CN107320191B - Transmission assembly, surgical instrument of surgical robot and surgical robot - Google Patents
Transmission assembly, surgical instrument of surgical robot and surgical robot Download PDFInfo
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- CN107320191B CN107320191B CN201710646011.0A CN201710646011A CN107320191B CN 107320191 B CN107320191 B CN 107320191B CN 201710646011 A CN201710646011 A CN 201710646011A CN 107320191 B CN107320191 B CN 107320191B
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- surgical
- transmission rod
- rod
- transmission
- 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/12—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying rotary motion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention provides a transmission assembly, a surgical instrument of a surgical robot and the surgical robot, wherein the transmission assembly comprises: one end of the first transmission rod is rotationally connected with the operation execution part through a first pin shaft; the second transmission rod is connected with the driving assembly; one end of the driving rod is rotatably connected with one end of the second transmission rod, and the other end of the driving rod is rotatably connected with the operation execution part through a second pin shaft; the driving assembly drives the second transmission rod to move, and the second transmission rod drives the driving rod to move so that the operation executing part rotates around the first pin shaft. The transmission assembly provided by the invention realizes a movement mode of rotating the operation execution part along a certain shaft, so that the operation execution part has a degree of freedom of rotation and can realize reliable rotation in a limited space, and the flexibility of the movement of the operation execution part is improved.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a transmission 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 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 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 the first aspect of the present invention proposes a transmission assembly.
In a second aspect of the embodiment of the invention, a surgical instrument of a surgical robot is also provided.
In a third 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 transmission assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot including a driving assembly and a surgical executing part, the transmission assembly including: one end of the first transmission rod is rotationally connected with the operation execution part through a first pin shaft; the second transmission rod is connected with the driving assembly; one end of the driving rod is rotatably connected with one end of the second transmission rod, and the other end of the driving rod is rotatably connected with the operation execution part through a second pin shaft; the driving assembly drives the second transmission rod to move, and the second transmission rod drives the driving rod to move so that the operation executing part rotates around the first pin shaft.
The transmission assembly provided by the invention can drive the second transmission rod and the driving rod to move through the driving assembly so as to enable the operation execution part to rotate around the first pin shaft, thus realizing a movement mode of rotating the operation execution part along a certain shaft, enabling the operation execution part to have a rotational degree of freedom and to realize reliable rotation in a limited space, and enabling the rotation to be similar to the front-back rotation of a human wrist joint, thereby improving the flexibility of the movement of the operation execution part, enabling the operation execution part to be more flexible and convenient when actually controlling the operation execution part, improving the functionality of an operation instrument of an operation robot with the transmission assembly, and improving the flexibility of operation.
In addition, the transmission assembly provided by the invention in the above embodiment may further have the following additional technical features:
in the above technical solution, preferably, the first transmission rod is a hollow structure, and the second transmission rod is disposed in the first transmission rod.
In the technical scheme, the first transmission rod is of a hollow structure, the second transmission rod is arranged in the first transmission rod, and the second transmission rod is embedded in the first transmission rod, so that the volumes of the transmission assembly and surgical instruments of the surgical robot are reduced, the occupation of the surgical instruments of the transmission assembly surgical robot on the space is effectively reduced, and the structure of the device is more compact and reasonable.
In any of the above technical solutions, preferably, the method further includes: the guide block is arranged in the first transmission rod and provided with a guide groove, and the driving rod is embedded in the guide groove.
In this technical scheme, inlay the actuating lever in the guide way of guide block through setting up the guide block, realize that the guide block plays the effect of direction to the actuating lever, can improve transmission efficiency like this and guaranteed the accuracy of actuating lever direction of motion and the stability of motion effectively.
In any one of the above technical solutions, preferably, a limiting structure is disposed in the first transmission rod, and the limiting structure is used for limiting the first transmission rod.
