CN107260310B - Surgical instrument of surgical robot and surgical robot - Google Patents
Surgical instrument of surgical robot and surgical robot Download PDFInfo
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- CN107260310B CN107260310B CN201710645934.4A CN201710645934A CN107260310B CN 107260310 B CN107260310 B CN 107260310B CN 201710645934 A CN201710645934 A CN 201710645934A CN 107260310 B CN107260310 B CN 107260310B
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- transmission
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- driving
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
Abstract
The present invention provides a surgical instrument of a surgical robot and the surgical robot, wherein the surgical instrument of the surgical robot comprises: a first bracket; the transmission assembly is arranged on the first bracket and comprises a transmission magnetic part; the operation executing part is connected with the transmission component; the first bracket is detachably connected with the second bracket; the driving assembly is arranged on the second bracket and comprises a driving magnetic part, and the driving magnetic part is matched with the transmission magnetic part; when the first support is connected with the second support, the transmission magnetic part is connected with the driving magnetic part through magnetic force, and the driving assembly drives the driven assembly to move so as to move the operation executing part. The surgical instrument of the surgical robot provided by the invention realizes the motion control of the surgical execution part, so that the surgical execution part can adjust the position or angle of the surgical execution part according to the actual requirement, the flexibility of the device is improved, and the surgical operation or treatment is more convenient.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a surgical instrument of a surgical robot and the surgical robot.
Background
At present, robot-assisted minimally invasive surgery gradually becomes a development trend of minimally invasive surgery, in the related art, due to the characteristics of the minimally invasive surgery, the movement space of a robot is greatly limited, so that the robot cannot move freely, and due to the complex structure and large volume of a surgical instrument of the surgical robot, the movement space of the robot is further compressed. Therefore, how to design a surgical robot which can be flexibly assembled, disassembled and moved in a limited space becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve at least one of the above technical problems, an embodiment of a first aspect of the present invention proposes a surgical instrument of a surgical robot.
In a second aspect of the embodiment of the invention, a surgical robot is also provided.
In view of the above, according to an embodiment of the first aspect of the present invention, the present invention provides a surgical instrument of a surgical robot, for a minimally invasive surgical robot, comprising: a first bracket; the transmission assembly is arranged on the first bracket and comprises a transmission magnetic part; the operation executing part is connected with the transmission component; the first bracket is detachably connected with the second bracket; the driving assembly is arranged on the second bracket and comprises a driving magnetic part, and the driving magnetic part is matched with the transmission magnetic part; when the first support is connected with the second support, the transmission magnetic part is connected with the driving magnetic part through magnetic force, and the driving assembly drives the driven assembly to move so as to move the operation executing part.
According to the surgical instrument of the surgical robot, the transmission magnetic part and the driving magnetic part are connected through the magnetic force between the transmission magnetic part and the driving magnetic part, and the first support and the second support are further connected, so that the driving assembly can drive the driven assembly to move to enable the surgical execution part to move, the movement control of the surgical execution part is realized, the position or the angle of the surgical execution part can be adjusted according to actual requirements, the flexibility of the device is improved, the operation or treatment is facilitated, meanwhile, when the driving assembly or the driven assembly is overloaded, the transmission magnetic part and the driving magnetic part which are connected through magnetism can slide relatively, the current overload in the system or overlarge driving force on the transmission assembly is avoided, and therefore the safety of the device is also improved; moreover, first support and second support are detachable connection, just so can set up different operation execution portions respectively on the first support of difference, and only need to change different first supports and can realize when needs change operation execution portion, have improved the efficiency of device assembly, are convenient for change operation execution portion, have promoted surgical robot's surgical instruments to medical convenience and functional.
In addition, the surgical instrument of the surgical robot in the above embodiment provided by the present invention may further have the following additional technical features:
in the above technical solution, preferably, one of the transmission magnetic member and the driving magnetic member is provided with a groove, and the other is provided with a protrusion, and the protrusion is adapted to the groove.
In this technical scheme, one of transmission magnetic part and the drive magnetic part is provided with the recess, and another is provided with the arch, and recess and arch can cooperate when both connect, and then promote the efficiency of power transmission between the two, can also avoid taking place relative displacement between the two simultaneously, improve the precision of drive assembly control transmission subassembly and operation execution portion, and then the holistic control accuracy of hoisting device, further promote the functional of surgical instruments of surgical robot.
