CN107307907A - A kind of surgical scissors of operating robot extension type - Google Patents
A kind of surgical scissors of operating robot extension type Download PDFInfo
- Publication number
- CN107307907A CN107307907A CN201710508035.XA CN201710508035A CN107307907A CN 107307907 A CN107307907 A CN 107307907A CN 201710508035 A CN201710508035 A CN 201710508035A CN 107307907 A CN107307907 A CN 107307907A
- Authority
- CN
- China
- Prior art keywords
- folding
- fixed
- support
- slot
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
- A61B17/3211—Surgical scalpels, knives; Accessories therefor
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of surgical scissors of operating robot extension type, including scissors portion, folding support, telescope support, swinging mounting, closing device, switching device and pendulous device；Folding support includes square upper folding support and columned lower folding support；The upper surface of upper folding support offers the square folding groove that left and right is run through；Folding jointed shaft is fixed between the front-rear side walls of folding groove；Scissors portion includes a pair of scissor bodies；The lower end of a pair of scissor bodies is articulated on folding jointed shaft；Lower folding support is plugged in telescope support；Telescope support is hinged on swinging mounting；The folding direction of a pair of scissor bodies is vertical with swaying direction；Closing device and switching device are arranged on folding support；Pendulous device is arranged on swinging mounting.The present invention is simple in construction, and a pair of scissor bodies, which have, to be swung and Telescopic, and the scope of application is big.
Description
Technical field
The present invention relates to technical field of medical instruments, and in particular to a kind of operating scissors of operating robot extension type
Knife.
Background technology
Robot is no longer simply to replace manual work, actually changes the mode of production and life style of the mankind, side
Help every profession and trade to improve production efficiency and product quality, realize the modern production and management of energy efficiency.Medical Robot belongs to
High-end, intelligentized medical device product, in assisted surgery, healthy prevention, disease treatment, rehabilitation and medical services
There is unique advantage Deng field, development potentiality is huge, in terms of assisted surgery, higher requirement is proposed to robot；It is existing
Some scalpels obviously can not be used on operating robot；It is therefore necessary to design the hand of operating robot extension type
Art scissors, the flexibility of existing operating robot still can not be compared with people, so the hand of operating robot extension type
The art scissors scope of application needs bigger than general surgical scissors.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, providing a kind of big operating robot of scope of application with scalable
The surgical scissors of formula.
To reach above-mentioned purpose, the invention provides a kind of surgical scissors of operating robot extension type, including cut
Knife portion, folding support, telescope support, swinging mounting, closing device, switching device and pendulous device；Folding support includes top
Square upper folding support and bottom columned lower folding support；The upper surface of upper folding support offers left and right and passed through
The square folding groove worn；Folding jointed shaft is fixed between the front-rear side walls of folding groove；Scissors portion includes a pair of scissor bodies；
The lower end of a pair of scissor bodies is articulated on folding jointed shaft；Lower folding support is plugged in telescope support；Telescope support is hinged on pendulum
On dynamic support；The folding direction of a pair of scissor bodies is vertical with swaying direction；Closing device and switching device are arranged on folding support
On；Pendulous device is arranged on swinging mounting.
