CN107307908B - Drive assembly, surgical instrument of surgical robot and surgical robot - Google Patents
Drive assembly, surgical instrument of surgical robot and surgical robot Download PDFInfo
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- CN107307908B CN107307908B CN201710645826.7A CN201710645826A CN107307908B CN 107307908 B CN107307908 B CN 107307908B CN 201710645826 A CN201710645826 A CN 201710645826A CN 107307908 B CN107307908 B CN 107307908B
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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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention provides a driving assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot comprises a transmission part, the transmission part is provided with a transmission rod, and the driving assembly comprises: a driving device and a connecting shaft; the driving device is provided with an output shaft; one end of the connecting shaft is connected with the output shaft, and the other end of the connecting shaft is connected with the transmission rod; wherein, the output shaft drives the connecting shaft to rotate, and the connecting shaft drives the transmission rod to rotate. One end of the connecting shaft is connected with an output shaft arranged on the driving device, and the other end of the connecting shaft is connected with a transmission rod arranged on the transmission part, so that the output shaft, the transmission rod and the connecting shaft are connected into a whole, and the output shaft drives the connecting shaft to rotate, and the connecting shaft drives the transmission rod to rotate, so that the output shaft drives the transmission rod to rotate.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a driving assembly, 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 technology, due to the characteristics of the minimally invasive surgery, the control of a surgical instrument of a surgical robot has high requirements, so that the driving structure of the surgical instrument of the surgical robot needs to have high accuracy, and if deviation exists, the progress of the surgery can be influenced; meanwhile, the surgical instruments work in the human body, and if the surgical instruments of the surgical robot generate vibration and noise during working, the process of the operation is influenced, and other internal organs in the human body are also influenced, so that it is necessary to reduce the vibration and noise generated by the surgical instruments of the surgical robot during working, namely, how to design the surgical instruments of the surgical robot capable of being accurately driven, and meanwhile, the surgical instruments of the surgical robot capable of reducing the vibration and noise during working are necessary.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, the invention proposes, in a first aspect, a drive assembly.
A second aspect of the present invention provides a surgical instrument for a surgical robot.
A third aspect of the present invention provides a surgical robot.
In view of this, the present invention provides, in a first aspect, a drive assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot including a transmission section provided with a transmission rod, the drive assembly including: a driving device and a connecting shaft; the driving device is provided with an output shaft; one end of the connecting shaft is connected with the output shaft, and the other end of the connecting shaft is connected with the transmission rod; wherein, the output shaft drives the connecting shaft to rotate, and the connecting shaft drives the transmission rod to rotate.
The driving assembly provided by the invention is connected with the output shaft arranged on the driving device through one end of the connecting shaft and is connected with the transmission rod arranged on the transmission part through the other end of the connecting shaft, so that the output shaft, the transmission rod and the connecting shaft are connected into a whole, and the output shaft drives the connecting shaft to rotate, and the connecting shaft can drive the transmission rod to rotate, so that the output shaft drives the transmission rod to rotate. Due to the arrangement of the connecting rod, the processing amount of the transmission rod is reduced, and the straightness of the transmission rod is effectively ensured; the output shaft, the transmission rod and the connecting shaft are connected into a whole, so that the coaxiality of the output shaft, the transmission rod and the connecting shaft can be ensured, the stability of power transmission is ensured, the transmission accuracy is improved, and the accurate control on surgical instruments of the surgical robot is realized; meanwhile, the output shaft, the transmission rod and the connecting shaft are connected into a whole, so that vibration and noise generated in the transmission process can be effectively avoided, the condition that surgical instruments of the surgical robot damage other visceral organs in a human body during working is avoided, smooth operation is ensured, and the success rate of the operation is effectively improved.
In addition, the driving assembly in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, preferably, the connecting shaft is a tubular structure having a hollow cavity, and is sleeved on the output shaft.
In the technical scheme, the connecting shaft is of a tubular structure with a hollow cavity and is sleeved on the output shaft, the connecting mode is simple in structure, the connecting shaft and the output shaft are fixed into a whole, the coaxiality between the connecting shaft and the output shaft can be ensured, vibration and noise generated in the transmission process are effectively avoided, the connecting shaft and the output shaft cannot relatively rotate, and cannot relatively move along the axial direction of the connecting shaft, so that the accuracy and the stability of transmission are effectively ensured, the smooth operation is ensured, and the success rate of the operation is further improved; meanwhile, as the connecting shaft is of a tubular structure with a hollow cavity, when the connecting shaft is sleeved on the output shaft, the output shaft can be inserted into the connecting shaft, the matching area is increased, and the stability of power transmission is improved.