In any of the above technical solutions, preferably, the protrusion is provided with a guide slope.
In this technical scheme, through be provided with the direction inclined plane on protruding for during the protruding gets into the recess more easily, with this efficiency that promotes transmission magnetic part and drive magnetic part and connect, and then the efficiency of assembly between first support and the second support in the hoisting device.
In any of the above technical solutions, preferably, the depth of the groove is greater than or equal to the height of the protrusion.
In the technical scheme, the depth of the groove is larger than or equal to the height of the protrusion, so that the contact area between the protrusion and the groove is as large as possible, the transmission stability is improved, and the protrusion is prevented from being separated from the groove.
In any of the above technical solutions, preferably, the driving magnetic member is provided with a fitting groove, and the fitting groove is adapted to the transmission magnetic member; wherein, when the transmission magnetic part is connected with the driving magnetic part, the transmission magnetic part is inserted into the matching groove.
In this technical scheme, when transmission magnetic part is connected with drive magnetic part, transmission magnetic part inserts the cooperation groove in order to realize the cooperation between the two, such structure can make transmission magnetic part and drive magnetic part contact more fully, also can promote intensity and the area of contact of connecting between the two simultaneously, avoids in the course of the work both to break away from and lead to the device to become invalid.
In any of the above technical solutions, preferably, the driving assembly includes: the motor is provided with an output shaft; the assembly rod is of a hollow structure, an opening is formed in one end of the assembly rod and sleeved on the output shaft, and the driving magnetic part is movably sleeved at the other end of the assembly rod; the clamping hoop is clamped at one end of the assembling rod to clamp the assembling rod on the output shaft; and the elastic piece is sleeved on the assembling rod and clamped between the driving magnetic piece and the clamping hoop.
In this technical scheme, the movable cover of drive magnetism spare is established on the assembly pole, the elastic component has certain elasticity to drive magnetism spare simultaneously, when drive magnetism spare and transmission magnetism spare be assembled between/be connected, drive magnetism spare self has certain displacement space, and then equivalent to realize the flexible coupling of drive magnetism spare and transmission magnetism spare, make the whole of drive magnetism spare and device have shock resistance, guarantee that drive magnetism spare and transmission magnetism spare also can be stably connected when taking place to vibrate, guarantee the transmission of power, and then promoted the stability and the reliability of device.
In any of the above solutions, preferably, the elastic member is a spring.
In this technical scheme, the elastic component is the spring, and spring self has certain elasticity in order to promote drive magnetic part to the limiting position under natural state, also can play the effect of buffering at the in-process of the connection assembly of first support and second support, realizes the flexible coupling.
In any of the above technical solutions, preferably, the transmission assembly includes: the operation executing part is connected with the first transmission rod, and a first gear is arranged on the first transmission rod; the connecting rod is provided with a second gear which is meshed with the first gear, the transmission magnetic part comprises a first transmission magnetic part, and the first transmission magnetic part is arranged at one end of the connecting rod; the driving component drives the first transmission magnetic part to rotate so as to enable the second gear to rotate, and the second gear drives the first gear to rotate so as to enable the first transmission rod and the operation execution part to rotate.
In this technical scheme, through setting up first transfer line, first gear, connecting rod and second gear, realize drive assembly drive operation execution portion pivoted function, realized operation execution portion one degree of freedom in the direction of rotation from this for operation execution portion can be rotatory to the assigned position in order to develop the treatment according to actual demand, has made things convenient for user's use and to patient's treatment, has promoted the functional and maneuverability of whole device.
In any of the above technical solutions, preferably, the transmission assembly further includes: the second transmission rod is arranged in the first transmission rod, and the operation execution part is connected with the second transmission rod; the second transmission rod is connected with the first sliding block; the first slide block is sleeved on the first screw rod, the transmission magnetic part further comprises a second transmission magnetic part, and the second transmission magnetic part is arranged at one end of the first screw rod; the driving assembly drives the second transmission magnetic part to rotate so as to enable the first screw rod to rotate, the first sliding block is further enabled to move along the axial direction of the first screw rod, and the first sliding block drives the second transmission rod to move so as to enable the operation execution part to rotate around a rotating shaft of the operation execution part.
