trend.

As the present invention to a kind of explanation of latch components, the pair of slide slot includes that the first slide slot and second slides Slot, the first slide slot are provided with the right end of the first brake(-holder) block, and the second slide slot is provided with the right end of the second brake(-holder) block, and first slides Slot and the second slide slot are symmetrical set, wherein the first slide slot includes that the first straight line type slide slot being connected to and second are straight Line style slide slot, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and 180 degree Between.As described above, when solving lock slide to when the translation of the central line of basal disc, a pair slided in a pair of of slide slot is slided Bar has the trend of the right end separation of the right end and the second brake(-holder) block that make the first brake(-holder) block.

As the present invention to a kind of explanation of latch components, the solution lock slide is equipped with a pair of of positioning pin, the pair of Positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, and it is fixed that the right end of first brake(-holder) block is equipped with first The right end in position hole, the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the first top pillar and second push up When column offsets, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first positioning hole and second Positioning hole；The pair of bar that slides includes first sliding bar and second and sliding bar, and first slides bar, and to be fixed at first fixed The top of position pin, second slides the top that bar is fixed at the second positioning pin, and first slides the center line of bar and the first positioning The central axis of pin.As described above, when push rod pushes the center translation for solving lock slide to basal disc, first slides bar first It is translated in first straight line type slide slot, when the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole When, second, which slides bar, just enters second straight line type slide slot, and a pair slides bar for the right end of the first brake(-holder) block and the second brake(-holder) block Right end open；After push rod is left away with the rotation of annulus, solution lock slide resets, and a pair slides bar and resets therewith, and first Positioning pin and the second positioning pin are correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.

As the present invention to a kind of explanation of latch components, the basal disc, which is equipped with, erects block, erects block and is equipped with second Block, the other end connection solution lock slide of the second adjustable spring are erect in adjustable spring, one end connection of the second adjustable spring.

As the present invention to a kind of explanation of driving assembly, the annulus is articulated in shell, and the driving device includes The fixed ring gear being set on annulus inner sidewall, couples with the 7th gear and is mounted on shell the 7th gear engaged with ring gear Interior third motor.As described above, the 7th gear of third motor driven rotates, and the 7th gear is by driving ring gear to drive circle Ring rotation.

As the present invention to a kind of explanation of driving assembly, the inner sidewall of the annulus is equipped with convex block in radial direction, radial Interior convex block is equipped with multiple push rod pedestals, and the quantity of push rod pedestal is identical to the quantity of push rod, and multiple push rods are with one-to-one side Formula is slidably fitted in multiple push rod pedestals, the prominent push rod pedestal in the end of push rod and the center for being directed toward annulus.Multiple push rods Quantity determines in the following manner: when rotating seat rotates predetermined angular and six gear of tooth Duan Yu disengages, multiple push rods are complete Portion is by one section of arc track of circular orbit without acting on solution lock slide.

As the present invention to a kind of explanation of suspension body, the suspension body be equipped with symmetrical first upright guide rail and Second upright guide rail, the first upright guide rail are mounted on the first guide rail bracket, and the second upright guide rail is mounted on the second guide rail bracket, the It is sliding combined with the first upright slide block on one upright guide rail, the second upright slide block is sliding combined on the second upright guide rail, it is described It is sliding vertically along the first electric cylinders of the first upright guide rail vertical motion and driving second that suspension body is equipped with the first upright slide block of driving Second electric cylinders of the block along the second upright guide rail vertical motion；The lifting body is mounted on the first upright slide block and the second upright slide block On.First electric cylinders and the second electric cylinders drive the first upright slide block and the lifting of the second upright slide block, the first upright slide block and the Two upright slide blocks drive lifting body lifting.

As the present invention to a kind of explanation of suspension body, the suspension body is equipped with brake structure, and brake structure includes solid The brake rotation that a pair of of supporting plate for being scheduled on suspension body, the brake lever being articulated on a pair of of supporting plate, one end are fixedly connected with brake lever Turn component, one end and the hinged brake connection component of the brake rotary components other end, hinged with the brake connection component other end Lever assembly is hinged on supporting plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Second guide rail Frame is equipped with brake plate, and brake plate is connect with the second guide rail bracket by spring, and brake plate is located at the second upright slide block right side Side, the brake lever are close to brake plate；Cylinder is hinged on the supporting plate, the piston rod and lever assembly of cylinder are hinged.It presses Above description, cylinder movement make lever assembly around itself and supporting plate hinged place tilting, and lever assembly passes through brake connection component band Dynamic brake rotary components rotation, brake rotary components driving brake bar rotation, the crest line of brake lever are against on brake plate towards a left side, In turn, it is against on the left of brake plate on the second upright slide block right side, the second upright slide block is braked；When cylinder resets, Lever assembly drives brake rotary components to reversely rotate by brake connection component, and brake rotary components driving brake bar reversely revolves Turn, the crest line of brake lever leaves brake plate and no longer brake plate driven to be moved to the left and brake the second upright slide block.

In brake structure, the brake rotary components include that the brake rotating seat being fixedly connected with brake lever and brake are revolved The brake swingle that swivel base is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects Bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes and first brake connecting rod Hinged brake support, the brake liner plate being fixedly connected with brake support, the brake support are hinged on supporting plate.

As the present invention to a kind of explanation of suspension body, the suspension body is equipped with the second brake structure, the second brake knot Structure includes the second supporting plate of a pair being fixed on suspension body, the second brake lever being articulated on a pair of second supporting plate, one end and the Second brake of the second brake rotary components, one end that two brake lever are fixedly connected with the second brake rotary components other end hingedly Connection component, brake the second hinged lever assembly of the connection component other end with second, is hinged in the middle part of the second lever assembly On second supporting plate, the cross section of second brake lever is in regular hexagon；First guide rail bracket is equipped with the second brake plate, the Two brake plates are connect with the first guide rail bracket by second spring, and the second brake plate is located at the side of the first upright slide block left side, Second brake lever is close to the second brake plate.The suspension body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, third It is combined with lever on sliding pin, the bar shaped sliding slot being slidably matched with third sliding pin, the left end of lever and brake are opened up in the middle part of lever Lever assembly in structure is hinged, and the right end of lever and the second lever assembly in the second brake structure are hinged.As described above, Brake structure and the second brake structure are symmetrical set, and the structure and function of the two is identical, in operation, cylinder activation lever group Part Yao's tilting, can drive the linkage of the second lever assembly by lever, and the brake structure of linkage and the second brake structure are right simultaneously First upright slide block and the second upright slide block are braked.