As the preferred of above-mentioned technical proposal, the square folding driver slot of the lower wall of folding groove；Folding driver slot is downward
On lower folding support；Closing device includes the first folding central shaft, the first folding gear, the second folding central shaft, second
Folding gear, the first folding rack and the second folding rack；In being horizontally fixed between the left and right sidewall top of folding driver slot
Heart supporting plate；The lower end of scissor body is semi-cylindrical；Gear is formed on the lower end semi-cylindrical of scissor body；In first folding
Heart axle is articulated between the rear wall of center brace panel and folding driver slot；First folding gear is fixed on the first folding center
On axle；First folding gear is engaged with the lower end of the scissor body of rear side；Second folding central shaft is articulated in center brace panel and opened
Between the front side wall for closing driver slot；Second folding gear is fixed on the second folding central shaft；Second folding gear and front side
The lower end engagement of scissor body；The left side wall front portion of folding driver slot forms the second slide slot that right-to-left is tilted upward；The
The upper end open-ended of two slide slots；Second folding rack, which is slided, to be arranged on the second slide slot；Second folding rack is opened with second
Close gear engagement；The right side wall rear portion of folding driver slot forms the first slide slot tilted upward from left to right；First slides
The upper end open-ended of groove；First folding rack, which is slided, to be arranged on the first slide slot；First folding rack and the first folding gear
Engagement；Stage clip is respectively arranged with first slide slot and the second slide slot；Stage clip is used for the first folding rack and the second folding tooth
Bar resets；
Switching device includes the first switch unit and the second switch unit；First switch unit include the first switch motor,
First switching cylinder and the first switching pressing plate；Second switch unit includes the second switch motor, the second switching cylinder and second and cut
Change pressing plate；The front end face right part of folding driver slot is fixed with the second supporting plate；The second switching is vertically and fixedly provided with second supporting plate
Motor；The direction of second switch motor sets and is fixed with its piston rod backward vertically fixes the second switching cylinder；Second
The second switching pressing plate is fixed with the piston rod for switching cylinder；The rear end face left part of folding driver slot is fixed with the first supporting plate；
The first switch motor is vertically and fixedly provided with first supporting plate；The direction of first switch motor is set forward and on its piston rod
It is fixed with and vertically fixes the first switching cylinder；The first switching pressing plate is fixed with the piston rod of first switching cylinder；
Telescope support is cylindrical shape；The madial wall left and right sides of telescope support forms retractable support plate respectively；First cuts
The direction of ventilation cylinder can be limited in direction vertically with the direction of retractable support plate and just to the first folding rack；Second switching
The direction of cylinder can be limited in direction vertically with the direction of retractable support plate and just to the second folding rack；
Vertical forming has square second to stretch stopper slot on the bottom surface of second slide slot；The bottom of second flexible stopper slot
It is fixed with the second flexible limiting cylinder；The second flexible limited block is vertically and fixedly provided with the piston rod of second flexible limiting cylinder；The
Two flexible limited blocks can be resisted against on the bottom surface of the second folding rack；Vertical forming has square on the bottom surface of first slide slot
First flexible stopper slot；The bottom of first flexible stopper slot is fixed with the first flexible limiting cylinder；First flexible limiting cylinder
The first flexible limited block is vertically and fixedly provided with piston rod；First flexible limited block can be resisted against on the bottom surface of the first folding rack.
As the preferred of above-mentioned technical proposal, the second spacing sawtooth of sawtooth is molded on the bottom surface of the second folding rack
Groove；The upper surface of second flexible limited block forms the second spacing sawtooth coordinated with the second spacing serrated slot；First folding tooth
The first spacing serrated slot of sawtooth is molded on the bottom surface of bar；The upper surface of first flexible limited block is formed and the first limit
The first spacing sawtooth that position serrated slot coordinates.
As the preferred of above-mentioned technical proposal, the lower surface left and right sides of lower folding support forms cylinder channel-shaped respectively
Compression groove；The upper surface of a pair of retractable support plates is vertically and fixedly provided with columned compression guide rod；Compression groove is set in compression and led
To on bar；Reseting pressuring spring is arranged with compression guide rod；The upper end of reseting pressuring spring is fixed on the upper side wall of compression groove, lower surface
On the upper surface for being fixed on retractable support plate.
As the preferred of above-mentioned technical proposal, the upper surface of swinging mounting offers pre-and post perforative square swinging chute；
The wobble drive groove of cylinder channel-shaped is offered in the lower wall of swinging chute；Pendulous device includes wobble drive motor, swung actively
Gear and swing driven gear；Oscillation center axle is articulated between the side wall left and right sides of wobble drive groove；Swing driving gear
It is fixed in oscillation center axle；Wobble drive motor is fixed on the left side of the side wall of wobble drive groove and wobble drive motor
Output shaft be fixedly connected with oscillation center axle；Swing jointed shaft is articulated between the left and right sidewall of swinging chute；Telescope support is
Cylinder；Swing the bottom that jointed shaft or so passes through and fixes telescope support；Swing driven gear and be fixed on swing jointed shaft
On；Swing driving gear and swing driven gear engagement.
The beneficial effects of the present invention are：Simple in construction, a pair of scissor bodies, which have, to be swung and Telescopic, the scope of application
Greatly.