In the technical scheme, the rotation of the driving assembly is converted into the axial movement of the second transmission rod through the arranged first screw rod and the first slide block, so that the operation execution part is controlled to rotate around the rotation shaft of the operation execution part, one degree of freedom of the operation execution part in the rotation direction is realized, the rotation is similar to the rotation of a wrist joint of a human body, and the operability of a surgical instrument and the operation execution part of the surgical robot is further improved, so that the operation execution part can rotate to a specified position or a specified angle according to actual requirements to carry out treatment, the use of a user and the treatment of a patient are further facilitated, and the functionality and the operability of the whole device are improved; meanwhile, the second transmission rod is arranged inside the first transmission rod, so that the whole structure of the device is more compact, the space occupied by the device is saved, and the miniaturization design of the device is facilitated.
In any of the above technical solutions, preferably, the transmission assembly further includes: the third transmission rod is arranged in the second transmission rod, and the operation execution part is connected with the third transmission rod; the third transmission rod is connected with the second sliding block; the second slide block is sleeved on the second screw rod, the transmission magnetic part further comprises a third transmission magnetic part, and the third transmission magnetic part is arranged at one end of the second screw rod; the operation executing part is an opening and closing instrument, the driving assembly drives the third transmission magnetic part to rotate so as to enable the second screw rod to rotate, the second sliding block further enables the second sliding block to move along the axial direction of the second screw rod, and the second sliding block drives the third transmission rod to move so as to enable the operation executing part to be opened or closed.
In the technical scheme, the rotation of the driving assembly is converted into the axial movement of the third transmission rod through the second screw rod and the second sliding block, so that the opening and closing functions of the operation executing part are controlled, the operability of a surgical instrument and the operation executing part of the surgical robot is further improved, the operation executing part can be opened or closed according to actual requirements, the use of a user and the treatment of a patient are further facilitated, and the functionality and the operability of the whole device are improved; meanwhile, the third transmission rod is arranged inside the second transmission rod, so that the whole structure of the device is more compact, the space occupied by the device is saved, and the miniaturization design of the device is facilitated.
In any of the above technical solutions, preferably, the surgical implement includes scissors, a bipolar grasper, a non-invasive single-hole grasper, a non-invasive double-hole grasper, an electrical hook, an ultrasonic blade, or a needle holder; wherein, the scissors, the bipolar nipper, the non-invasive single-hole nipper and the non-invasive double-hole nipper are open and close instruments.
In the technical scheme, the control function of the operation execution part can be realized through the structure, so that the smooth operation is ensured, meanwhile, the functionality of the surgical instrument of the surgical robot is also expanded, and the convenience and the functionality of the surgical instrument of the surgical robot to medical treatment are improved; in addition, the bipolar graspers and the like are open-close instruments, and can be further controlled to open or close according to instructions and actual requirements so as to perform operations or treatments.
Embodiments of the second aspect of the invention also provide a surgical robot comprising: the surgical instrument of the surgical robot.
According to the surgical robot provided by the invention, by adopting the surgical instrument of the surgical robot, on one hand, the position or the angle of the surgical executing part can be adjusted according to actual requirements, the flexibility of the device is improved, and surgery or treatment is more convenient, on the other hand, the function of quickly replacing the surgical executing part is realized by arranging different surgical executing parts on different first supports, and the convenience and the functionality of the surgical robot are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is an enlarged partial schematic view of portion A of the structure of FIG. 1;
FIG. 3 is an enlarged partial schematic view of portion B of the structure of FIG. 1;
FIG. 4 is a cross-sectional view of the structure shown in FIG. 1;
FIG. 5 is an enlarged partial view of portion C of the structure of FIG. 4;
fig. 6 is a partially enlarged schematic view of a portion D in the structure shown in fig. 4.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:
1 surgical robot, 12 a first bracket, 14 a transmission assembly, 142 a surgical implement, 1422 a rotation shaft, 144 a transmission magnetic member, 1442 a first transmission magnetic member, 1444 a second transmission magnetic member, 1446 a third transmission magnetic member, 146 a first transmission rod, 1462 a first gear, 148 a connecting rod, 1482 a second gear, 150 a second transmission rod, 152 a first slider, 154 a first lead screw, 156 a third transmission rod, 158 a second slider, 159 a second lead screw, 16 a second bracket, 18 a driving assembly, 182 a driving magnetic member, 184 a motor, 186 an assembling rod, 188 a clamp hoop, 190 an elastic member.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Surgical instruments and surgical robots of the surgical robot according to some embodiments of the present invention are described below with reference to fig. 1 to 6.
