CN109771036B - End effector device - Google Patents
End effector device Download PDFInfo
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- CN109771036B CN109771036B CN201910199502.4A CN201910199502A CN109771036B CN 109771036 B CN109771036 B CN 109771036B CN 201910199502 A CN201910199502 A CN 201910199502A CN 109771036 B CN109771036 B CN 109771036B
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Abstract
The invention discloses a terminal effector device which comprises a terminal effector and a quick-change locking assembly, wherein the terminal effector comprises an installation barrel, the installation barrel is provided with an inner cavity used for being sleeved on a surgical instrument, two ends of the inner cavity are respectively provided with a quick-change end and an abutting end, the quick-change locking assembly is connected to the quick-change end, the quick-change locking assembly is detachably connected to the surgical instrument, and the abutting end is used for supporting and abutting against the surgical instrument. According to the terminal effector device, the surgical instrument is arranged on the mounting cylinder through the quick-change locking assembly, so that the quick disassembly and assembly are realized, the connection is stable, the operation is convenient, the working efficiency is improved, and the structure is compact.
Description
Technical Field
The present invention relates to an end effector apparatus.
Background
The operation robot is an important means for realizing the minimally invasive operation of the surgical wounds, the intelligentization of equipment and the digitization of information, the use of the operation robot breaks through the limitation of the traditional operation, the precision and the level of the operation can be greatly improved, the operation wound of a patient is reduced, and the recovery time is shortened. In order to complete the corresponding operation of the robot operation, different surgical instruments need to be replaced on the end effector of the robot to complete the corresponding operation, and the replacement operation is inconvenient, takes long time and causes low working efficiency.
Disclosure of Invention
The invention aims to overcome the defects of inconvenient replacement operation, long time consumption and low working efficiency in the prior art and provides an end effector device.
The invention solves the technical problems through the following technical scheme:
the terminal effector device is characterized by comprising a terminal effector and a quick-change locking assembly, wherein the terminal effector comprises a mounting barrel, the mounting barrel is provided with an inner cavity used for being sleeved on a surgical instrument, two ends of the inner cavity are respectively provided with a quick-change end and a propping end, the quick-change locking assembly is connected to the quick-change end, the quick-change locking assembly is detachably connected to the surgical instrument, and the propping end is used for supporting and propping against the surgical instrument.
In this scheme, adopt above-mentioned structural style, make surgical instruments installation or dismantle in an installation section of thick bamboo through quick change locking Assembly, realize quick assembly disassembly, connect stably, convenient operation has improved work efficiency. Meanwhile, the terminal effector device has compact integral structure, small volume and light weight.
Preferably, the end effector further comprises an inner sleeve, the inner sleeve is disposed in the inner cavity, and the inner sleeve is connected to the abutting end.
In this scheme, adopt above-mentioned structural style, support through interior axle sleeve and lean on the outer peripheral face that contacts in surgical instruments, surgical instruments plays fixedly and reduces load coefficient of friction through interior axle sleeve at the in-process that uses, has improved the stability of terminal effector device.
Preferably, the terminal effector further comprises a handle and a connecting boss, two ends of the handle are respectively connected with the connecting boss and the outer surface of the mounting cylinder, a mounting groove is formed in the connecting boss, the terminal effector device further comprises a force sensor assembly, and the force sensor assembly is connected with the mounting groove.
In this scheme, adopt above-mentioned structural style, use convenient operation, and compact structure, it is convenient to connect.
Preferably, the quick-change locking assembly comprises a locking inner sleeve, a locking outer sleeve, a locking spring and at least one locking member, the locking inner sleeve and the locking outer sleeve are both located in the inner cavity, the locking inner sleeve is connected to the quick-connection end, the locking outer sleeve is slidably arranged on the outer wall surface of the locking inner sleeve, two ends of the locking spring respectively abut against the locking inner sleeve and the locking outer sleeve, a limiting groove is formed between the locking inner sleeve and the locking outer sleeve, at least one through hole is formed in the locking inner sleeve, the through holes correspond to the locking member one by one, the through holes are communicated with the limiting groove, and the locking member slides in the through hole;
when the locking outer sleeve slides on the outer wall surface of the locking inner sleeve, the locking piece abuts against the locking outer sleeve and is exposed out of the inner wall surface of the locking inner sleeve; or the locking member retracts to the perforation and is inserted into the limiting groove.