In the above technical solution, preferably, one end of the connecting shaft connected with the output shaft is provided with a plurality of openings along the axial direction; the connecting shaft is clamped on the output shaft through a clamping hoop.
In the technical scheme, firstly, one end of the connecting shaft with a plurality of openings is sleeved on the output shaft, and the plurality of openings are axially arranged at one end of the connecting shaft, so that the connecting shaft can be sleeved on the output shaft by utilizing elastic deformation of the plurality of openings, the power transmission stability is improved, the coaxiality between the connecting shaft and the output shaft is ensured, and vibration and noise generated in the transmission process are effectively avoided; meanwhile, the stability of connection between the connecting shaft and the output shaft can be enhanced, and the mode has a simple structure and is convenient to mount, so that the assembly efficiency of the product is improved; then, the connecting shaft is clamped on the output shaft through the clamping hoop, so that relative movement and relative rotation between the connecting shaft and the output shaft are avoided, and the stability of connection between the connecting shaft and the output shaft can be further improved.
In the above technical solution, preferably, the clampband has a ring structure with a cut; the clamp hoop is provided with a countersunk hole on one side of the notch along the tangential direction, a first threaded hole is arranged on the other side of the notch along the tangential direction, and the bolt penetrates through the countersunk hole and then is matched with the first threaded hole so as to clamp the clamp hoop.
In the technical scheme, firstly, the clampband is of an annular structure with a notch, and the inner diameter of the clampband can be increased or reduced as required, so that the clampband can be easily sleeved on the connecting shaft, and the assembling time is reduced. Secondly, because the clamp hoop is provided with the counter sink along the tangential direction at one side of the notch, when the bolt passes through the counter sink, the head of the bolt can be embedded into the counter sink, so that the product is more attractive, the occupied space of the product can be reduced, and the applicability of the product is further expanded. Thirdly, after the bolt penetrates through the counter bore and is matched with the first threaded hole arranged on the other side of the clamping hoop notch, the inner diameter of the clamping hoop is gradually reduced along with the screwing of the bolt into the first threaded hole, so that a clamping force is applied to the radial direction of the opening of the connecting shaft, the diameter of the opening of the connecting shaft is further gradually reduced, the purpose of clamping the connecting shaft on the output shaft is achieved, the coaxiality between the connecting shaft and the output shaft is ensured, vibration and noise generated in the transmission process are effectively avoided, and the technical effect of connecting stability of the connecting shaft and the output shaft is further improved; meanwhile, the user can adjust the clamping force of the clamping hoop on the opening of the connecting shaft according to the actual requirement by adjusting the length of the bolt screwed into the first threaded hole, so that the user experience is improved, and the application range of the product is enlarged.
In the above technical solution, preferably, a diameter of the opening of the connecting shaft is smaller than a diameter of the non-opening of the connecting shaft.
In the technical scheme, as the diameter of the opening of the connecting shaft is smaller than that of the non-opening of the connecting shaft, firstly, the fastening force of the connecting shaft sleeved on the output shaft can be enhanced, the coaxiality between the connecting shaft and the output shaft is ensured, vibration and noise generated in the transmission process are effectively avoided, and the connection stability between the connecting shaft and the output shaft is further improved; secondly, after the output shaft passes through the opening of the connecting shaft, the output shaft is free from resistance in the connecting shaft, so that the assembly efficiency is improved; and the toughness of the opening of the connecting shaft can be improved, so that the output shaft can be quickly assembled in the connecting shaft, the phenomenon that the connecting shaft cannot be clamped on the output shaft through a clamping hoop due to overlarge strength of the connecting shaft can be avoided, and the stability of the connecting shaft connected with the output shaft is further improved.
In the above technical scheme, preferably, a second threaded hole is radially formed in a joint of the connecting shaft and the output shaft, and the set screw is screwed into the second threaded hole and then attached to the output shaft.