As the present invention to a kind of explanation of lifting body, the lifting body include both ends be fixedly connected the first upright slide block and First cylinder of the second upright slide block, be fixedly connected with the first cylinder and with the second cylinder of the first column vertical, be fixed on Curved linking arm on two cylinders, the forearm being fixedly connected with curved linking arm, the swing arm are mounted on the end of forearm.Institute It states forearm and is equipped with the first driving unit that driving swings arm swing, swing arm, which is equipped with, drives the second of rotating mechanism rotation to drive Moving cell；Central axis when the swing arm swing is in the rotation centerline of rotating mechanism.The front end of the forearm opens up One spill gap, the swing arm are articulated in spill gap.First driving unit includes first be mounted on forearm Motor, the first gear unit for coupling first motor and swing arm；First gear unit includes being articulated on forearm and same The second gear and third gear of axis setting, the 4th gear and the first synchronous pulley, pivot for being articulated on forearm and being coaxially disposed Connect the third axis on forearm, the second synchronous pulley being fixedly mounted on third axis；Pacify on the output shaft of the first motor Equipped with first gear, first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through same Step band couples with the second synchronous pulley, and third axis is fixedly connected with swing arm.Second driving unit includes being mounted on swing The second motor, the second gear unit on arm；Second gear unit include the retarder coupled with the second motor output shaft, The rotating disk connecting with retarder output end, rotating mechanism are installed on the rotating pan.

As the present invention to a kind of explanation of mechanical claw hand, the mechanical claw hand includes cleft hand rack, is hinged on cleft hand machine Two pairs of cleft hands on frame are mounted in cleft hand rack for drive the cleft hand driving mechanism of two pairs of cleft hands movement.The cleft hand drives Motivation structure includes support body, the first locking body, the second locking body；The left hand thread of head and the tail connection is equipped on the support body vertically Bar and right-handed thread bar, the power device for driving left hand thread bar and right-handed thread bar to rotate；First locking body with Left hand thread bar is spirally connected, and the second locking body is spirally connected with right-handed thread bar, and support body, which is equipped with, locks the first locking body and second The guide rod that the lifting of body is oriented to.Two cleft hands in first pair of cleft hand in two pairs of cleft hands are symmetrical set, It is symmetrical arranged before and after two cleft hands in second pair of cleft hand in two pairs of cleft hands, the bottom of two cleft hands in first pair of cleft hand is opened If the first slide slot being obliquely installed, the bottom of two cleft hands in second pair of cleft hand opens up the second slide slot being obliquely installed, The top of first locking body is equipped with the first sliding pin for being slidably matched with the first slide slot, the top of the second locking body be equipped with The second sliding pin that second slide slot is slidably matched.

As described above, left hand thread bar and the right-handed thread bar head and the tail being linked together are fixed together, left hand thread Bar and right-handed thread bar coaxial arrangement, left hand thread bar and right-handed thread bar rotate simultaneously, the first locking of left hand thread bar driving Body decline, right-handed thread bar drive the second locking body to rise, and the first locking body drives the decline of the first sliding pin, due to the first slide slot It is obliquely installed, therefore, the first sliding pin being vertically lowered can drive any cleft hand in first pair of cleft hand to surround itself and cleft hand rack Hinged place rotation, in this way, first pair of cleft hand makees opposite swing；Meanwhile second locking body drive the second sliding pin rise, due to second Slide slot is obliquely installed, and the inclined direction of the second slide slot and the first slide slot are inclined contrary, therefore, it is vertical on The second sliding pin risen drives any cleft hand in second pair of cleft hand to rotate around the hinged place of itself and cleft hand rack, in this way, second pair Cleft hand makees opposite swing；So far, two pairs of cleft hands are in shape is collapsed, for grabbing object.First pair of cleft hand connects the first locking body, the Two pairs of cleft hands second locking bodies of connection, and the left hand thread bar being spirally connected with the first locking body and the dextrorotation being spirally connected with the second locking body Threaded rod is linked together, and is structure as a whole, in this way, the present invention can make first pair of cleft hand simultaneously operation and motion amplitude is identical, It can make second pair of cleft hand simultaneously operation and motion amplitude is identical, first pair of cleft hand and second pair of cleft hand simultaneously operation can be made and move Amplitude is identical, and sufferer intrabody object accurately and is fully grabbed so as to mechanical claw hand.

As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack includes the cleft hand for being mounted on spill spin block one end Framework soleplate, is fixed on cleft hand rack support bar top at the cleft hand rack support rod being vertically arranged on cleft hand framework soleplate Cleft hand rack top plate；The cleft hand driving mechanism is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, institute It states and opens up four hinge holes on cleft hand rack top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes. As described above, swivel pin is fixed in each hinge hole, four cleft hands pass through swivel pin in a manner of one-to-one and are hinged on four In a hinge hole.The bottom end of any cleft hand is located at the lower section of hinge hole, that is, inclined first slide slot and the equal position of the second slide slot In the lower section of hinge hole.The cleft hand rack is equipped with integrated camera and lighting device, the integrated camera and photograph Bright device is located between two pairs of cleft hands.The camera is electrically connected with display, and under the illumination of lighting device, medical worker can The object in front of mechanical claw hand is observed from display.