In the technical scheme, a limiting structure used for limiting the first transmission rod is arranged in the first transmission rod, so that the situation that the operation execution part is excessively rotated and cannot be normally reset due to the fact that the first transmission rod moves for multiple times is prevented, and the rotation range of the operation execution part is limited accordingly.
In any of the above technical solutions, preferably, the rotation angle of the surgical operation performing part ranges from 50 ° to 100 °.
In the technical scheme, the range of the rotation angle of the operation executing part is 50 degrees to 100 degrees, namely the range of the angle allowing the rotation of the operation executing part from the middle position to the same direction is 25 degrees to 50 degrees, and the optimal angle is generally 45 degrees, so that the rotation functionality of the operation executing part can be ensured, and the situation that the operation executing part cannot be normally reset due to over-rotation is avoided.
Embodiments of the second aspect of the present invention also provide a surgical instrument of a surgical robot, comprising: a drive assembly; a surgical execution section; and the transmission component, the driving component and the operation executing part are respectively connected with the transmission component.
According to the surgical instrument of the surgical robot, the transmission assembly is adopted, so that a movement mode that the surgical execution part rotates along a certain shaft is realized, the surgical execution part has a degree of freedom of rotation and can reliably rotate in a limited space, the movement flexibility of the surgical execution part is improved, the surgical execution part can be more flexibly and conveniently controlled actually, the functionality of the surgical instrument of the surgical robot is improved, and the flexibility of surgical operation is improved.
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, the driving assembly includes: the second transmission rod is connected with the connecting block; the connecting block is sleeved on the screw rod; the output shaft of the motor is connected with the screw rod; the motor drives the screw rod to rotate and drives the connecting block to move along the axial direction of the screw rod, so that the second transmission rod moves.
In this technical scheme, through setting up the lead screw in order to change the linear motion of connecting block into with the rotation of motor, and then drive the motion of second transfer line so that operation execution portion rotates, realized by the ascending conversion of drive assembly to second transfer line direction of motion, promoted the flexibility that the interior structure of device set up simultaneously, also be convenient for subsequent maintenance and change simultaneously.
In any of the above technical solutions, preferably, the second transmission rod is sleeved with a fixing ring; the connecting block is provided with the mounting groove, and solid fixed ring presss from both sides and establishes in the mounting groove.
In this technical scheme, through the cooperation of the mounting groove on solid fixed ring and the connecting block in order to be connected second transfer line and connecting block for the second transfer line is unanimous with the motion of connecting block, promotes the control accuracy to second transfer line and operation execution portion.
In any of the above technical solutions, preferably, one end of the screw rod is provided with a first connecting disc, and an output shaft of the motor is provided with a second connecting disc; wherein, be provided with the recess on one in first connection pad and the second connection pad, be provided with the arch on the other, recess and protruding looks adaptation are through recess and bellied cooperation so that the second connection pad drives first connection pad and rotates.
In this technical scheme, the output shaft of lead screw and motor is connected through first connection pad and second connection pad, wherein is provided with arch or recess on two connection pads respectively, has more promoted the flexibility and the commonality of device structure like this, also is convenient for first connection pad and second connection pad to find the accuracy when the rotatory in-process of motor simultaneously, realizes reliable connection between them.
In any of the above solutions, preferably, the surgical implement includes scissors, graspers, electrical hooks, separation forceps, needle holders, or endoscopes.
In the technical scheme, the operation executing part comprises scissors, a grasper, an electric hook, a separating forceps, a needle holder or an endoscope, the various operation executing parts need complicated motion control in the actual use process, and the surgical instrument of the surgical robot can realize reliable and high-precision rotation of the various operation executing parts, thereby improving the flexibility of the operation of the surgical instrument of the surgical robot and ensuring the normal operation of the operation.
Embodiments of the third aspect of the invention also provide a surgical robot comprising: the surgical instrument of the surgical robot.