As shown in fig. 1 to 6, the present invention provides a surgical instrument 1 of a surgical robot for minimally invasive surgery, including: a first support 12; the transmission assembly 14 is arranged on the first bracket 12, and the transmission assembly 14 comprises a transmission magnetic piece 144; a surgical executing part 142, wherein the surgical executing part 142 is connected with the transmission assembly 14; a second bracket 16, the first bracket 12 being detachably connected to the second bracket 16; the driving assembly 18 is arranged on the second bracket 16, the driving assembly 18 comprises a driving magnetic piece 182, and the driving magnetic piece 182 is matched with the transmission magnetic piece 144; wherein the transmission magnetic member 144 is magnetically connected to the driving magnetic member 182 when the first frame 12 is connected to the second frame 16, and the driving assembly 18 moves to move the operation performing part 142 by driving the driven assembly.
The surgical instrument 1 of the surgical robot provided by the invention has the advantages that the transmission magnetic part 144 and the driving magnetic part 182 are connected through magnetic force between the two parts, and further the first support 12 and the second support 16 are connected, so that the driving component 18 can drive the driven component to move to drive the surgical execution part 142, the motion control of the surgical execution part 142 is realized, the surgical execution part 142 can adjust the position or the angle of the surgical execution part according to actual requirements, the flexibility of the device is improved, the operation or treatment is more convenient, meanwhile, when the driving component 18 or the driven component is overloaded, the transmission magnetic part 144 and the driving magnetic part 182 which are magnetically connected can slide relatively, the current overload in the system or overlarge driving force on the transmission component 14 is avoided, and the safety of the device is improved; furthermore, first support 12 is connected with second support 16 for detachable, just so can set up different operation execution portion 142 respectively on different first support 12, and only need change different first support 12 when needing to change operation execution portion 142 and can realize, has improved the efficiency of device assembly, is convenient for change operation execution portion 142, has promoted surgical robot's surgical instruments 1 convenience and functionality to medical treatment.
In one embodiment of the present invention, it is preferable that one of the transmission magnetic member 144 and the driving magnetic member 182 is provided with a groove, and the other is provided with a protrusion, which is fitted with the groove.
In this embodiment, one of the transmission magnetic member 144 and the driving magnetic member 182 is provided with a groove, and the other is provided with a protrusion, so that the groove and the protrusion can be matched with each other when the two are connected, thereby improving the efficiency of power transmission between the two, and simultaneously avoiding relative displacement between the two, improving the precision of the driving assembly 18 for controlling the transmission assembly 14 and the operation executing part 142, further improving the control precision of the whole device, and further improving the functionality of the surgical instrument 1 of the surgical robot.
In one embodiment of the present invention, preferably, the projection is provided with a guide slope.
In this embodiment, the guide slope is provided on the protrusion, so that the protrusion can more easily enter the groove, thereby improving the efficiency of the connection between the transmission magnetic member 144 and the driving magnetic member 182, and further improving the efficiency of the assembly between the first bracket 12 and the second bracket 16 in the device.
In one embodiment of the present invention, preferably, the depth of the groove is equal to or greater than the height of the protrusion.
In this embodiment, the depth of the groove is greater than or equal to the height of the protrusion, so that a contact area between the protrusion and the groove is as large as possible, thereby improving the stability of transmission and preventing the protrusion from falling out of the groove.
In one embodiment of the present invention, it is preferable that the driving magnetic member 182 is provided with a fitting groove adapted to the transmission magnetic member 144; wherein the transmission magnetic member 144 is inserted into the fitting groove when the transmission magnetic member 144 is coupled with the driving magnetic member 182.
In this embodiment, when the transmission magnetic member 144 is connected to the driving magnetic member 182, the transmission magnetic member 144 is inserted into the fitting groove to achieve fitting therebetween, such a structure enables the transmission magnetic member 144 to be in contact with the driving magnetic member 182 more fully, and simultaneously can improve the strength and contact area of the connection therebetween, thereby preventing the device from failing due to disengagement therebetween during operation.