In this technical scheme, at first, at the junction of connecting axle and output shaft along radially setting up the second screw hole, then with the laminating of holding screw in behind the second screw hole with the output shaft, in order to realize the fastening effect of connecting axle and output shaft, make neither can the relative slip between connecting axle and the output shaft, also can not rotate relatively, further improvement connecting axle and output shaft connection stability, thereby ensure driven accuracy and stability, make surgical instruments of surgical robot can satisfy multiple requirement, avoid surgical instruments of surgical robot's influence at the during operation to other internal organs of human body, the success rate of operation has been promoted effectively.
In the above technical solution, preferably, the outer wall of the output shaft is provided with a first key groove, and the inner wall of the connecting shaft is provided with a second key groove; wherein the first keyway and the second keyway are in keyed engagement.
In the technical scheme, firstly, a first key groove is arranged on the outer wall of an output shaft; then, a second key groove is formed in the inner wall of the connecting shaft; finally, the output shaft is inserted into the connecting shaft, the first key groove and the second key groove are matched together through a key, so that the output shaft and the connecting shaft are fixed into a whole, the connecting shaft and the output shaft cannot relatively rotate or slide, the coaxiality between the connecting shaft and the output shaft is ensured, vibration and noise generated in the transmission process are effectively avoided, the connection stability of the connecting shaft and the output shaft is further improved, and the transmission accuracy and stability are ensured, so that the surgical instrument of the surgical robot has the functional universality of scissors, double-click graspers, non-invasive single-hole graspers, non-invasive double-hole graspers, electric hooks, ultrasonic knives or needle holders, the influence of the surgical instrument of the surgical robot on other internal organs in the human body during working is avoided, and the success rate of the operation is effectively improved; meanwhile, the chain groove is simple in matching and connecting structure, simple to disassemble and assemble, capable of improving the assembling efficiency, high in interchangeability, capable of finding out a replacement quickly if damaged and capable of guaranteeing normal operation of products.
In the above technical solution, preferably, the driving device is a motor.
In the technical scheme, the power of the driving assembly is improved through the motor, and the range of power provided by the motor is large, so that the application range of a product can be expanded; the motor is very convenient to use and control, has the capabilities of self-starting, accelerating, braking, reversing and the like, and can meet various running requirements of products; meanwhile, the motor has high working efficiency and reliable operation, further ensures the accuracy and stability of transmission, and further effectively improves the success rate of the operation.
In a second aspect, the present invention provides a surgical instrument of a surgical robot, including a driving assembly according to any one of the above technical solutions, so that the surgical instrument of the surgical robot includes all the advantages of the driving assembly according to any one of the above technical solutions.
A third aspect of the present invention provides a surgical robot including the surgical instrument of the surgical robot according to the above technical solution, and therefore, the surgical instrument of the surgical robot includes all the advantageous effects of the surgical instrument of the surgical robot according to the above technical solution.
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 shows a schematic structural diagram of a drive assembly according to one embodiment of the present invention;
FIG. 2 shows a schematic structural diagram of a drive assembly according to another embodiment of the present invention;
FIG. 3 is a cross-sectional view A-A of the connection assembly of FIG. 2 according to another embodiment of the present invention;
FIG. 4 shows a schematic structural view of a connecting shaft according to an embodiment of the invention;
FIG. 5 is a schematic diagram illustrating the construction of a clampband in accordance with one embodiment of the present invention;
wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
102 drive rod, 104 drive device, 1042 output shaft, 106 connecting shaft, 1062 opening, 1064 second threaded hole, 108 clamp, 1082 counterbore, 1084 first threaded hole.
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.
The following describes the drive assembly, the surgical instrument of the surgical robot and the surgical robot according to some embodiments of the present invention with reference to fig. 1 to 5
In a first embodiment of the present invention, as shown in fig. 1 to 3, the present invention provides a drive assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot comprising a transmission section provided with a transmission rod 102, the drive assembly comprising: a drive device 104 and a connecting shaft 106; the drive device 104 is provided with an output shaft 1042; one end of the connecting shaft 106 is connected with the output shaft 1042, and the other end is connected with the transmission rod 102; the output shaft 1042 drives the connecting shaft 106 to rotate, and the connecting shaft 106 drives the transmission rod 102 to rotate.