As the present invention to a kind of explanation of mechanical claw hand, the support body includes pedestal, supporting plate；The pedestal fixation is set It sets in cleft hand rack, the guide rod is fixed on the base, and the supporting plate is horizontally fixed on the top of guide rod；Described first Locking body includes the first lifting chassis, a pair of first guide post, the first latch segment, the first concave block；First lifting chassis It is screwed onto left hand thread bar, the first lifting chassis opens up the first guiding slot port, and first guiding slot port and guide rod slide Cooperation；The pair of first guide post is vertically arranged on the first lifting chassis, and a pair of first pilot hole is opened up on the supporting plate, A pair of first guide post cooperates in a manner of one-to-one in a pair of first pilot hole, and first latch segment is mounted on first and leads To the top of column, first concave block is mounted on the top of the first latch segment, and first sliding pin is mounted on the first concave block Top；Second locking body includes the second lifting chassis, the second guide post, locking plate, the second concave block；Described second liter Drop chassis is screwed onto right-handed thread bar, and the second lifting chassis opens up the second guiding slot port, second guiding slot port and guiding Bar is slidably matched；Second guide post is vertically arranged on the second lifting chassis, and the second lifting chassis is located at the first lifting bottom The lower section of disk；First lifting chassis opens up the second pilot hole, and third pilot hole, second guiding are opened up on the supporting plate Column is upward through the second pilot hole and third pilot hole；The locking plate is horizontally arranged at the top of the second guide post, and described Two concave blocks are mounted on locking plate, and second sliding pin is mounted on the top of the second concave block；Is opened up on the locking plate Four pilot holes, first guide post pass through the 4th pilot hole, and first latch segment is located at the top of locking plate.

As described above, the left hand thread bar being linked together rotates simultaneously with right-handed thread bar, left hand thread bar driving First lifting chassis lifting, right-handed thread bar driving the second lifting chassis lifting, the lifting on the first lifting chassis is in the first guiding Carried out under the guiding of notch and guide rod, second lifting chassis lifting under the guiding of the second guiding slot port and guide rod into Row.

As the present invention to a kind of explanation of mechanical claw hand, the right-handed thread bar is located at the lower section of left hand thread bar, right The bottom end of rotation threaded rod is articulated on pedestal, and the top of left hand thread bar is articulated on supporting plate, the bottom installation of right-handed thread bar There is worm gear, worm gear is engaged with worm screw, and worm screw is horizontally disposed, and worm screw is articulated on pedestal, and worm screw couples with first servo motor, the One servo motor is mounted on the base.As described above, the rotation of left hand thread bar and right-handed thread bar is by first servo motor The worm and gear of driving drives, since worm and gear has good self-locking function, two pairs of cleft hands of the present invention exist Any position in space can be steadily rested in swing process.

Detailed description of the invention

Following further describes the present invention with reference to the drawings:

Fig. 1 is a kind of structural schematic diagram of suspension type surgical instrument of the present invention；

Fig. 2 is the combining structure schematic diagram of suspension body 10 and lifting body 20 in Fig. 1；

Fig. 3 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 2；

Fig. 4 is the structural schematic diagram of brake structure 70 in Fig. 3；

Fig. 5 is the combining structure schematic diagram of forearm 24 and swing arm 80 in Fig. 2；

Fig. 6 is the combining structure schematic diagram of rotating mechanism 30, spill spin block 300, mechanical claw hand a in Fig. 1；

Fig. 7 is the structural schematic diagram of rotating mechanism 30 in Fig. 6；

Fig. 8 is that rotating mechanism 30 conceals the structural schematic diagram after cover board 64 in Fig. 7；

Fig. 9 is that rotating mechanism 30 conceals the structural schematic diagram after cover board 64 and shell 64 in Fig. 7；

Figure 10 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 9；

Figure 11 is the structural schematic diagram that lock slide 623 is solved in Figure 10；

Figure 12 is the structural schematic diagram of brake(-holder) block 622 in Figure 10；

Figure 13 is the structural schematic diagram of driving assembly 63 in Fig. 9；

Figure 14 is enlarged drawing at A in Figure 13；

Figure 15 is the structural schematic diagram of Fig. 7 cover plate 64；

Figure 16 is the structural schematic diagram of mechanical claw hand a in Fig. 6；

Figure 17 is the structural schematic diagram of any cleft hand in first couple of cleft hand a51 in Figure 16；

Figure 18 is the structural schematic diagram of any cleft hand in second couple of cleft hand a52 in Figure 16；

Figure 19 is the structural schematic diagram of the first concave block a625 in Figure 16.

Symbol description in figure:

10, suspension body；11, the first upright guide rail；12, the second upright guide rail；13, the first upright slide block；130, the second system Movable plate；14, the second upright slide block；140, brake plate；

20, lifting body；21, the first cylinder；22, the second cylinder；23, curved linking arm；24, forearm；

30, rotating mechanism；300, spill spin block；

51, L shape linking arm；52, shell；

61, rotary components；611, rotating seat；612, brake disc；613, the 6th gear；614, locating rod；

62, latch components；621, basal disc；622, brake(-holder) block；6221, the first adjustable spring；6222, location hole；623, it solves Lock slide；624, bar is slided；625, support column；626, pillar；627, positioning pin；628, block is erect；6281, the second flexible bullet Spring；629, slide slot；6291, first straight line type slide slot；6292, second straight line type slide slot；

63, driving assembly；631, annulus；632, tooth section；633, push rod；634, slide bar；635, ring gear；636, the 7th tooth Wheel；637, convex block in radial direction；638, push rod pedestal；

64, cover board；641, circular orbit；642, arc track；

70, brake structure；701, supporting plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly； 741, brake support；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever；

80, swing arm；81, first gear；82, second gear；84, the 4th gear；85, the first synchronous pulley；86, third Axis；87, the second synchronous pulley；88, synchronous belt；89, rotating disk；

A, mechanical claw hand；A40, cleft hand rack；A41, cleft hand framework soleplate；A42, cleft hand rack support rod；A43, cleft hand Rack top plate；A44, integrated camera and lighting device；A50, two pairs of cleft hands；A51, first pair of cleft hand；A511, first slide Slot；A512, the first hinge hole；A52, second pair of cleft hand；A521, the second slide slot；A522, the second hinge hole；A60, cleft hand drive Motivation structure；A611, left hand thread bar；A612, right-handed thread bar；A613, guide rod；A614, pedestal；A615, supporting plate；a616, Worm gear；A617, worm screw；A618, first servo motor；A621, the first sliding pin；A622, the first lifting chassis；A623, first are led Xiang Zhu；A624, the first latch segment；A625, the first concave block；A626, the first guiding slot port；A632, the second lifting chassis； A633, the second guide post；A634, locking plate；A635, the second concave block；A636, the second guiding slot port.