In one embodiment of the present invention, preferably, as shown in fig. 1, 2 and 5, the driving assembly 18 includes: the motor 184, the motor 184 has output shafts; the assembly rod 186 is of a hollow structure, one end of the assembly rod 186 is provided with an opening and sleeved on the output shaft, and the driving magnetic part 182 is movably sleeved on the other end of the assembly rod 186; a clampband 188, the clampband 188 being clamped at one end of the fitting rod 186 to clamp the fitting rod 186 to the output shaft; and the elastic piece 190 is sleeved on the assembling rod 186 and clamped between the driving magnetic piece 182 and the clamping hoop 188.
In this embodiment, the driving magnetic member 182 is movably sleeved on the assembling rod 186, and meanwhile, the elastic member 190 has a certain elastic force for the driving magnetic member 182, so that when the driving magnetic member 182 is assembled and connected with the transmission magnetic member 144, the driving magnetic member 182 has a certain displacement space, which is equivalent to realizing the flexible connection between the driving magnetic member 182 and the transmission magnetic member 144, so that the driving magnetic member 182 and the device have shock resistance as a whole, and the driving magnetic member 182 and the transmission magnetic member 144 can also be stably connected when vibration occurs, thereby ensuring the transmission of power, and further improving the stability and reliability of the device.
In one embodiment of the present invention, preferably, the elastic member 190 is a spring.
In this embodiment, the elastic member 190 is a spring, and the spring has a certain elastic force to push the driving magnetic member 182 to the limit position in a natural state, and can also play a role of buffering in the process of connecting and assembling the first bracket 12 and the second bracket 16, so as to achieve a soft connection.
In one embodiment of the present invention, preferably, as shown in fig. 2 and 5, the transmission assembly 14 includes: a first transmission rod 146, the operation executing part 142 is connected with the first transmission rod 146, and a first gear 1462 is arranged on the first transmission rod 146; a connecting rod 148, wherein a second gear 1482 is arranged on the connecting rod 148, the second gear 1482 is meshed with the first gear 1462, the transmission magnetic member 144 comprises a first transmission magnetic member 1442, and the first transmission magnetic member 1442 is arranged at one end of the connecting rod 148; the driving assembly 18 drives the first transmission magnetic member 1442 to rotate so as to rotate the second gear 1482, and the second gear 1482 drives the first gear 1462 to rotate so as to rotate the first transmission rod 146 and the surgical operation executing part 142.
In this embodiment, by providing the first transmission rod 146, the first gear 1462, the connecting rod 148 and the second gear 1482, the function of the driving assembly 18 to drive the operation executing part 142 to rotate is achieved, thereby achieving a degree of freedom of the operation executing part 142 in the rotating direction, enabling the operation executing part 142 to rotate to a designated position according to actual requirements to perform treatment, facilitating the use of a user and the treatment of a patient, and improving the functionality and operability of the whole device.
In one embodiment of the present invention, preferably, as shown in fig. 2 and 5, the transmission assembly 14 further includes: a second transmission rod 150, wherein the second transmission rod 150 is arranged in the first transmission rod 146, and the operation executing part 142 is connected with the second transmission rod 150; the first sliding block 152, the second transmission rod 150 and the first sliding block 152 are connected; the first screw 154, the first slider 152 is sleeved on the first screw 154, the transmission magnetic member 144 further includes a second transmission magnetic member 1444, and the second transmission magnetic member 1444 is disposed at one end of the first screw 154; the driving assembly 18 drives the second transmission magnetic member 1444 to rotate so as to rotate the first lead screw 154, so that the first sliding block 152 moves along the axial direction of the first lead screw 154, and the first sliding block 152 drives the second transmission rod 150 to move so as to rotate the operation performing portion 142 around the rotation axis 1422 of the operation performing portion 142.