In this embodiment, one end of the connecting shaft 106 is connected to the output shaft 1042 disposed on the driving device 104, and the other end of the connecting shaft 106 is connected to the transmission rod 102 disposed on the transmission portion, so as to connect the output shaft 1042, the transmission rod 102 and the connecting shaft 106 into a whole, and since the output shaft 1042 drives the connecting shaft 106 to rotate, and the connecting shaft 106 can drive the transmission rod 102 to rotate, the output shaft 1042 drives the transmission rod 102 to rotate. Due to the arrangement of the connecting rod 106, the processing amount of the transmission rod 102 is reduced, and the straightness of the transmission rod 102 is effectively ensured; the output shaft 1042, the transmission rod 102 and the connecting shaft 106 are connected into a whole, so that the coaxiality of the output shaft 1042, the transmission rod 102 and the connecting shaft 106 can be ensured, the stability of power transmission is ensured, the transmission accuracy is improved, and the accurate control on surgical instruments of the surgical robot is realized; meanwhile, the output shaft 1042, the transmission rod 102 and the connecting shaft 106 are connected into a whole, so that vibration and noise generated in the transmission process can be effectively avoided, the condition that surgical instruments of the surgical robot damage other organs in a human body when in work is avoided, smooth operation is ensured, and the success rate of the operation is effectively improved.
In an embodiment of the present invention, as shown in fig. 3, the connecting shaft 106 is preferably a tubular structure having a hollow cavity, and is sleeved on the output shaft 1042.
In this embodiment, the connecting shaft 106 is a tubular structure with a hollow cavity and is sleeved on the output shaft 1042, such a connection manner is simple in structure, and the connecting shaft 106 and the output shaft 1042 are fixed as a whole, so that the coaxiality between the connecting shaft 106 and the output shaft 1042 can be ensured, vibration and noise generated in the transmission process can be effectively avoided, the connecting shaft 106 and the output shaft 1042 can not relatively rotate, and can not relatively move along the axial direction of the connecting shaft, thereby effectively ensuring the accuracy and stability of transmission, ensuring the smooth operation of the operation, and further improving the success rate of the operation; meanwhile, since the connecting shaft 106 is a tubular structure with a hollow cavity, when the connecting shaft 106 is sleeved on the output shaft 1042, the output shaft 1042 can be inserted into the connecting shaft 106, so as to increase the matching area and improve the stability of power transmission.
In one embodiment of the present invention, preferably, as shown in fig. 4, one end of the connecting shaft 106 connected with the output shaft 1042 is provided with a plurality of openings 1062 in the axial direction; the connecting shaft 106 is clamped to the output shaft 1042 by a clampband 108.
In this embodiment, firstly, one end of the connecting shaft 106 having the plurality of openings 1062 is sleeved on the output shaft 1042, and since one end of the connecting shaft 106 is provided with the plurality of openings 1062 along the axial direction, the connecting shaft 106 can be sleeved on the output shaft 1042 by using elastic deformation of the plurality of openings 1062, thereby improving the stability of power transmission, ensuring the coaxiality between the connecting shaft 106 and the output shaft 1042, and effectively avoiding vibration and noise generated in the transmission process; meanwhile, the stability of connection between the connecting shaft 106 and the output shaft 1042 can be enhanced, and the mode has a simple structure and is convenient to mount, so that the assembly efficiency of the product is improved; then, the connecting shaft 106 is clamped to the output shaft 1042 by the clamping band 108, so that relative movement and relative rotation between the connecting shaft 106 and the output shaft 1042 are avoided, and the stability of the connection between the connecting shaft 106 and the output shaft 1042 can be further improved.
In one embodiment of the present invention, one end of the connecting shaft 106 connected with the output shaft 1042 is provided with four openings 1062 in the axial direction. The four openings 1062 divide the end of the connecting shaft 106 into four elastic portions, and during assembly, when the output shaft 1042 is inserted into the connecting shaft 106, the output shaft 1042 is conveniently inserted into the connecting shaft 106 because the radial force required for elastically deforming the four elastic portions is small and the openings are formed between adjacent elastic portions; in the clamping process, the clampband 108 is sleeved at the opening of the connecting shaft 106, and since the connecting shaft 106 has four openings, when the connecting shaft 106 is subjected to a radial force toward the inside of the connecting shaft 106, the inner diameter of the clampband 108 will be reduced, so that the connecting shaft 106 can be clamped on the output shaft 1042 by the clampband 108. In one embodiment of the present invention, the clampband 108 is preferably a split ring-like structure, as shown in FIG. 5; the clampband 108 is provided with a counter bore 1082 at one side of the cut in the tangential direction, and a first threaded bore 1084 at the other side of the cut in the tangential direction, and the bolt is inserted through the counter bore 1082 and then engaged with the first threaded bore 1084, so as to clamp the clampband 108.