Brief description of the drawings
Fig. 1 is the structural representation faced of the invention；
Fig. 2 is the structural representation of the section of the present invention；
Fig. 3 is the structural representation of the section of the present invention；
The structural representation for the partial enlargement that Fig. 4 is A in Fig. 3 of the invention；
The structural representation for the partial enlargement that Fig. 5 is B in Fig. 2 of the invention；
In figure, 10, scissors portion；11st, scissor body；20th, folding support；21st, upper folding support；210th, folding groove；211st, open
Close jointed shaft；212nd, folding driver slot；213rd, center brace panel；214th, the first supporting plate；216th, the second slide slot；217th,
Two flexible stopper slots；218th, the second supporting plate；22nd, lower folding support；220th, compression groove；30th, telescope support；31st, retractable support
Plate；311st, guide rod is compressed；312nd, reseting pressuring spring；32nd, jointed shaft is swung；40th, swinging mounting；400th, swinging chute；401st, swing
Driver slot；50th, closing device；51st, the first folding central shaft；52nd, the second folding central shaft；53rd, the first folding gear；54th,
Two folding gears；55th, the first folding rack；56th, the second folding rack；58th, the second flexible limiting cylinder；581st, second stretches
Limited block；60th, switching device；61st, the first switch motor；62nd, the first switching cylinder；63rd, the first switching pressing plate；64th, second cut
Change motor；65th, the second switching cylinder；66th, the second switching pressing plate；70th, pendulous device；71st, driven gear is swung；72nd, swing
Driving gear；73rd, wobble drive motor.
Embodiment
As shown in FIG. 1 to 3, a kind of surgical scissors of operating robot extension type, including scissors portion 10, folding
Support 20, telescope support 30, swinging mounting 40, closing device 50, switching device 60 and pendulous device 70；Folding support 20 is wrapped
Include the square upper folding support 21 on top and the columned lower folding support 22 of bottom；The upper surface of upper folding support 21
Offer the square folding groove 210 that left and right is run through；Folding jointed shaft 211 is fixed between the front-rear side walls of folding groove 210；
Scissors portion 10 includes a pair of scissor bodies 11；The lower end of a pair of scissor bodies 11 is articulated on folding jointed shaft 211；Lower folding support
22 are plugged in telescope support 40；Telescope support 40 is hinged on swinging mounting 40；The folding direction of a pair of scissor bodies 11 is with swinging
Direction is vertical；Closing device 50 and switching device 60 are arranged on folding support 10；Pendulous device 70 is arranged on swinging mounting 40
On.
As shown in Fig. 1~Fig. 5, the square folding driver slot 212 of the lower wall of folding groove 210；Folding driver slot 212 to
Down on lower folding support 22；Closing device 50 includes the first folding central shaft 51, the first folding gear 53, the second folding
Central shaft 52, the second folding gear 54, the first folding rack 55 and the second folding rack 56；The left and right sides of folding driver slot 212
Center brace panel 213 is horizontally fixed between wall top；The lower end of scissor body 11 is semi-cylindrical；The lower end of scissor body 11 half
Gear is formed on the face of cylinder；First folding central shaft 51 is articulated in the rear side of center brace panel 213 and folding driver slot 212
Between wall；First folding gear 53 is fixed on the first folding central shaft 51；The scissor body 11 of first folding gear 53 and rear side
Lower end engagement；Second folding central shaft 52 is articulated between the front side wall of center brace panel 213 and folding driver slot 212；The
Two folding gears 54 are fixed on the second folding central shaft 52；Nibble the lower end of second folding gear 54 and the scissor body 11 of front side
Close；The left side wall front portion of folding driver slot 212 forms the second slide slot 216 that right-to-left is tilted upward；Second slide slot
216 upper end open-ended；Second folding rack 56, which is slided, to be arranged on the second slide slot 216；Second folding rack 56 and second
Folding gear 54 is engaged；The right side wall rear portion of folding driver slot 212 forms the first slide slot tilted upward from left to right；
The upper end open-ended of first slide slot；First folding rack 55, which is slided, to be arranged on the first slide slot；First folding rack 55 with
First folding gear 53 is engaged；Stage clip is respectively arranged with first slide slot and the second slide slot 216；Stage clip is opened for first
The folding rack 56 of rack 55 and second is closed to reset；
As shown in Fig. 2~Fig. 5, switching device 60 includes the first switch unit and the second switch unit；First switch unit