In this embodiment, the first lead screw 154 and the first slide block 152 are arranged to convert the rotation of the driving assembly 18 into the axial movement of the second transmission rod 150, so as to control the operation executing part 142 to rotate around the rotation shaft 1422 thereof, thereby realizing one degree of freedom of the operation executing part 142 in the rotation direction, which is similar to the rotation of the wrist joint of the human body, thereby further improving the operability of the operation instrument 1 and the operation executing part 142 of the operation robot, so that the operation executing part 142 can rotate to a specified position or a specified angle according to the actual requirement to perform treatment, further facilitating the use of the user and the treatment of the patient, and improving the functionality and operability of the whole device; meanwhile, the second transmission rod 150 is arranged inside the first transmission rod 146, so that the whole structure of the device is more compact, the space occupied by the device is saved, and the miniaturization design of the device is facilitated.
In one embodiment of the present invention, preferably, as shown in fig. 5, the transmission assembly 14 further includes: a third transmission rod 156, the third transmission rod 156 is arranged in the second transmission rod 150, and the operation executing part 142 is connected with the third transmission rod 156; the second sliding block 158, the third transmission rod 156 and the second sliding block 158 are connected; the second screw 159, the second slider 158 is sleeved on the second screw 159, the transmission magnetic member 144 further includes a third transmission magnetic member 1446, and the third transmission magnetic member 1446 is disposed at one end of the second screw 159; the operation executing portion 142 is an opening and closing device, the driving assembly 18 drives the third transmission magnetic member 1446 to rotate so as to rotate the second lead screw 159, so that the second slider 158 moves along the axial direction of the second lead screw 159, and the second slider 158 drives the third transmission rod 156 to move so as to open or close the operation executing portion 142.
In this embodiment, the second lead screw 159 and the second slider 158 are arranged to convert the rotation of the driving assembly 18 into the axial movement of the third transmission rod 156, so as to control the opening and closing functions of the surgical executing part 142, thereby further improving the operability of the surgical instrument 1 and the surgical executing part 142 of the surgical robot, enabling the surgical executing part 142 to be opened or closed according to the actual requirement, further facilitating the use of the user and the treatment of the patient, and improving the functionality and operability of the whole device; meanwhile, the third transmission rod 156 is arranged inside the second transmission rod 150, so that the whole structure of the device is more compact, the space occupied by the device is saved, and the miniaturization design of the device is facilitated.
In one embodiment of the present invention, the surgical implement 142 preferably comprises scissors, bipolar graspers, non-invasive single-hole graspers, non-invasive double-hole graspers, electrical hooks, ultrasonic blades, or needle holders; wherein, the scissors, the bipolar nipper, the non-invasive single-hole nipper and the non-invasive double-hole nipper are open and close instruments.
In this embodiment, the control function of the surgical executing part 142 can be realized by the above structure to ensure the smooth operation, and at the same time, the functionality of the surgical instrument 1 of the surgical robot is expanded, so that the convenience and functionality of the surgical instrument 1 of the surgical robot for medical treatment are improved; in addition, the bipolar graspers and the like are open-close instruments, and can be further controlled to open or close according to instructions and actual requirements so as to perform operations or treatments.
The present invention also provides a surgical robot comprising: the surgical instrument 1 of the surgical robot described above.
According to the surgical robot provided by the invention, by adopting the surgical instrument 1 of the surgical robot, on one hand, the surgical executing part 142 can be adjusted in position or angle according to actual requirements, the flexibility of the device is improved, and surgery or treatment is more convenient, on the other hand, different surgical executing parts 142 are arranged on different first supports 12 to realize the function of quickly replacing the surgical executing part 142, and the convenience and functionality of the surgical robot in use are improved.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A surgical instrument of a surgical robot for a surgical robot, comprising:
a first bracket;
the transmission assembly is arranged on the first bracket and comprises a transmission magnetic part;
the operation execution part is connected with the transmission component;
a second bracket, the first bracket being detachably connected with the second bracket;
the driving assembly is arranged on the second bracket and comprises a driving magnetic part, and the driving magnetic part is matched with the transmission magnetic part;
when the first bracket is connected with the second bracket, the transmission magnetic part is connected with the driving magnetic part through magnetic force, and the driving assembly moves through driving the driven assembly to move the operation executing part;
the transmission assembly includes:
the first transmission rod is connected with the operation execution part;
the second transmission rod is arranged in the first transmission rod, and the operation executing part is connected with the second transmission rod;
the second transmission rod is connected with the first sliding block;
the first sliding block is sleeved on the first screw rod, the transmission magnetic part further comprises a second transmission magnetic part, and the second transmission magnetic part is arranged at one end of the first screw rod;
the driving assembly drives the second transmission magnetic part to rotate so as to enable the first screw rod to rotate, and further enable the first sliding block to move along the axial direction of the first screw rod, and the first sliding block drives the second transmission rod to move so as to enable the operation execution part to rotate around the rotating shaft of the operation execution part.