In the scheme, the structure is adopted, so that the surgical instrument is quickly locked and released, the operation is convenient, and the clinical use requirements are met; meanwhile, the structure is simple, the whole structure is compact, and the size is small.
Preferably, the outer wall of locking endotheca is equipped with the bellying of outside extension, the locking overcoat is including the outer cover and the wedge cover body, the outer cover is slided to be located the outer wall of locking endotheca, locking spring set up in the outer cover with between the locking endotheca, just locking spring's both ends support respectively support in the bellying with the outer cover, wedge cover body coupling in the internal face of outer cover, just the wedge cover body with form between the locking endotheca spacing groove, the internal face of the wedge cover body has the wedge face, the retaining member support in the wedge face and in slide on the wedge face.
In this scheme, adopt above-mentioned structural style, be convenient for the locking spring installation through the bellying and use, simple structure and compactness.
In addition, make the retaining member can enter into spacing recess smoothly through the wedge-shaped face in, improved the stability of terminal effector device.
Preferably, the terminal effector device further includes a striking device, the striking device includes a striking rod and a striking head, the striking head is connected to the left end of the striking rod, an inwardly concave sliding groove and an outwardly convex first positioning portion are sequentially disposed on the outer peripheral surface of the striking rod from left to right, the sliding groove extends along the length direction of the striking rod, the quick-change locking component is inserted into the sliding groove and slides along the length direction of the striking rod in the sliding groove, and the first positioning portion is used for abutting against the abutting end.
In this scheme, adopt above-mentioned structural style, guaranteed the accurate installation of end effector device through first locating part.
In addition, the locking component is quickly replaced to move in the sliding groove, so that the stability of the striker in the using process is ensured.
Preferably, the terminal effector device further comprises a rotator, the rotator comprises an interface section, a rotating shaft section and a joint section which are sequentially connected from left to right, an inward concave annular groove and an outward convex second positioning portion are sequentially arranged on the outer peripheral surface of the rotating shaft section from left to right, the quick-change locking assembly is inserted into the annular groove and slides along the circumferential direction of the rotator in the annular groove, and the second positioning portion is used for abutting against the abutting end.
In this scheme, adopt above-mentioned structural style, second location portion has the positioning action for quick change locking Assembly can pinpoint insert to the ring channel in.
In addition, the quick-change locking assembly rotates and moves in the annular groove, so that the stability of the terminal effector device is greatly improved.
Preferably, the end effector device further comprises an instrument power source connected to the rotator and used for driving the rotator to rotate.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
according to the terminal effector device, the surgical instrument is arranged on the mounting cylinder through the quick-change locking assembly, so that the quick disassembly and assembly are realized, the connection is stable, the operation is convenient, the working efficiency is improved, and the structure is compact.
Drawings
Fig. 1 is a schematic structural view of an end effector apparatus according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of an internal structure of a quick-change locking assembly of an end effector apparatus according to embodiment 1 of the present invention.
Fig. 3 is an exploded view of a quick-change locking assembly of an end effector assembly according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of a striker of an end effector apparatus according to embodiment 1 of the present invention.
Fig. 5 is a schematic structural view of an end effector apparatus according to embodiment 2 of the present invention.
Fig. 6 is a schematic structural view of a rotator of an end effector apparatus according to embodiment 2 of the present invention.
Description of reference numerals:
end effector 1
Fast connecting end 111
Abutting end 112
Quick-change locking assembly 2
Locking inner sleeve 21
Through hole 211
Convex part 212
Wedge-face 223
Locking spring 23
Locking member 24
Limiting groove 25
Beater 4
Striking head 41
Sliding groove 421
Rotator 5
Rotating shaft section 52
Detailed Description
The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1, 2, 3 and 4, the end effector apparatus according to the embodiment of the present invention includes an end effector 1 and a quick-change locking assembly 2, wherein the end effector 1 includes a mounting barrel 11, the mounting barrel 11 has an inner cavity for being sleeved on a surgical instrument, two ends of the inner cavity respectively have a quick-change end 111 and an abutting end 112, the quick-change locking assembly 2 is connected to the quick-change end 111, the quick-change locking assembly 2 is configured to be detachably connected to the surgical instrument, and the abutting end 112 is configured to be supported against the surgical instrument. The surgical instrument passes through the inner cavity of the mounting barrel 11 and is mounted and connected to the mounting barrel 11, the quick-change end 111 of the inner cavity can be detachably connected to the surgical instrument through the quick-change locking assembly 2, and the abutting end 112 of the inner cavity is used for abutting and supporting the surgical instrument. Make surgical instruments install or dismantle in an installation section of thick bamboo 11 through quick change locking Assembly 2 for it is convenient and quick to change different surgical instruments on the terminal effector device, realizes quick assembly disassembly, connects stably, and convenient operation has improved work efficiency. Meanwhile, the terminal effector device has the advantages of compact integral structure, small volume, light weight and attractive appearance.