The surgical robot provided by the invention adopts the surgical instrument of the surgical robot, realizes a motion mode of rotating the surgical execution part along a certain shaft, so that the surgical execution part has a rotational degree of freedom and can realize reliable rotation in a limited space, and the rotation is similar to the front-back rotation of a human wrist joint, thereby improving the flexibility of the motion of the surgical execution part, enabling the surgical execution part to be more flexible and convenient to control actually, improving the functionality of the surgical robot, and improving the flexibility of surgical operation.
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 schematic structural diagram of one embodiment of the present invention;
FIG. 5 is an enlarged partial view of portion C of the structure of FIG. 4;
FIG. 6 is a schematic structural view of a transmission assembly according to an embodiment of the present invention;
FIG. 7 is an enlarged partial schematic view of portion D of the structure shown in FIG. 6;
fig. 8 is a schematic structural diagram of a driving assembly according to an embodiment of the invention.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 8 is:
102 a first transmission rod, 104 a first pin shaft, 106 a second transmission rod, 1062 a fixed ring, 108 a driving rod, 110 a second pin shaft, 2 a surgical instrument of a surgical robot, 22 a surgical execution part, 24 a driving component, 242 a connecting block, 2422 a mounting groove, 244 a lead screw, 2442 a first connecting disc, 246 a motor and 2462 a second connecting disc.
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 a transmission assembly, a surgical instrument of a surgical robot, and a surgical robot according to some embodiments of the present invention with reference to fig. 1 to 8.
As shown in fig. 1 to 7, the present invention provides a transmission assembly for a surgical instrument 2 of a surgical robot, the surgical instrument 2 of the surgical robot including a driving assembly 24 and a surgical implement 22, the transmission assembly including: a first transmission rod 102, one end of the first transmission rod 102 is rotatably connected with the operation executing part 22 through a first pin 104; a second drive link 106, the second drive link 106 being connected to the drive assembly 24; one end of the driving rod 108 is rotatably connected with one end of the second driving rod 106, and the other end of the driving rod 108 is rotatably connected with the operation executing part 22 through a second pin 110; wherein the driving assembly 24 drives the second transmission rod 106 to move, and the second transmission rod 106 drives the driving rod 108 to move so as to rotate the operation executing part 22 around the first pin 104.
The transmission assembly provided by the invention can drive the second transmission rod 106 and the driving rod 108 to move through the driving assembly 24 of the driving assembly 24 so as to enable the operation execution part 22 to rotate around the first pin shaft 104, thus realizing a movement mode of rotating the operation execution part 22 along a certain axis, enabling the operation execution part 22 to have a degree of freedom of rotation and to realize reliable rotation in a limited space, and the rotation is similar to the front-back rotation of a human wrist joint, thereby improving the flexibility of the movement of the operation execution part 22, enabling the operation execution part 22 to be more flexible and convenient when actually controlling, improving the functionality of the surgical instrument 2 of the surgical robot with the transmission assembly, and improving the flexibility of operation.
In one embodiment of the present invention, preferably, as shown in fig. 4 to 7, the first transmission rod 102 is a hollow structure, and the second transmission rod 106 is disposed in the first transmission rod 102.
In this embodiment, the first transmission rod 102 is a hollow structure, and the second transmission rod 106 is disposed in the first transmission rod 102, so that the second transmission rod 106 is embedded in the first transmission rod 102, thereby reducing the volume of the transmission assembly and the surgical instrument 2 of the surgical robot, further effectively reducing the space occupied by the surgical instrument 2 of the transmission assembly surgical robot, and making the structure of the device more compact and reasonable.
In one embodiment of the present invention, preferably, the method further includes: the guide block is arranged in the first transmission rod 102, the guide block is provided with a guide groove, and the driving rod 108 is embedded in the guide groove.
In this embodiment, the driving rod 108 is embedded in the guide groove of the guide block by the guide block, so that the guide block can guide the driving rod 108, thereby improving the transmission efficiency and effectively ensuring the accuracy of the movement direction of the driving rod 108 and the stability of the movement.