2. A surgical instrument of a surgical robot according to claim 1,
one of the transmission magnetic part and the driving magnetic part is provided with a groove, and the other one of the transmission magnetic part and the driving magnetic part is provided with a bulge, wherein the bulge is matched with the groove.
3. A surgical instrument of a surgical robot according to claim 2,
the protrusion is provided with a guide inclined plane.
4. A surgical instrument of a surgical robot according to claim 2,
the depth of the groove is greater than or equal to the height of the protrusion.
5. A surgical instrument of a surgical robot according to claim 1,
the driving magnetic part is provided with a matching groove, and the matching groove is matched with the transmission magnetic part;
wherein the transmission magnetic member is inserted into the fitting groove when the transmission magnetic member is connected with the driving magnetic member.
6. A surgical instrument of a surgical robot according to any of claims 1 to 5, wherein the drive assembly comprises:
a motor provided with an output shaft;
the assembly rod is of a hollow structure, an opening is formed in one end of the assembly rod and sleeved on the output shaft, and the driving magnetic part is movably sleeved at the other end of the assembly rod;
a clampband clamped at one end of the mounting rod to clamp the mounting rod to the output shaft;
and the elastic piece is sleeved on the assembling rod and clamped between the driving magnetic piece and the clamping hoop.
7. A surgical instrument of a surgical robot according to claim 6,
the elastic piece is a spring.
8. A surgical instrument of a surgical robot as claimed in any of claims 1 to 5, wherein the first transfer rod is provided with a first gear thereon, the transfer assembly further comprising:
the connecting rod is provided with a second gear, the second gear is meshed with the first gear, the transmission magnetic part comprises a first transmission magnetic part, and the first transmission magnetic part is arranged at one end of the connecting rod;
wherein the driving component drives the first transmission magnetic part to rotate so as to enable the second gear to rotate, and the second gear drives the first gear to rotate so as to enable the first transmission rod and the operation executing part to rotate.
9. A surgical instrument of a surgical robot as recited in claim 1, wherein the transmission assembly further includes:
the third transmission rod is arranged in the second transmission rod, and the operation executing part is connected with the third transmission rod;
the third transmission rod is connected with the second sliding block;
the second slider is sleeved on the second screw rod, the transmission magnetic part further comprises a third transmission magnetic part, and the third transmission magnetic part is arranged at one end of the second screw rod;
the operation executing part is an opening and closing instrument, the driving assembly drives the third transmission magnetic part to rotate so as to enable the second screw rod to rotate, the second sliding block further enables the second sliding block to move along the axial direction of the second screw rod, and the second sliding block drives the third transmission rod to move so as to enable the operation executing part to be opened or closed.
10. A surgical instrument of a surgical robot according to any of claims 1 to 5,
the operation executing part comprises scissors, a bipolar grasper, a non-invasive single-hole grasper, a non-invasive double-hole grasper, an electric hook, an ultrasonic scalpel or a needle holder;
wherein the scissors, the bipolar grasper, the non-invasive single-hole grasper, and the non-invasive double-hole grasper are open and closed instruments.
11. A surgical robot, comprising:
a surgical instrument of a surgical robot as claimed in any of claims 1 to 10.
Priority Applications (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108888301B (en) * | 2018-05-29 | 2021-04-23 | 上海微创医疗机器人（集团）股份有限公司 | Snake-shaped surgical instrument |
| CN111012501B (en) * | 2018-10-09 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN111012502B (en) * | 2018-10-09 | 2022-10-21 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN110960324B (en) * | 2019-12-24 | 2020-08-04 | 吉林大学第一医院 | Rotation control unit for surgical instrument of pediatric surgical robot |
| CN111388090B (en) * | 2020-03-24 | 2023-04-28 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument, surgical instrument system and surgical robot |
| CN115040201B (en) * | 2022-06-02 | 2023-08-18 | 以诺康医疗科技（苏州）有限公司 | Scissor type ultrasonic surgical instrument |
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