Including the first switch motor 61, first switching switching pressing plate 63 of cylinder 62 and first；Second switch unit includes the second switching electricity
The switching switching pressing plate 66 of cylinder 65 and second of machine 64, second；The front end face right part of folding driver slot 212 is fixed with the second support
Plate 218；The second switch motor 64 is vertically and fixedly provided with second supporting plate 218；The direction of second switch motor 64 is set simultaneously backward
And be fixed with its piston rod and vertically fix the second switching cylinder 65；Second is fixed with the piston rod of second switching cylinder 65
Switch pressing plate 66；The rear end face left part of folding driver slot 212 is fixed with the first supporting plate 214；It is vertical in first supporting plate 214
It is fixed with the first switch motor 61；The direction of first switch motor 61 sets forward and is fixed with its piston rod vertical solid
Fixed first switching cylinder 62；The first switching pressing plate 63 is fixed with the piston rod of first switching cylinder 62；
As shown in Fig. 2~Fig. 5, telescope support 30 is cylindrical shape；The madial wall left and right sides of telescope support 30 is molded respectively
There is retractable support plate 31；The direction of first switching cylinder 62 can be limited in vertically with the direction of retractable support plate 31 and just to the
The direction of one folding rack 55；The direction of second switching cylinder 65 can be limited in vertically with the direction of retractable support plate 31 and just
To the direction of the second folding rack 56；
As shown in Fig. 2~Fig. 5, vertical forming has square second to stretch stopper slot on the bottom surface of the second slide slot 216
217；The bottom of second flexible stopper slot 217 is fixed with the second flexible limiting cylinder 58；The piston of second flexible limiting cylinder 58
The second flexible limited block 581 is vertically and fixedly provided with bar；Second flexible limited block 581 can be resisted against the bottom of the second folding rack 56
On face；Vertical forming has square first to stretch stopper slot on the bottom surface of first slide slot；The bottom of first flexible stopper slot is consolidated
Surely there is the first flexible limiting cylinder；The first flexible limited block is vertically and fixedly provided with the piston rod of first flexible limiting cylinder；First
Flexible limited block can be resisted against on the bottom surface of the first folding rack 55.
As shown in Figure 2, Figure 4 shows, the second spacing serrated slot 560 of sawtooth is molded on the bottom surface of the second folding rack 56；
The upper surface of second flexible limited block 581 forms the second spacing sawtooth coordinated with the second spacing serrated slot 560；First opens
Close the first spacing serrated slot that sawtooth is molded on the bottom surface of rack 55；The upper surface of first flexible limited block form with
The first spacing sawtooth that first spacing serrated slot coordinates.
As shown in Figure 2, Figure 4 shows, the lower surface left and right sides of lower folding support 22 forms the compression groove of cylinder channel-shaped respectively
220；The upper surface of a pair of retractable support plates 31 is vertically and fixedly provided with columned compression guide rod 311；Compression groove 220 is set in
Compress on guide rod 311；Reseting pressuring spring 312 is arranged with compression guide rod 311；The upper end of reseting pressuring spring 312 is fixed on compression
The upper side wall of groove 220, lower surface are fixed on the upper surface of retractable support plate 31.
As shown in Fig. 2~Fig. 5, the upper surface of swinging mounting 40 offers pre-and post perforative square swinging chute 400；Pendulum
The wobble drive groove 401 of cylinder channel-shaped is offered in the lower wall of dynamic groove 400；Pendulous device 70 include wobble drive motor 73,
Swing driving gear 72 and swing driven gear 71；Oscillation center is articulated between the side wall left and right sides of wobble drive groove 401
Axle 41；Driving gear 72 is swung to be fixed in oscillation center axle 41；Wobble drive motor 73 is fixed on wobble drive groove 401
The left side of the side wall and output shaft of wobble drive motor 73 is fixedly connected with oscillation center axle 41；The left and right sides of swinging chute 400
Swing jointed shaft 32 is articulated between wall；Telescope support 30 is cylinder；Jointed shaft 32 or so is swung to pass through and fixed flexible branch
The bottom of frame 30；Driven gear 71 is swung to be fixed on swing jointed shaft 32；Swing driving gear 72 and swing driven gear 71
Engagement.