In this embodiment, first, since the clampband 108 has a ring-shaped structure with a cut-out, the inner diameter of the clampband 108 can be increased or decreased as required, so that the clampband 108 can be easily sleeved on the connecting shaft 106, thereby reducing the assembling time. Secondly, because the clamp 108 is provided with the counter bore 1082 along the tangential direction at one side of the cut, when the bolt passes through the counter bore 1082, the head of the bolt can be embedded into the counter bore 1082, so that the product is more beautiful, the space occupied by the product can be reduced, and the applicability of the product is further expanded. Thirdly, after the bolt passes through the counter bore 1082 and is matched with a first threaded hole 1084 arranged on the other side of the notch of the clamp 108, as the bolt is screwed into the first threaded hole 1084, the inner diameter of the clamp 108 is gradually reduced, so that a clamping force is applied to the radial direction of the opening of the connecting shaft 106, and the diameter of the opening of the connecting shaft 106 is gradually reduced, thereby achieving the purpose of clamping the connecting shaft 106 on the output shaft 1042, ensuring the coaxiality between the connecting shaft 106 and the output shaft 1042, effectively avoiding vibration and noise generated in the transmission process, and further improving the technical effect of the connection stability between the connecting shaft 106 and the output shaft 1042; meanwhile, the user can adjust the clamping force of the clamping band 108 on the opening of the connecting shaft 106 by screwing the adjusting bolt into the first threaded hole 1084 according to actual needs, so that the user experience is improved, and the application range of the product is expanded.
In one embodiment of the present invention, it is preferable that the diameter of the opening of the connection shaft 106 is smaller than the diameter of the non-opening of the connection shaft 106, as shown in fig. 4.
In this embodiment, since the diameter of the opening of the connecting shaft 106 is smaller than the diameter of the non-opening of the connecting shaft 106, the fastening force of the connecting shaft 106 sleeved on the output shaft 1042 can be enhanced, the coaxiality between the connecting shaft 106 and the output shaft 1042 is ensured, vibration and noise generated in the transmission process are effectively avoided, and the connection stability between the connecting shaft 106 and the output shaft 1042 is further improved; secondly, after the output shaft 1042 passes through the opening of the connecting shaft 106, the output shaft 1042 does not bear resistance in the connecting shaft 106, so that the assembly efficiency is improved; thirdly, the toughness of the opening of the connecting shaft 106 can be improved, so that the output shaft 1042 can be quickly assembled in the connecting shaft 106, the problem that the connecting shaft 106 cannot be clamped on the output shaft 1042 through a clamping hoop due to overlarge strength of the connecting shaft 106 can be avoided, and the connection stability of the connecting shaft 106 and the output shaft 1042 is further improved.
In an embodiment of the present invention, as shown in fig. 4, preferably, a second threaded hole 1064 is radially disposed at a connection position of the connection shaft 106 and the output shaft 1042, and a set screw is screwed into the second threaded hole 1064 and then abuts against the output shaft 1042.
In this embodiment, first, the second threaded hole 1064 is radially disposed at the connection position between the connection shaft 106 and the output shaft 1042, and then the set screw is screwed into the second threaded hole 1064 and then attached to the output shaft 1042, so as to achieve the fastening effect between the connection shaft 106 and the output shaft 1042, so that the connection between the connection shaft 106 and the output shaft 1042 cannot slide or rotate relatively, further improving the connection stability between the connection shaft 106 and the output shaft 1042, thereby ensuring the accuracy and stability of transmission, enabling the surgical instrument of the surgical robot to meet various requirements, avoiding the influence of the surgical instrument of the surgical robot on other organs in the body during operation, and effectively improving the success rate of surgery.
In an embodiment of the present invention, preferably, the output shaft 1042 is provided with a first key groove on an outer wall thereof, and the connecting shaft 106 is provided with a second key groove on an inner wall thereof; wherein the first keyway and the second keyway are in keyed engagement.