In an embodiment of the present invention, a limiting structure is preferably disposed in the first driving rod 102, and the limiting structure is used for limiting the first driving rod 102.
In this embodiment, a limiting structure is disposed in the first transmission rod 102 for limiting the first transmission rod 102, so as to prevent the surgical implement 22 from being rotated too much due to multiple movements of the first transmission rod 102 and being unable to be reset normally, and thus limit the rotation range of the surgical implement 22.
In one embodiment of the present invention, the rotation angle of the surgical implement 22 is preferably in the range of 50 ° to 100 °.
In this embodiment, the rotation angle of the operation performing portion 22 is in a range of 50 ° to 100 °, that is, the rotation angle of the operation performing portion 22 allowed to rotate from the middle position to the same direction is in a range of 25 ° to 50 °, and is preferably 45 °, so that the rotation functionality of the operation performing portion 22 can be ensured, and the operation performing portion 22 can not be normally reset due to over-rotation can be avoided.
The present invention also provides a surgical instrument 2 of a surgical robot, as shown in fig. 1 to 8, including: a drive assembly 24; a surgical operation execution unit 22; and the transmission assembly, the driving assembly 24 and the operation executing part 22 are respectively connected with the transmission assembly.
According to the surgical instrument 2 of the surgical robot, the transmission assembly is adopted, so that the movement mode that the surgical execution part 22 rotates along a certain shaft is realized, the surgical execution part 22 has a degree of freedom of rotation and can reliably rotate in a limited space, the movement flexibility of the surgical execution part 22 is improved, the surgical execution part 22 can be more flexibly and conveniently controlled, the functionality of the surgical instrument 2 of the surgical robot is improved, and the flexibility of surgical operation is improved.
In one embodiment of the present invention, preferably, as shown in fig. 1 and 2, the driving assembly 24 includes: the connecting block 242, the second transmission rod 106 is connected with the connecting block 242; the screw rod 244 is sleeved with the connecting block 242; a motor 246, an output shaft of the motor 246 is connected with the screw rod 244; wherein, the motor 246 drives the screw rod 244 to rotate and drives the connecting block 242 to move along the axial direction of the screw rod 244, so as to move the second transmission rod 106.
In this embodiment, the screw 244 is arranged to convert the rotation of the motor 246 into the linear motion of the connecting block 242, so as to drive the second transmission rod 106 to rotate the operation executing part 22, thereby realizing the conversion from the driving assembly 24 to the second transmission rod 106, improving the flexibility of the arrangement of the structure in the device, and facilitating the subsequent maintenance and replacement.
In one embodiment of the present invention, preferably, as shown in fig. 5, the second transmission rod 106 is sleeved with a fixing ring 1062; the connecting block 242 is provided with a mounting groove 2422, and the fixing ring 1062 is clamped in the mounting groove 2422.
In this embodiment, the second transmission rod 106 and the connection block 242 are connected by the fixing ring 1062 engaged with the mounting groove 2422 of the connection block 242 such that the second transmission rod 106 and the connection block 242 move in unison, thereby improving the control accuracy of the second transmission rod 106 and the surgical implement 22.
In one embodiment of the present invention, preferably, as shown in fig. 2 and 8, one end of the screw 244 is provided with a first connection disc 2442, and the output shaft of the motor 246 is provided with a second connection disc 2462; wherein, be provided with the recess on one in first connection pad 2442 and the second connection pad 2462, be provided with the arch on the other, recess and protruding looks adaptation are through recess and bellied cooperation so that second connection pad 2462 drives first connection pad 2442 and rotates.
In this embodiment, the screw 244 is connected to the output shaft of the motor 246 through a first connecting disc 2442 and a second connecting disc 2462, wherein the two connecting discs are respectively provided with a protrusion or a groove, so that the flexibility and the universality of the device structure are further improved, and the first connecting disc 2442 and the second connecting disc 2462 are conveniently aligned in the rotation process of the motor 246, so as to realize the reliable connection between the two.