Specific embodiment

Such as Fig. 1, a kind of suspension type surgical instrument including rack-mounted suspension body 10, is mounted on suspension body Lifting body 20, the rotating mechanism 30 for being mounted on swing arm front end, is mounted on rotating mechanism at the swing arm 80 being mounted on lifting body On spill spin block 300, be mounted on the mechanical claw hand a of spill spin block one end and be mounted on the surgical knife tool of the spill spin block other end；It is described Lifting body can make elevating movement, the rotating mechanism driving spill spin block rotation with respect to suspension body.

In conjunction with Fig. 2 to Fig. 4, the suspension body 10 is equipped with symmetrical first upright guide rail 11 and the second upright guide rail 12, the first upright guide rail is mounted on the first guide rail bracket, and the second upright guide rail is mounted on the second guide rail bracket, the first upright guide rail On be sliding combined with the first upright slide block 13, the second upright slide block 14, the suspension body are sliding combined on the second upright guide rail The first upright slide block of driving is equipped with along the first electric cylinders of the first upright guide rail vertical motion and the second upright slide block of driving along the Second electric cylinders of two upright guide rail vertical motions；The lifting body 20 is mounted on the first upright slide block and the second upright slide block.

The suspension body 10 be equipped with brake structure 70, brake structure include a pair of of the supporting plate 701 being fixed on suspension body, Brake rotary components 72, one end and the brake that the brake lever 71 that is articulated on a pair of of supporting plate, one end are fixedly connected with brake lever are revolved Turn the hinged brake connection component 73 of the component other end, the lever assembly 74 hinged with the brake connection component other end, lever group It is hinged on supporting plate in the middle part of part, the cross section of the brake lever is in regular hexagon；Second guide rail bracket is equipped with brake plate 140, brake plate is connect with the second guide rail bracket by spring, and brake plate is located at the side of the second upright slide block right side, the brake Vehicle bar is close to brake plate；Cylinder is hinged on the supporting plate, the piston rod and lever assembly of cylinder are hinged.In brake structure, institute State brake rotary components 72 include the brake rotating seat 721 being fixedly connected with brake lever 71, with brake rotating seat be fixedly connected Brake swingle 722；The brake connection component 73 includes the second brake connecting rod 732 hinged with brake swingle, with the The first brake connecting rod 731 that two brake connecting rods are fixedly connected；The lever assembly 74 includes cutting with scissors with first brake connecting rod The brake support 741 connect, the brake liner plate 742 being fixedly connected with brake support, the brake support are hinged on supporting plate 701.

The suspension body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on suspension body 10 A pair of second supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end be fixedly connected with the second brake lever second Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and the second brake connect The second hinged lever assembly of the connected components other end is hinged on the second supporting plate in the middle part of the second lever assembly, and described second stops The cross section of vehicle bar is in regular hexagon；First guide rail bracket is equipped with the second brake plate 130, the second brake plate and the first guide rail Frame is connected by second spring, and the second brake plate is located at the side of the first upright slide block left side, and second brake lever is close to Second brake plate.The suspension body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, is combined with thick stick on third sliding pin Bar 77 opens up the bar shaped sliding slot being slidably matched with third sliding pin, the left end of lever and the thick stick in brake structure 70 in the middle part of lever Bar assembly 74 is hinged, and the right end of lever and the second lever assembly in the second brake structure 700 are hinged.

In conjunction with Fig. 2, Fig. 5, the lifting body 20 includes that both ends are fixedly connected with the first upright slide block 13 and the second upright slide block 14 the first cylinder 21, be fixedly connected with the first cylinder and with the second cylinder 22 of the first column vertical, be fixed on the second cylinder On curved linking arm 23, the forearm 24 that is fixedly connected with curved linking arm, the swing arm 80 is mounted on the end of forearm.Institute It states forearm and is equipped with the first driving unit that driving swings arm swing, swing arm, which is equipped with, drives the second of rotating mechanism rotation to drive Moving cell；Central axis when the swing arm swing is in the rotation centerline of rotating mechanism.It opens the front end of the forearm 24 If a spill gap, the swing arm 80 is articulated in spill gap.First driving unit includes being mounted on forearm 24 First motor, couple first motor and swing arm the first gear unit；First gear unit includes being articulated in forearm Upper and coaxial arrangement second gear 82 and third gear, be articulated on forearm and the 4th gear 84 be coaxially disposed and first together Step belt wheel 85, the third axis 86 being articulated on forearm, the second synchronous pulley 87 being fixedly mounted on third axis；First electricity First gear 81 is installed on the output shaft of machine, first gear is engaged with second gear, and third gear is engaged with the 4th gear, the One synchronous pulley is coupled by synchronous belt 88 with the second synchronous pulley, and third axis is fixedly connected with swing arm.Second driving Unit includes the second motor, the second gear unit of installation on a swing arm；Second gear unit includes and the second motor The retarder of output shaft connection, the rotating disk 89 connecting with retarder output end, rotating mechanism 30 are installed on the rotating pan.

In conjunction with Fig. 6 to Figure 15, the rotating mechanism includes rotary components 61, latch components 62, driving assembly 63, cover board 64.The rotary components include rotating seat 611, the fixed brake disc 612 and the 6th gear 613 for being set in rotating seat periphery；Institute It states spill spin block and is fixedly connected with rotating seat.The latch components include being fixed at the intracorporal basal disc 621 of shell, being mounted on basal disc A pair of of brake(-holder) block 622, the solution lock slide 623 that is slidably arranged on basal disc；The pair of brake(-holder) block, which is symmetrical set, to be made The periphery of Moving plate, one end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection on basal disc, Solution lock slide is equipped with a pair and slides bar 624, and one end of a pair of of brake(-holder) block elastic connection opens up a pair of of slide slot 629, slide slot In bending, a pair of of slide slot is symmetrical set, and a pair slides bar and is slidably fitted in a pair of of slide slot.The driving component The center line of the annulus 631 rotated including being driven by driving device, annulus rotation deviates the center line of rotating seat rotation, annulus Inner sidewall be equipped with tooth section 632 and multiple push rods 633, tooth section fixed setting and push rod sliding setting, the 6th tooth of tooth Duan Keyu Wheel engagement.The cover board is fixed on shell, and cover board is equipped with circular orbit 641, the center line and annulus of circular orbit Center line be overlapped, the push rod is equipped with the slide bar 634 that cooperate with circular orbit, curved track of the circular orbit equipped with one section of indent Road 642；When slide bar is located in arc track, push rod pushes solution lock slide and a pair is made to slide bar translation, meanwhile, the 6th gear Start to engage with tooth section.