The end effector 1 further includes an inner hub 12, the inner hub 12 being disposed within the interior cavity, and the inner hub 12 being connected to the abutment end 112. The abutting end 112 of the inner cavity abuts and contacts with the outer peripheral surface of the surgical instrument through the inner shaft sleeve 12, and the surgical instrument plays a role in fixing and reducing load friction coefficient through the inner shaft sleeve 12 in the using process, so that the stability of the end effector device is improved. Wherein the inner hub 12 is detachably connected to the mounting tube 11 by a set screw.
Terminal effector 1 is still including handle 13 and connection boss 14, and the both ends of handle 13 are connected respectively in the surface of connecting boss 14 and installation section of thick bamboo 11, connect and have the mounting groove in the boss 14, and terminal effector device still includes force sensor subassembly 3, and force sensor subassembly 3 is connected in the mounting groove. When the terminal effector device is used, an operator holds the handle 13 by hands, and the terminal effector device is convenient to use and operate, compact in structure and convenient to connect. Wherein, the mounting tube 11, the handle 13 and the connecting boss 14 are integrally formed.
The quick-change locking assembly 2 comprises a locking inner sleeve 21, a locking outer sleeve 22, a locking spring 23 and at least one locking member 24, wherein the locking inner sleeve 21 and the locking outer sleeve 22 are positioned in the inner cavity, the locking inner sleeve 21 is connected to the quick-connection end 111, the locking outer sleeve 22 is slidably arranged on the outer wall surface of the locking inner sleeve 21, two ends of the locking spring 23 respectively abut against the locking inner sleeve 21 and the locking outer sleeve 22, a limiting groove 25 is formed between the locking inner sleeve 21 and the locking outer sleeve 22, at least one through hole 211 is formed in the locking inner sleeve 21, the through holes 211 correspond to the locking member 24 one by one, the through holes 211 are communicated with the limiting groove 25, and the locking member 24 slides in the through hole 211; when the locking outer sleeve 22 slides on the outer wall surface of the locking inner sleeve 21, the locking piece 24 abuts against the locking outer sleeve 22 and is exposed out of the inner wall surface of the locking inner sleeve 21; or the locker 24 is retracted into the penetration hole 211 and inserted into the retaining groove 25.
The quick-change locking assembly 2 is connected with the surgical instrument through the locking part 24, in an initial state, the quick-change locking assembly 2 is connected with the surgical instrument, the locking part 24 abuts against the locking outer sleeve 22 and is exposed out of the inner wall surface of the locking inner sleeve 21, and the part exposed out of the locking part 24 is connected and matched with the surgical instrument; when needs are dismantled and are changed, refer to fig. 2, through the effort on locking overcoat 22, make locking overcoat 22 slide left at the outer wall of locking endotheca 21, make the left end space grow of spacing recess 25, make spacing recess 25 have the space that holds retaining member 24, retaining member 24 will retract to perforate 211 and insert to spacing recess 25 in, retaining member 24 will no longer expose in the internal face of locking endotheca 21 this moment, make the dismantlement of retaining member 24 and surgical instruments, thereby realize the dismantlement change to surgical instruments, after the change is accomplished, no longer the effort is on locking overcoat 22, exert right effort to locking overcoat 22 through locking spring 23, quick change locking subassembly 2 returns to initial condition. Simple structure, overall structure is compact, and is small, and can realize surgical instruments's quick locking and release, convenient operation accords with clinical use demand.
The outer wall surface of the locking inner sleeve 21 is provided with a convex portion 212 extending outwards, the locking outer sleeve 22 comprises an outer sleeve 221 and a wedge sleeve 222, the outer sleeve 221 is slidably arranged on the outer wall surface of the locking inner sleeve 21, the locking spring 23 is arranged between the outer sleeve 221 and the locking inner sleeve 21, and two ends of the locking spring 23 respectively abut against the convex portion 212 and the outer sleeve 221. The right end of the outer sleeve 221 has a furling portion extending inwards, so that a space for accommodating the locking spring 23 is formed between the outer sleeve 221 and the locking inner sleeve 21, the left end of the locking spring 23 abuts against the protruding portion 212, and the right end of the locking spring 23 abuts against the furling portion.