The operation principle of surgical scissors：
The folding of scissors portion 10：Synchronous averaging the first switch motor 61 and the second switch motor 64, driving first switch cylinder
62 and second switching cylinder 65 rotate to respectively just to the first folding rack 55 and the second folding rack 56, then synchronous averaging
The first switching switching cylinder 65 of cylinder 62 and second, the first switching pressing plate of the first switching switching cylinder 65 of cylinder 62 and second
63 and second switching pressing plate 66 bear against the first folding rack 55 and the second folding rack 56, then promote the first folding
The folding rack 56 of rack 55 and second is tilted upward to move；First folding rack 55 and the second folding rack 56 drive respectively
One folding gear 53 and the rotation of the opposite direction of the second folding gear 54；First folding gear 53 and the second folding gear 54 pass through
The lower end gear of a pair of scissor bodies 11 drives a pair of scissor bodies 11 to open；When needing closure, first is only needed to switch cylinder 62 and the
First switching pressing plate 63 and second of two switching cylinders 65 switches pressing plate 66 to contract, and a pair of scissor bodies 11 are closed；
Stretch in scissors portion 10：Synchronous averaging the first switch motor 61 and the second switch motor 64, driving first switch cylinder
62 and second switching cylinder 65 rotate to be respectively perpendicular with retractable support plate 31, then synchronous averaging first switching the He of cylinder 62
Second switching cylinder 65, the first switching switching pressing plate of pressing plate 63 and second of the first switching switching cylinder 65 of cylinder 62 and second
66 abut against retractable support plate 31, and so whole folding support 20 extends along telescope support 30；When needing to shrink, only need only
The the first switching pressing plate 63 and second for needing the first switching cylinder 62 and second to switch cylinder 65 switches pressing plate 66 and is to contract
Can；
Scissors portion 10 is swung：Start wobble drive motor 53, wobble drive motor 53 drives oscillation center axle 302 to rotate,
Oscillation center axle 302 swings the fore-and-aft direction of jointed shaft 221 pendulum by swinging driving gear 52 and swinging driven gear 51 to drive
Dynamic, i.e., the fore-and-aft direction of scissors portion 10 is swung.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this hair
Bright limitation.
Claims (5)
1. a kind of surgical scissors of operating robot extension type, it is characterised in that：Including scissors portion (10), folding support
(20), telescope support (30), swinging mounting (40), closing device (50), switching device (60) and pendulous device (70)；Folding branch
Frame (20) includes the square upper folding support (21) on top and the columned lower folding support (22) of bottom；Upper folding support
(21) upper surface offers the square folding groove (210) that left and right is run through；It is fixed between the front-rear side walls of folding groove (210)
Folding jointed shaft (211)；Scissors portion (10) includes a pair of scissor bodies (11)；The lower end of a pair of scissor bodies (11) is articulated in folding hinge
In spindle (211)；Lower folding support (22) is plugged in telescope support (40)；Telescope support (40) is hinged on swinging mounting (40)
On；The folding direction of a pair of scissor bodies (11) is vertical with swaying direction；Closing device (50) and switching device (60) are arranged on out
Close on support (10)；Pendulous device (70) is arranged on swinging mounting (40).