The rotating mechanism 30 includes the L shape linking arm 51 being mounted on swing arm 80, and the setting of shell 52 connects in L shape It connects on arm；The cover board 64 is sealed on shell, and the rotary components 61, latch components 62, driving assembly 63 are mounted on shell It is interior；In rotary components 61, the rotating seat 611 is articulated on basal disc 621, and rotating seat is equipped with a pair of of locating rod 614, the rotation Switch block 300 is fixedly connected with rotating seat by a pair of of locating rod.

Above-mentioned rotating mechanism 30, in latch components 62, the basal disc 621 is fixed in shell 52 by support column 625, institute It states support column and is located at the side in annulus 631 and being located at rotating seat 611.In latch components 62, the basal disc 621 is equipped with one Column 626, pillar are equipped with swivel pin；The pair of brake(-holder) block 622 includes positioned at first brake(-holder) block in left side and positioned at right side The left end of second brake(-holder) block, the left end of the first brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right end of the first brake(-holder) block Pass through 6221 elastic connection of the first adjustable spring with the right end of the second brake(-holder) block；The right end of first brake(-holder) block is equipped with the first top pillar, The right end of second brake(-holder) block is equipped with the second top pillar, and the first top pillar and the second top pillar are oppositely arranged, the first top pillar and the second top pillar position In in the first adjustable spring；First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block Surround brake disc 612.In latch components 62, the pair of slide slot 629 includes the first slide slot and the second slide slot, and first is sliding Row slot is provided with the right end of the first brake(-holder) block, and the second slide slot is provided with the right end of the second brake(-holder) block, the first slide slot and second Slide slot is symmetrical set, wherein the first slide slot includes the first straight line type slide slot 6291 and second straight line type of connection Slide slot 6292, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and 180 degree Between.In latch components 62, the solution lock slide 623 is equipped with a pair of of positioning pin 627, and the pair of positioning pin includes left and right pair Claim the first positioning pin and the second positioning pin of setting, the right end of first brake(-holder) block is equipped with first positioning hole 6222, the second system The right end of movable plate is equipped with second location hole, under the elastic force of the first adjustable spring 6221, when the first top pillar and the second top pillar offset When, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first positioning hole and second location hole It is interior；The pair of bar that slides includes first sliding bar and second and sliding bar, and first, which slides bar, is fixed at the first positioning pin Top, second slides the top that bar is fixed at the second positioning pin, and first slides in the center line of bar and the first positioning pin Heart line is vertical.In latch components 62, the basal disc 621, which is equipped with, erects block 628, erects block and is equipped with the second adjustable spring 6281, block, the other end connection solution lock slide 623 of the second adjustable spring are erect in one end connection of the second adjustable spring.

Above-mentioned rotating mechanism 30, in driving assembly 63, the annulus 631 is articulated in shell 52, the driving device packet The fixed ring gear 635 being set on annulus lateral wall, the 7th gear 636 engaged with ring gear are included, couples and pacifies with the 7th gear Mounted in the intracorporal third motor of shell.In driving assembly 63, the inner sidewall of the annulus is equipped with convex block 637 in radial direction, and diameter is inside Convex block is equipped with multiple push rod pedestals 638, and the quantity of push rod pedestal is identical to the quantity of push rod 633, and multiple push rods are with one-to-one Mode be slidably fitted in multiple push rod pedestals, the prominent push rod pedestal in the end of push rod and the center for being directed toward annulus.

In conjunction with Fig. 6, Figure 16 to Figure 19, the mechanical claw hand a includes cleft hand rack a40, two be hinged in cleft hand rack To cleft hand a50, it is mounted in cleft hand rack for driving the cleft hand driving mechanism a60 of two pairs of cleft hands movement.The cleft hand driving Mechanism includes support body, the first locking body, the second locking body；The left hand thread bar of head and the tail connection is equipped on the support body vertically A611 and right-handed thread bar a612, the power device for driving left hand thread bar and right-handed thread bar to rotate；First lock Tight body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, and support body is equipped with to the first locking body and the The guide rod a613 that the lifting of two locking bodies is oriented to.Two cleft hands in first couple of cleft hand a51 in two pairs of cleft hands It is symmetrical set, is symmetrical arranged before and after two cleft hands in second couple of cleft hand a52 in two pairs of cleft hands, in first pair of cleft hand The bottom of two cleft hands opens up the first slide slot a511 being obliquely installed, and the bottom of two cleft hands in second pair of cleft hand, which opens up, inclines The second slide slot a521 being tiltedly arranged, the top of first locking body are equipped with the first sliding pin being slidably matched with the first slide slot A621, the top of the second locking body are equipped with the second sliding pin being slidably matched with the second slide slot.

In mechanical claw hand a, the cleft hand rack a40 includes the cleft hand framework soleplate a41 for being mounted on spill spin block one end, vertical The cleft hand rack support rod a42 that is arranged on cleft hand framework soleplate, the cleft hand rack top for being fixed on cleft hand rack support bar top Plate a43；The cleft hand driving mechanism a60 is mounted on the lower section on cleft hand framework soleplate and being located at cleft hand rack top plate, the pawl Four hinge holes are opened up on handset mounting top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.It is described Cleft hand rack is equipped with integrated camera and lighting device a44, and the integrated camera and lighting device are located at two pairs of pawls Between hand.