In this embodiment, first, a first key groove is provided on the outer wall of the output shaft 1042; then, a second key groove is arranged on the inner wall of the connecting shaft 106; finally, the output shaft 1042 is inserted into the connecting shaft 106, and the first key groove and the second key groove are fitted together by a key, so as to fix the output shaft 1042 and the connecting shaft 106 as a whole, and to ensure that the connecting shaft 106 and the output shaft 1042 do not rotate relatively and do not slide relatively, meanwhile, the coaxiality between the connecting shaft 106 and the output shaft 1042 is ensured, the vibration and noise generated in the transmission process are effectively avoided, the connection stability of the connecting shaft 106 and the output shaft 1042 is further improved, therefore, the accuracy and the stability of transmission are ensured, the surgical instruments of the surgical robot have the universality for driving various different types of surgical execution parts such as scissors, graspers, electric hooks, ultrasonic knives or needle holders, the influence of the surgical instruments of the surgical robot on other visceral organs in a human body during working is avoided, and the success rate of surgery is effectively improved; meanwhile, the chain groove is simple in matching and connecting structure, simple to disassemble and assemble, capable of improving the assembling efficiency, high in interchangeability, capable of finding out a replacement quickly if damaged and capable of guaranteeing normal operation of products.
In one embodiment of the present invention, the driving device 104 is preferably a motor.
In the embodiment, the power of the driving assembly is improved through the motor, and the range of the power provided by the motor is large, so that the application range of the product can be expanded; the motor is very convenient to use and control, has the capabilities of self-starting, accelerating, braking, reversing and the like, and can meet various running requirements of products; meanwhile, the motor has high working efficiency and reliable operation, further ensures the accuracy and stability of transmission, and further effectively improves the success rate of the operation.
In an embodiment of the present invention, first, the motor is connected to the connecting shaft 106 through the output shaft 1042, wherein the connecting shaft 106 has a tubular structure with a hollow cavity, so that the output shaft 1042 can be inserted into the connecting shaft 106; meanwhile, since the connecting shaft 106 and the output shaft 1042 have a plurality of openings 1062 at one end thereof, and the diameter of the openings of the connecting shaft 106 is smaller than the diameter of the openings, when the output shaft 1042 is inserted into the connecting shaft 106, the connecting shaft 106 can clamp the output shaft 1042 through elastic deformation at the openings, thereby preventing relative displacement between the connecting shaft 106 and the output shaft 1042. Next, the set screw is screwed into the second threaded hole 1064 of the connecting shaft 106, and the set screw passes through the second threaded hole 1064 until the set screw is attached to the output shaft 1042, so as to further prevent the connecting shaft 106 and the output shaft 1042 from relative displacement. Again, the connecting shaft 106 is clamped to the output shaft 1042 by the clampband 108; the specific clamping mode is as follows: the clampband 108 is sleeved at the opening of the connecting shaft 106, and because the clampband 108 has an annular structure with a cut, the clampband 108 can be easily sleeved on the connecting shaft 106, and a gap exists between the clampband 108 and the connecting shaft 106; then, the bolt is inserted through the countersunk space of the clampband 108 to be matched with the first threaded hole 1084, and as the bolt is screwed into the first threaded hole 1084, the inner diameter of the clampband 108 is gradually reduced, so as to apply a clamping force to the radial direction at the opening of the connecting shaft 106, and further, the diameter at the opening of the connecting shaft 106 is gradually reduced, so as to clamp the connecting shaft 106 to the output shaft 1042. Finally, the connecting shaft 106 is connected with the transmission rod 102, so that the output shaft 1042, the connecting shaft 106 and the transmission rod 102 are integrated, and therefore, when the motor works, the output shaft 1042 rotates to drive the connecting shaft 106 to rotate, so as to drive the transmission shaft to transmit, and further, the output shaft 1042 of the motor drives the transmission shaft to transmit.
In an embodiment of the present invention, first, a first key groove is provided on the outer wall of the output shaft 1042, and a second key groove is provided on the inner wall of the connecting shaft 106; then, the output shaft 1042 is inserted into the connecting shaft 106, and the first key groove and the second key groove are matched through a key, so that the purpose of connecting the output shaft 1042 with the connecting shaft 106 is achieved; finally, the connecting shaft 106 is connected with the transmission rod 102, and the output shaft 1042 and the connecting shaft 106 are integrated with the transmission rod 102, so that when the motor works, the output shaft 1042 rotates to drive the connecting shaft 106 to rotate, thereby driving the transmission shaft to transmit, and further realizing that the output shaft 1042 of the motor drives the transmission shaft to transmit.