2. a kind of surgical scissors of operating robot extension type according to claim 1, it is characterised in that：Folding groove
(210) the square folding driver slot (212) of lower wall；Folding driver slot (212) is downward through on lower folding support (22)；Open
Attach together and put (50) including the first folding central shaft (51), the first folding gear (53), the second folding central shaft (52), the second folding
Gear (54), the first folding rack (55) and the second folding rack (56)；Between the left and right sidewall top of folding driver slot (212)
It is horizontally fixed with center brace panel (213)；The lower end of scissor body (11) is semi-cylindrical；The lower end semi-cylindrical of scissor body (11)
On form gear；First folding central shaft (51) is articulated in the rear wall of center brace panel (213) and folding driver slot (212)
Between；First folding gear (53) is fixed on the first folding central shaft (51)；The scissors of first folding gear (53) and rear side
The lower end engagement of body (11)；Second folding central shaft (52) is articulated in before center brace panel (213) and folding driver slot (212)
Between the wall of side；Second folding gear (54) is fixed on the second folding central shaft (52)；Second folding gear (54) and front side
The lower end engagement of scissor body (11)；The left side wall front portion of folding driver slot (212) forms right-to-left is tilted upward second
Slide slot (216)；The upper end open-ended of second slide slot (216)；Second folding rack (56), which is slided, is arranged on the second slide slot
(216) on；Second folding rack (56) is engaged with the second folding gear (54)；The right side wall rear portion of folding driver slot (212) into
Type has the first slide slot tilted upward from left to right；The upper end open-ended of first slide slot；First folding rack (55) is slided
It is arranged on the first slide slot；First folding rack (55) is engaged with the first folding gear (53)；First slide slot and second is slided
Stage clip is respectively arranged with row groove (216)；Stage clip is used for the first folding rack (55) and the second folding rack (56) resets；
Switching device (60) includes the first switch unit and the second switch unit；First switch unit includes the first switch motor
(61), the first switching cylinder (62) and the first switching pressing plate (63)；Second switch unit includes the second switch motor (64), second
Switch cylinder (65) and the second switching pressing plate (66)；The front end face right part of folding driver slot (212) is fixed with the second supporting plate
(218)；The second switch motor (64) is vertically and fixedly provided with second supporting plate (218)；The direction of second switch motor (64) is backward
Set and be fixed with its piston rod and vertically fix the second switching cylinder (65)；It is solid on the piston rod of second switching cylinder (65)
Surely there is the second switching pressing plate (66)；The rear end face left part of folding driver slot (212) is fixed with the first supporting plate (214)；First
The first switch motor (61) is vertically and fixedly provided with fagging (214)；The direction of first switch motor (61) is set forward and it is lived
It is fixed with stopper rod and vertically fixes the first switching cylinder (62)；The first switching is fixed with the piston rod of first switching cylinder (62)
Pressing plate (63)；
Telescope support (30) is cylindrical shape；The madial wall left and right sides of telescope support (30) forms retractable support plate respectively
(31)；The direction of first switching cylinder (62) can be limited in vertically with the direction of retractable support plate (31) and just to the first folding tooth
The direction of bar (55)；The direction of second switching cylinder (65) can be limited in vertically with the direction of retractable support plate (31) and just to the
The direction of two folding racks (56)；
Vertical forming has square second to stretch stopper slot (217) on the bottom surface of second slide slot (216)；Second flexible stopper slot
(217) bottom is fixed with the second flexible limiting cylinder (58)；Vertically fixed on the piston rod of second flexible limiting cylinder (58)
There is the second flexible limited block (581)；Second flexible limited block (581) can be resisted against on the bottom surface of the second folding rack (56)；The
Vertical forming has square first to stretch stopper slot on the bottom surface of one slide slot；The bottom of first flexible stopper slot is fixed with first
Flexible limiting cylinder；The first flexible limited block is vertically and fixedly provided with the piston rod of first flexible limiting cylinder；First is flexible spacing
Block can be resisted against on the bottom surface of the first folding rack (55).
3. a kind of surgical scissors of operating robot extension type according to claim 2, it is characterised in that：Second opens
Close the second spacing serrated slot (560) that sawtooth is molded on the bottom surface of rack (56)；The upper end of second flexible limited block (581)
Face forms the second spacing sawtooth coordinated with the second spacing serrated slot (560)；It is molded on the bottom surface of first folding rack (55)
First spacing serrated slot of sawtooth；The upper surface of first flexible limited block forms the coordinated with the first spacing serrated slot
One spacing sawtooth.
4. a kind of surgical scissors of operating robot extension type according to claim 2, it is characterised in that：Lower folding
The lower surface left and right sides of support (22) forms the compression groove (220) of cylinder channel-shaped respectively；A pair of retractable support plates (31)
Upper surface is vertically and fixedly provided with columned compression guide rod (311)；Compression groove (220) is set on compression guide rod (311)；Pressure
Reseting pressuring spring (312) is arranged with contracting guide rod (311)；The upper end of reseting pressuring spring (312) is fixed on the upside of compression groove (220)
Wall, lower surface are fixed on the upper surface of retractable support plate (31).