In mechanical claw hand a, the support body includes pedestal a614, supporting plate a615；The pedestal is fixed at cleft hand machine On frame a40, the guide rod a613 is fixed on the base, and the supporting plate is horizontally fixed on the top of guide rod.First lock Tight body includes the first lifting chassis a622, the first guide post a623 of a pair, the first latch segment a624, the first concave block a625；Institute The first lifting chassis to be stated to be screwed on left hand thread bar a611, the first lifting chassis opens up the first guiding slot port a626, and described the One guiding slot port is slidably matched with guide rod；The pair of first guide post is vertically arranged on the first lifting chassis, the branch A pair of first pilot hole is opened up on plate, a pair of first guide post cooperates in a manner of one-to-one in a pair of first pilot hole, institute The top that the first latch segment is mounted on the first guide post is stated, first concave block is mounted on the top of the first latch segment, described First sliding pin a621 is mounted on the top of the first concave block.Second locking body is led including the second lifting chassis a632, second To column a633, locking plate a634, the second concave block a635；Second lifting chassis is screwed on right-handed thread bar a612, the Two lifting chassis open up the second guiding slot port a636, and second guiding slot port is slidably matched with guide rod；Second guiding Column is vertically arranged on the second lifting chassis, and the second lifting chassis is located at the lower section on the first lifting chassis；First lifting bottom Disk opens up the second pilot hole, opens up third pilot hole on the supporting plate, second guide post be upward through the second pilot hole and Third pilot hole；The locking plate is horizontally arranged at the top of the second guide post, and second concave block is mounted on locking plate, Second sliding pin is mounted on the top of the second concave block；The 4th pilot hole, first guide post are opened up on the locking plate Across the 4th pilot hole, first latch segment is located at the top of locking plate.

In mechanical claw hand a, the right-handed thread bar a612 is located at the lower section of left hand thread bar a611, the bottom of right-handed thread bar End is articulated on pedestal a614, and the top of left hand thread bar is articulated on supporting plate a615, and the power device includes being mounted on the right side The worm gear a616 for revolving threaded rod bottom, the worm screw a617 engaged with worm gear, the first servo motor a618 coupled with worm screw, worm screw Horizontally disposed, worm screw is articulated on pedestal, and first servo motor is mounted on the base.

In practical operation, a kind of workflow of suspension type surgical instrument of the present invention is as follows:

First, it is mobile that the suspension body 10 can make horizontal vertical and horizontal on the rack；Lifting body 20 can be with respect to suspension body 10 make elevating movement.After horizontal longitudinal direction, horizontal cross, lifting moving, surgical knife tool to sufferer is waited at dissection.

Second, surgical knife tool dissects sufferer.After the completion of dissection, rotating mechanism 30 drives spill spin block 300 accurately 180 degree are rotated, the mechanical claw hand a of 300 other end of spill spin block is located at dissection, and it is dirty to protrude into taking-up sufferer device at dissection Or other objects.

Third, the working principle that above-mentioned rotating mechanism 30 drives spill spin block 300 to rotate 180 degree every time are as follows: driving Device drives annulus 631 to rotate, and annulus drives push rod 633 thereon to rotate, and the slide bar 634 on push rod is in circular orbit 641 It is mobile.When one section of arc track 642 of the operation of slide bar 634 to circular orbit 641, slide bar drives push rod 633 to annulus 631 Center is mobile, and the end continuous action of multiple push rods pushes solution lock slide flat to the center of basal disc 621 on solution lock slide 623 It moves, a pair on solution lock slide slides bar and translates in a pair of of slide slot in a manner of one-to-one, since slide slot is in bending, Therefore, a pair of rectilinear translation, which slides bar, can drive one end of a pair of of brake(-holder) block elastic connection to be opened, in this way, rotating seat 611 by The initial state by a pair of of brake(-holder) block friction catch is changed into rotatable state.It is no longer made with a pair of of brake(-holder) block 622 Move rotating seat 611 synchronously, the tooth section 632 on 631 inner sidewall of annulus, i.e., one section of tooth on annulus inner sidewall, with the 6th gear 613 start to engage, and the 6th gear and the rotating seat 611 being firmly connected with it is driven to rotate, and rotating seat drives spill spin block 300 to revolve Turn；When rotating seat 611 rotates 180 degree, tooth section 632 is disengaged with the 6th gear 613, meanwhile, multiple push rods 633 All by one section of arc track 642 of circular orbit, in this way, solution lock slide 623 of the elastic connection on basal disc 621 resets, A pair slides bar 624 and resets therewith, and one end of a pair of of brake(-holder) block elastic connection resets, and a pair of of brake(-holder) block again brake by friction catch Disk 612, and then brake rotating seat 611.So far, spill spin block rotates 180 degree with the rotation of rotating seat 611.

The above content is only better embodiment of the invention, for those of ordinary skill in the art, according to the present invention Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair Bright limitation.

Claims (10)

1. a kind of suspension type surgical instrument, including rack-mounted suspension body (10), the lifting body that is mounted on suspension body (20), the swing arm (80) that is mounted on lifting body, is mounted on rotating mechanism at the rotating mechanism (30) for being mounted on swing arm front end On spill spin block (300), be mounted on and the mechanical claw hand (a) of spill spin block one end and be mounted on the surgical knife tool of the spill spin block other end； The lifting body can make elevating movement, the rotating mechanism driving spill spin block rotation with respect to suspension body；It is characterized by:

The rotating mechanism includes rotary components (61), latch components (62), driving assembly (63), cover board (64)；

The rotary components include rotating seat (611), the fixed brake disc (612) and the 6th gear for being set in rotating seat periphery (613)；The spill spin block is fixedly connected with rotating seat；

The latch components include a pair of of the brake(-holder) block for being fixed at the intracorporal basal disc of shell (621), being mounted on basal disc (622), the solution lock slide (623) being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the outer of brake disc It encloses, one end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection solves lock slide on basal disc It is equipped with a pair to slide bar (624), one end of a pair of of brake(-holder) block elastic connection opens up a pair of of slide slot (629), a pair of of slide slot It is all in bending, a pair of of slide slot is symmetrical set, and a pair slides bar and is slidably fitted in a pair of of slide slot；

The driving component includes the annulus (631) for being driven by driving device and being rotated, and the center line of annulus rotation deviates rotation The center line of seat rotation, the inner sidewall of annulus are equipped with tooth section (632) and multiple push rods (633), and tooth section is fixedly installed and push rod Sliding setting, the engagement of the 6th gear of tooth Duan Keyu；

The cover board is fixed on shell, and cover board is equipped with circular orbit (641), the center line of circular orbit and annulus Center line is overlapped, and the push rod is equipped with the slide bar (634) cooperated with circular orbit, and circular orbit is equipped with the curved track of one section of indent Road (642)；When slide bar is located in arc track, push rod pushes solution lock slide and a pair is made to slide bar translation, meanwhile, the 6th tooth Wheel starts to engage with tooth section.