In a second embodiment of the invention, the invention provides a surgical instrument of a surgical robot, which comprises the driving assembly according to any one of the above embodiments, so that the surgical instrument of the surgical robot comprises all the advantages of the driving assembly according to any one of the above embodiments.
In an embodiment of the third aspect of the present invention, the present invention provides a surgical robot, including the surgical instrument of the surgical robot according to the above-mentioned embodiment, and therefore, the surgical instrument of the surgical robot includes all the advantageous effects of the surgical instrument of the surgical robot according to the above-mentioned embodiment.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. 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 of the present invention, 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 present invention. In the present invention, 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 (8)
1. A drive assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot including a transmission portion, the transmission portion being provided with a transmission rod, the drive assembly comprising:
a drive device provided with an output shaft;
one end of the connecting shaft is connected with the output shaft, and the other end of the connecting shaft is connected with the transmission rod;
the output shaft drives the connecting shaft to rotate, and the connecting shaft drives the transmission rod to rotate;
a plurality of openings are axially formed in one end, connected with the output shaft, of the connecting shaft;
the connecting shaft is clamped on the output shaft through a clamping hoop;
the clampband is of an annular structure with a notch;
the clamp is characterized in that a countersunk hole is formed in one side of the notch along the tangential direction, a first threaded hole is formed in the other side of the notch along the tangential direction, and a bolt penetrates through the countersunk hole and then is matched with the first threaded hole to clamp the clamp.
2. The driving assembly as claimed in claim 1, wherein the connecting shaft is a tubular structure having a hollow cavity and is sleeved on the output shaft.
3. The drive assembly of claim 1, wherein a diameter at an opening of the connecting shaft is smaller than a diameter at a non-opening of the connecting shaft.
4. The drive assembly according to claim 2, wherein a second threaded hole is radially formed at a joint of the connecting shaft and the output shaft, and a set screw is screwed into the second threaded hole and then attached to the output shaft.
5. The drive assembly of claim 2,
a first key groove is formed in the outer wall of the output shaft, and a second key groove is formed in the inner wall of the connecting shaft;
wherein the first keyway and the second keyway are keyed together.
6. The drive assembly according to any one of claims 1 to 5, wherein the drive means is an electric motor.
7. Surgical instrument of a surgical robot, characterized in that it comprises a drive assembly according to any of claims 1 to 6.
8. A surgical robot characterized by comprising the surgical instrument of the surgical robot as claimed in claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710645826.7A CN107307908B (en) | 2017-07-31 | 2017-07-31 | Drive assembly, surgical instrument of surgical robot and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710645826.7A CN107307908B (en) | 2017-07-31 | 2017-07-31 | Drive assembly, surgical instrument of surgical robot and surgical robot |
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| CN107307908A CN107307908A (en) | 2017-11-03 |
| CN107307908B true CN107307908B (en) | 2021-04-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108186119B (en) * | 2018-01-29 | 2020-03-20 | 田亚丽 | Operation robot operating device driven by rotation |
| CN113669354A (en) * | 2021-07-06 | 2021-11-19 | 福建群峰机械有限公司 | Synchronous spline shaft, production process of synchronous spline shaft and material distributing vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207870966U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | Drive component, the surgical instrument of operating robot and operating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5855423B2 (en) * | 2011-11-01 | 2016-02-09 | オリンパス株式会社 | Surgery support device |
| US10194922B2 (en) * | 2012-05-11 | 2019-02-05 | Peter L. Bono | Rotary oscillating bone, cartilage, and disk removal tool assembly |
| US20140001234A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
| US10058310B2 (en) * | 2013-03-13 | 2018-08-28 | Ethicon Llc | Electrosurgical device with drum-driven articulation |
| CN103976792B (en) * | 2014-06-04 | 2016-03-23 | 哈尔滨工业大学 | For automatically cleaning and the tilt adjustment drive mechanism of intraperitoneal vision robot unit |
| CN204133540U (en) * | 2014-08-20 | 2015-02-04 | 许波 | The adjustable bone drill of a kind of moment of torsion |
| CN104799891A (en) * | 2015-04-08 | 2015-07-29 | 天津大学 | Instrument for robot-assisted micro-invasive surgery |
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| CN207870966U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | Drive component, the surgical instrument of operating robot and operating robot |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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