In one embodiment of the present invention, surgical implement 22 preferably comprises scissors, graspers, electrical hooks, separation forceps, needle holders, or endoscopes.
In this embodiment, the surgical operation performing part 22 includes scissors, graspers, electric hooks, separation forceps, needle holders, or endoscopes, and the above-mentioned various surgical operation performing parts 22 require complicated motion control in the actual use process, and the surgical instrument 2 of the surgical robot can realize reliable and high-precision rotation for the various surgical operation performing parts 22, thereby improving the flexibility of the operation of the surgical instrument 2 of the surgical robot and ensuring the normal operation of the operation.
The present invention also provides a surgical robot comprising: the surgical instrument 2 of the surgical robot described above.
The surgical robot provided by the invention adopts the surgical instrument 2 of the surgical robot, so that a motion mode of rotating the surgical execution part 22 along a certain axis is realized, the surgical execution part 22 has a rotational degree of freedom and can realize reliable rotation in a limited space, and the rotation is similar to the front-back rotation of a wrist joint of a human body, so that the flexibility of the motion of the surgical execution part 22 is improved, the surgical execution part 22 can be more flexibly and conveniently controlled actually, the functionality of the surgical robot is improved, and the flexibility of surgical operation is 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 (5)
1. A surgical instrument of a surgical robot comprises a driving component, a transmission component and a surgical execution part, wherein the driving component and the surgical execution part are respectively connected with the transmission component, and the transmission component comprises:
one end of the first transmission rod is rotationally connected with the operation execution part through a first pin shaft;
the second transmission rod is connected with the driving assembly, and a fixing ring is sleeved on the second transmission rod;
one end of the driving rod is rotatably connected with one end of the second transmission rod, and the other end of the driving rod is rotatably connected with the operation execution part through a second pin shaft;
the driving assembly drives the second transmission rod to move, and the second transmission rod drives the driving rod to move so as to enable the operation executing part to rotate around the first pin shaft;
further comprising: the guide block is arranged in the first transmission rod, a guide groove is formed in the guide block, and the driving rod is embedded in the guide groove;
a limiting structure is arranged in the first transmission rod and used for limiting the first transmission rod;
the drive assembly includes:
the second transmission rod is connected with the connecting block, the connecting block is provided with an installation groove, and the fixing ring is clamped in the installation groove;
the connecting block is sleeved on the screw rod;
the output shaft of the motor is connected with the screw rod, and the motor drives the screw rod to rotate and drives the connecting block to move along the axial direction of the screw rod so as to enable the second transmission rod to move;
a first connecting disc is arranged at one end of the screw rod, and a second connecting disc is arranged on an output shaft of the motor;
one of the first connecting disc and the second connecting disc is provided with a groove, the other one of the first connecting disc and the second connecting disc is provided with a protrusion, the groove is matched with the protrusion, and the second connecting disc drives the first connecting disc to rotate through the matching of the groove and the protrusion.
2. A surgical instrument of a surgical robot according to claim 1,
the first transmission rod is of a hollow structure, and the second transmission rod is arranged in the first transmission rod.
3. A surgical instrument of a surgical robot according to claim 1 or 2,
the rotation angle of the operation performing part ranges from 50 ° to 100 °.
4. A surgical instrument of a surgical robot according to claim 3,
the operation executing part comprises scissors, a grasping forceps, an electric hook, a separating forceps, a needle holder or an endoscope.
5. A surgical robot, comprising:
a surgical instrument of a surgical robot as claimed in any of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710646011.0A CN107320191B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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| CN201710646011.0A CN107320191B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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| CN107320191A CN107320191A (en) | 2017-11-07 |
| CN107320191B true CN107320191B (en) | 2021-10-15 |
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| CN207870975U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | Transmission component, the surgical instrument of operating robot and operating robot |
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| CN107320191A (en) | 2017-11-07 |
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