2. a kind of suspension type surgical instrument as described in claim 1, it is characterised in that: the rotating mechanism (30) includes installation L shape linking arm (51) on swing arm (80), the shell (52) are arranged on L shape linking arm；Cover board (64) capping On shell, the rotary components (61), latch components (62), driving assembly (63) are mounted in shell；Rotary components (61) In, the rotating seat (611) is articulated on basal disc (621), and rotating seat is equipped with a pair of of locating rod (614), the spill spin block (300) rotating seat is fixedly connected with by a pair of locating rod.

3. a kind of suspension type surgical instrument as described in claim 1, it is characterised in that: in latch components (62), the basal disc (621) it is fixed in shell (52) by support column (625), the support column is located in annulus (631) and is located at rotating seat (611) side；

In latch components (62), the basal disc (621) is equipped with a pillar (626), and pillar is equipped with swivel pin；The pair of system Movable plate (622) includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the front end of the first brake(-holder) block and the The front end of two brake(-holder) blocks is hinged on swivel pin, and the rear end of the rear end of the first brake(-holder) block and the second brake(-holder) block passes through the first flexible bullet Spring elasticity (6221) elastic connection；The rear end of first brake(-holder) block is equipped with the first top pillar, and the rear end of the second brake(-holder) block is equipped with the second top Column, the first top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable spring；First system Movable plate and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (612)；

In latch components (62), the pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is opened It is located at the rear end of the first brake(-holder) block, the second slide slot is provided with the rear end of the second brake(-holder) block, the first slide slot and the second slide slot It is symmetrical set, wherein the first slide slot includes that the first straight line type slide slot (6291) of connection and second straight line type slide Slot (6292), angle circle between first straight line type slide slot and second straight line type slide slot in 90 degree and 180 degree it Between；

In latch components (62), the solution lock slide (623) is equipped with a pair of of positioning pin (627), and the pair of positioning pin includes The rear end of the first positioning pin and the second positioning pin being symmetrical set, first brake(-holder) block is equipped with first positioning hole (6222), the rear end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring (6221), when the first top pillar When offseting with the second top pillar, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into the first positioning In hole and second location hole；The pair of bar that slides includes first sliding bar and second and sliding bar, and first slides bar fixed setting In the top of the first positioning pin, second slides the top that bar is fixed at the second positioning pin, first slide the center line of bar with The central axis of first positioning pin；In latch components (62), the basal disc (621), which is equipped with, erects block (628), erects on block Equipped with the second adjustable spring (6281), block, the other end connection of the second adjustable spring are erect in one end connection of the second adjustable spring It solves lock slide (623).

4. a kind of suspension type surgical instrument as described in claim 1, it is characterised in that: in driving assembly (63), the annulus (631) it is articulated in shell (52), the driving device includes the fixed ring gear (635) and tooth being set on annulus lateral wall 7th gear (636) of ring engagement couples with the 7th gear and is mounted on the intracorporal third motor of shell；

In driving assembly (63), the inner sidewall of the annulus is equipped with convex block (637) in radial direction, and convex block is equipped with multiple in radial direction Push rod pedestal (638), the quantity of push rod pedestal are identical to the quantity of push rod (633), and multiple push rods slide in a manner of one-to-one Cooperation is in multiple push rod pedestals, the prominent push rod pedestal in the end of push rod and the center for being directed toward annulus.

5. a kind of suspension type surgical instrument as described in claim 1, it is characterised in that: the suspension body (10) is equipped with left and right Symmetrical first upright guide rail (11) and the second upright guide rail (12), the first upright guide rail are mounted on the first guide rail bracket, and second Upright guide rail is mounted on the second guide rail bracket, is sliding combined on the first upright guide rail the first upright slide block (13), and second is vertical It is sliding combined on guide rail the second upright slide block (14), the suspension body is equipped with the first upright slide block of driving and leads vertically along first First electric cylinders of rail vertical motion and the second upright slide block of driving are along the second electric cylinders of the second upright guide rail vertical motion；The liter Drop body (20) is mounted on the first upright slide block and the second upright slide block；

The suspension body (10) is equipped with first brake structure (70), and first brake structure includes a pair being fixed on suspension body First supporting plate (701), the first brake bar (71) being articulated on a pair of first supporting plate, one end are fixedly connected with first brake bar First brake rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end, Hinged the first lever assembly (74) with the first brake connection component other end is hinged on first in the middle part of the first lever assembly On plate, the cross section of the first brake bar is in regular hexagon；Second guide rail bracket is equipped with the first brake plate (140), the One brake plate is connect with the second guide rail bracket by the first spring, and the first brake plate is located at the side of the second upright slide block right side, The first brake bar is close to the first brake plate；Cylinder, the piston rod of cylinder and the first lever are hinged on first supporting plate Member hinges；

In first brake structure, the first brake rotary components (72) include the brake being fixedly connected with first brake bar (71) Rotating seat (721), the brake swingle (722) being fixedly connected with brake rotating seat；First brake connection component (73) packet The first brake company for including second brake connecting rod (732) hinged with brake swingle, being fixedly connected with the second brake connecting rod Extension bar (731)；First lever assembly (74) includes the brake support (741) hinged with first brake connecting rod and brake The brake liner plate (742) that support is fixedly connected, the brake support are hinged on the first supporting plate (701).

6. a kind of suspension type surgical instrument as claimed in claim 5, it is characterised in that: the suspension body (10) is equipped with second Brake structure (700), the second brake structure include the second supporting plate of a pair being fixed on suspension body (10), are articulated in a pair second The second brake rotary components, one end and the second brake that the second brake lever, one end on supporting plate are fixedly connected with the second brake lever The second hinged brake connection component of the rotary components other end, the second lever group hinged with the second brake connection component other end Part is hinged on the second supporting plate in the middle part of the second lever assembly, and the cross section of second brake lever is in regular hexagon；Described One guide rail bracket is equipped with the second brake plate (130), and the second brake plate is connect with the first guide rail bracket by second spring, the second braking Plate is located at the side of the first upright slide block left side, and second brake lever is close to the second brake plate；

The suspension body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), is combined with lever on third sliding pin (77), the bar shaped sliding slot being slidably matched with third sliding pin is opened up in the middle part of lever, in the left end and brake structure (70) of lever Hingedly, the right end of lever and the second lever assembly in the second brake structure (700) are hinged for lever assembly (74).