The wedge sleeve body 222 is connected to the inner wall surface of the outer sleeve body 221, a limiting groove 25 is formed between the wedge sleeve body 222 and the locking inner sleeve 21, the inner wall surface of the wedge sleeve body 222 is provided with a wedge surface 223, and the locking member 24 abuts against the wedge surface 223 and slides on the wedge surface 223. Wedge face 223 has the guide effect, and surgical instrument is when needing to dismantle the change, and retaining member 24 supports and leans on in wedge face 22 and slide on wedge face 223, makes retaining member 24 can enter into to spacing recess 25 smoothly through wedge face 223, has improved the stability of terminal effector device. The outer sleeve 221 and the wedge sleeve 222 are connected by a headless screw, the locking inner sleeve 21 is connected with the mounting barrel 11 by a headless screw, and the locking member 24 is a steel ball.
In this embodiment, the end effector apparatus further includes a striking device 4, the striking device 4 includes a striking rod 42 and a striking head 41, the striking head 41 is connected to the left end of the striking rod 42, an inwardly recessed sliding groove 421 and an outwardly protruding first positioning portion 422 are sequentially disposed on the outer peripheral surface of the striking rod 42 from left to right, the sliding groove 421 extends along the length direction of the striking rod 42, the quick-change locking component 2 is inserted into the sliding groove 421 and slides along the length direction of the striking rod 42 in the sliding groove 421, and the first positioning portion 422 is used for abutting against the abutting end 112. The left end of striking rod 42 is inserted from abutting end 112 of mounting tube 11 through the internal cavity and retaining member 24 will be inserted into sliding slot 421 to effect attachment of striking rod 42 to end effector 1, and then striking head 41 is attached to the left end of striking rod 42 to effect attachment of the end effector assembly. The sliding groove 421 has a limiting function, and the locking member 24 moves in the sliding groove 421 in the use process of the beater 4, so that the stability of the beater 4 in the use process is ensured; meanwhile, the first positioning part 422 has a positioning function, and the inner shaft sleeve 12 can be abutted against the first positioning part 422 during assembly, so that the accurate installation of the end effector device is ensured.
Example 2
As shown in fig. 5 and 6, the same parts of the end effector apparatus of the present embodiment as those of embodiment 1 will not be repeated, and only the differences will be described. The end effector device of the present embodiment does not include a striker, the end effector device includes a rotator 5, the rotator 5 includes an interface section 51, a rotating shaft section 52 and a joint section 53, which are sequentially connected from left to right, an inward recessed annular groove 521 and an outward protruding second positioning portion 522 are sequentially disposed on the outer circumferential surface of the rotating shaft section 52 from left to right, the quick-change locking assembly 2 is inserted into the annular groove 521 and slides in the annular groove 521 along the circumferential direction of the rotator 5, and the second positioning portion 522 is used for abutting against the abutting end 112. The left end of the rotator 5 is inserted from the abutment end 112 of the mounting barrel 11 through the inner cavity, and the locking member in the quick-change locking assembly 2 will be inserted into the annular groove 521, thereby achieving the connection of the rotator 5 with the end effector 1. The second positioning portion 522 has a positioning function, and the inner sleeve 12 will abut against the second positioning portion 522 during assembly, so that the quick-change locking assembly 2 can be accurately positioned and inserted into the annular groove 521. When the end effector device is used, the rotator 5 can rotate, the locking piece in the quick-change locking assembly 2 can rotate and move in the annular groove 521, and the stability of the end effector device is greatly improved.
The end effector assembly further includes an instrument power source 6, the instrument power source 6 being coupled to the rotator 5 and configured to drive the rotator 5 in rotational motion. The instrument power source 6 is used to provide torsional force so that the end effector assembly can be used for acetabular milling in robotic surgery.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (7)
1. The terminal effector device is characterized by comprising a terminal effector and a quick-change locking assembly, wherein the terminal effector comprises an installation barrel, the installation barrel is provided with an inner cavity used for being sleeved on a surgical instrument, two ends of the inner cavity are respectively provided with a quick-change end and an abutting end, the quick-change locking assembly is connected to the quick-change end, the quick-change locking assembly is detachably connected to the surgical instrument, the abutting end is used for supporting and abutting against the surgical instrument, the terminal effector further comprises a handle and a connecting boss, two ends of the handle are respectively connected to the connecting boss and the outer surface of the installation barrel, a mounting groove is formed in the connecting boss, the terminal effector device further comprises a force sensor assembly, and the force sensor assembly is connected to the mounting groove.