5. a kind of surgical scissors of operating robot extension type according to claim 1, it is characterised in that：Swing branch
The upper surface of frame (40) offers pre-and post perforative square swinging chute (400)；Circle is offered in the lower wall of swinging chute (400)
The wobble drive groove (401) of post channel-shaped；Pendulous device (70) includes wobble drive motor (73), swings driving gear (72) and pendulum
Dynamic driven gear (71)；Oscillation center axle (41) is articulated between the side wall left and right sides of wobble drive groove (401)；Swing actively
Gear (72) is fixed in oscillation center axle (41)；Wobble drive motor (73) is fixed on the side wall of wobble drive groove (401)
The output shaft of left side and wobble drive motor (73) is fixedly connected with oscillation center axle (41)；The left and right sides of swinging chute (400)
Swing jointed shaft (32) is articulated between wall；Telescope support (30) is cylinder；Jointed shaft (32) left and right is swung to pass through and fixed
The bottom of telescope support (30)；Driven gear (71) is swung to be fixed on swing jointed shaft (32)；Swing driving gear (72) and
Swing driven gear (71) engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508035.XA CN107307907A (en) | 2017-06-28 | 2017-06-28 | A kind of surgical scissors of operating robot extension type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508035.XA CN107307907A (en) | 2017-06-28 | 2017-06-28 | A kind of surgical scissors of operating robot extension type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107307907A true CN107307907A (en) | 2017-11-03 |
Family
ID=60180824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710508035.XA Withdrawn CN107307907A (en) | 2017-06-28 | 2017-06-28 | A kind of surgical scissors of operating robot extension type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107307907A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836407A (en) * | 2018-06-29 | 2018-11-20 | 张静芝 | A kind of adjustable automatic imbedding tool and its working method with automatic cutter |
-
2017
- 2017-06-28 CN CN201710508035.XA patent/CN107307907A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836407A (en) * | 2018-06-29 | 2018-11-20 | 张静芝 | A kind of adjustable automatic imbedding tool and its working method with automatic cutter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106076579A (en) | A kind of medical vial breaker | |
| CN109793603A (en) | A kind of neck set for multifunctional cervical vertebra rehabilitation rectifier | |
| CN107307907A (en) | A kind of surgical scissors of operating robot extension type | |
| CN212015823U (en) | Auxiliary clamping device for adhering accessories of invisible appliance | |
| CN205232832U (en) | Honeysuckle picking manipulator | |
| CN208645588U (en) | Blanking units are used in a kind of anti-reversed bay-type fibrous face film production | |
| CN209695777U (en) | A kind of massage therapeutic equipment for treating constipation | |
| CN209285880U (en) | A kind of medical fixed frame | |
| CN208358015U (en) | Lithium battery ultrasonic brazing unit | |
| CN207627574U (en) | Ancon rehabilitation training instrument | |
| CN207496323U (en) | A kind of patient data's sorter | |
| CN207641539U (en) | A kind of new medicine stamp pestle device | |
| CN209125715U (en) | A kind of electric vehicle support frame convenient for folding | |
| CN219517036U (en) | Postoperative massager is filtered to glaucoma | |
| CN212699172U (en) | Operation auxiliary stay frame | |
| CN215320867U (en) | Waste collecting device for silk processing | |
| CN211008212U (en) | Power-assisted electric translation vertical hinged access door for hospital | |
| CN107496146A (en) | A kind of kneading massager | |
| CN214981297U (en) | Book printing is with tailorring device | |
| CN213607001U (en) | Facial fixing device for cosmetic plastic | |
| CN213724396U (en) | Obstetrical department is with operation edge of a knife nursing device | |
| CN214099068U (en) | Tourism information guides platform | |
| CN209699119U (en) | A kind of robot eyes structure of apery expression synthesis | |
| CN216634499U (en) | Shearing machine for producing wet tissues | |
| CN215687709U (en) | But clinical speculum device that adjusts of multi-angle of using in oral cavity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171103 |
|
| WW01 | Invention patent application withdrawn after publication |