7. a kind of suspension type surgical instrument as claimed in claim 5, it is characterised in that: the lifting body (20) includes that both ends are solid Surely connect the first cylinder (21) of the first upright slide block (13) and the second upright slide block (14), be fixedly connected with the first cylinder and with The second cylinder (22) of first column vertical, the curved linking arm (23) being fixed on the second cylinder are fixed with curved linking arm The forearm (24) of connection, the swing arm (80) are mounted on the end of forearm；

The forearm is equipped with the first driving unit that driving swings arm swing, and swing arm is equipped with driving rotating mechanism rotation Second driving unit；Central axis when the swing arm swing is in the rotation centerline of rotating mechanism；

The front end of the forearm (24) opens up a spill gap, and the swing arm (80) is articulated in spill gap；

First driving unit includes the first of the first motor being mounted on forearm (24), connection first motor and swing arm Gear unit；First gear unit include be articulated on forearm and be coaxially disposed second gear (82) and third gear, It is articulated in the 4th gear (84) and the first synchronous pulley (85) that on forearm and are coaxially disposed, the third axis being articulated on forearm (86), the second synchronous pulley (87) being fixedly mounted on third axis；First tooth is installed on the output shaft of the first motor It takes turns (81), first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through synchronous belt (88) couple with the second synchronous pulley, third axis is fixedly connected with swing arm；

Second driving unit includes the second motor, the second gear unit of installation on a swing arm；Second transmission is single Member includes and the retarder of the second motor output shaft connection, the rotating disk (89) that connect with retarder output end rotating mechanism (30) it installs on the rotating pan.

8. a kind of suspension type surgical instrument as described in claim 1, it is characterised in that: the mechanical claw hand (a) includes cleft hand Rack (a40), two pairs of cleft hands (a50) being hinged in cleft hand rack are mounted in cleft hand rack for driving two pairs of cleft hands dynamic The cleft hand driving mechanism (a60) of work；

The cleft hand driving mechanism includes support body, the first locking body, the second locking body；Head and the tail are equipped on the support body vertically The left hand thread bar (a611) and right-handed thread bar (a612) of connection, for driving left hand thread bar and right-handed thread bar to rotate Power device；First locking body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, sets on support body There is the guide rod (a613) that the lifting to the first locking body and the second locking body is oriented to；

Two cleft hands in first pair of cleft hand (a51) in two pairs of cleft hands are symmetrical set, second in two pairs of cleft hands To being symmetrical arranged before and after two cleft hands in cleft hand (a52), the bottom of two cleft hands in first pair of cleft hand, which opens up, to be obliquely installed The first slide slot (a511), the bottom of two cleft hands in second pair of cleft hand opens up the second slide slot being obliquely installed (a521), the top of first locking body is equipped with the first sliding pin (a621) being slidably matched with the first slide slot, the second locking The top of body is equipped with the second sliding pin being slidably matched with the second slide slot.

9. a kind of suspension type surgical instrument as claimed in claim 8, it is characterised in that: in mechanical claw hand (a), the cleft hand machine Frame (a40) includes that be mounted on spill spin block one end cleft hand framework soleplate (a41), the cleft hand that is vertically arranged on cleft hand framework soleplate Rack support rod (a42), the cleft hand rack top plate (a43) for being fixed on cleft hand rack support bar top；The cleft hand driving mechanism (a60) it is mounted on cleft hand framework soleplate and is located at the lower section of cleft hand rack top plate, opens up four on the cleft hand rack top plate Hinge hole, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；

The cleft hand rack is equipped with integrated camera and lighting device (a44), the integrated camera and lighting device Between two pairs of cleft hands.

10. a kind of suspension type surgical instrument as claimed in claim 8, it is characterised in that: in mechanical claw hand (a), the bracket Body includes pedestal (a614), supporting plate (a615)；The pedestal is fixed on cleft hand rack (a40), the guide rod (a613) it is fixed on the base, the supporting plate is horizontally fixed on the top of guide rod；

First locking body includes the first lifting chassis (a622), a pair of first guide post (a623), the first latch segment (a624), the first concave block (a625)；First lifting chassis is screwed on left hand thread bar (a611), the first lifting chassis It opens up the first guiding slot port (a626), first guiding slot port is slidably matched with guide rod；The pair of first guide post is perpendicular Straight setting opens up a pair of first pilot hole, a pair of first guide post is with one-to-one on the first lifting chassis on the supporting plate Mode cooperates in a pair of first pilot hole, and first latch segment is mounted on the top of the first guide post, first spill Block is mounted on the top of the first latch segment, and first sliding pin (a621) is mounted on the top of the first concave block；

Second locking body includes the second lifting chassis (a632), the second guide post (a633), locking plate (a634), second recessed Shape block (a635)；Second lifting chassis is screwed on right-handed thread bar (a612), and the second lifting chassis opens up the second guiding Notch (a636), second guiding slot port are slidably matched with guide rod；Second guide post is vertically arranged in the second lifting On chassis, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, described Third pilot hole is opened up on supporting plate, second guide post is upward through the second pilot hole and third pilot hole；The locking plate It is horizontally arranged at the top of the second guide post, second concave block is mounted on locking plate, and second sliding pin is mounted on The top of two concave blocks；Opening up the 4th pilot hole on the locking plate, first guide post passes through the 4th pilot hole, and described the One latch segment is located at the top of locking plate；

In mechanical claw hand (a), the right-handed thread bar (a612) is located at the lower section of left hand thread bar (a611), right-handed thread bar Bottom end is articulated on pedestal (a614), and the top of left hand thread bar is articulated on supporting plate (a615), and the power device includes peace Mounted in right-handed thread bar bottom worm gear (a616), engaged with worm gear worm screw (a617), couple with worm screw the first servo electricity Machine (a618), worm screw is horizontally disposed, and worm screw is articulated on pedestal, and first servo motor is mounted on the base.