2. The end effector assembly of claim 1, wherein the end effector further includes an inner hub disposed within the interior cavity, the inner hub coupled to the abutment end.
3. The end effector assembly according to claim 1, wherein the quick-change locking assembly includes an inner locking sleeve, an outer locking sleeve, a locking spring and at least one locking member, the inner locking sleeve and the outer locking sleeve are both located in the inner cavity, the inner locking sleeve is connected to the quick-change end, the outer locking sleeve is slidably disposed on an outer wall surface of the inner locking sleeve, two ends of the locking spring respectively abut against the inner locking sleeve and the outer locking sleeve, a limiting groove is formed between the inner locking sleeve and the outer locking sleeve, at least one through hole is formed in the inner locking sleeve, the through holes correspond to the locking member one by one, the through holes are communicated with the limiting groove, and the locking member slides in the through hole;
when the locking outer sleeve slides on the outer wall surface of the locking inner sleeve, the locking piece abuts against the locking outer sleeve and is exposed out of the inner wall surface of the locking inner sleeve; or the locking member retracts to the perforation and is inserted into the limiting groove.
4. The end effector device of claim 3, wherein the outer wall surface of the locking inner sleeve is provided with a protrusion extending outward, the locking outer sleeve comprises an outer sleeve body and a wedge sleeve body, the outer sleeve body is slidably disposed on the outer wall surface of the locking inner sleeve, the locking spring is disposed between the outer sleeve body and the locking inner sleeve, two ends of the locking spring respectively abut against the protrusion and the outer sleeve body, the wedge sleeve body is connected to the inner wall surface of the outer sleeve body, the wedge sleeve body and the locking inner sleeve form the limiting groove, the inner wall surface of the wedge sleeve body is provided with a wedge surface, and the locking member abuts against the wedge surface and slides on the wedge surface.
5. The end effector assembly according to any one of claims 1 to 4, wherein the end effector assembly further includes a striking mechanism, the striking mechanism includes a striking rod and a striking head, the striking head is connected to a left end of the striking rod, an inwardly recessed sliding groove and an outwardly protruding first positioning portion are sequentially provided on an outer circumferential surface of the striking rod from left to right, the sliding groove extends along a length direction of the striking rod, the quick-change locking assembly is inserted into the sliding groove and slides along the length direction of the striking rod in the sliding groove, and the first positioning portion is configured to abut against the abutting end.
6. The end effector device according to any one of claims 1 to 4, wherein the end effector device further comprises a rotator, the rotator comprises an interface section, a rotating shaft section and a joint section which are sequentially connected from left to right, an inwardly recessed annular groove and an outwardly protruding second positioning portion are sequentially arranged on the outer circumferential surface of the rotating shaft section from left to right, the quick-change locking assembly is inserted into the annular groove and slides in the annular groove along the circumferential direction of the rotator, and the second positioning portion is used for abutting against the abutting end.
7. The end effector assembly of claim 6, further comprising an instrument power source coupled to the rotator for driving rotational movement of the rotator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910199502.4A CN109771036B (en) | 2019-03-15 | 2019-03-15 | End effector device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910199502.4A CN109771036B (en) | 2019-03-15 | 2019-03-15 | End effector device |
Publications (2)
| Publication Number | Publication Date |
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| CN109771036A CN109771036A (en) | 2019-05-21 |
| CN109771036B true CN109771036B (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910199502.4A Active CN109771036B (en) | 2019-03-15 | 2019-03-15 | End effector device |
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| CN (1) | CN109771036B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112057119B (en) * | 2020-09-11 | 2021-05-18 | 杭州键嘉机器人有限公司 | End effector |
| CN113796964B (en) * | 2021-09-27 | 2023-06-20 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN114052916B (en) * | 2021-11-15 | 2023-08-08 | 山东大学 | Handheld surgical robot based on rod transmission |
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| CN109771036A (en) | 2019-05-21 |
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