CN110558929A - Handheld single-arm multi-degree-of-freedom laparoscope - Google Patents
Handheld single-arm multi-degree-of-freedom laparoscope Download PDFInfo
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- CN110558929A CN110558929A CN201910974014.6A CN201910974014A CN110558929A CN 110558929 A CN110558929 A CN 110558929A CN 201910974014 A CN201910974014 A CN 201910974014A CN 110558929 A CN110558929 A CN 110558929A
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- 230000007704 transition Effects 0.000 claims description 105
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 description 18
- 230000002093 peripheral effect Effects 0.000 description 12
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
Abstract
the invention discloses a handheld single-arm multi-degree-of-freedom laparoscope which is characterized by comprising operating forceps, an operating mechanical arm and a handheld part; the surgical robotic arm includes an execution arm and an operation arm. The invention has the beneficial effects that: when the manipulator is used, a user can manually operate the manipulator to enable the manipulator to synchronously drive the manipulator to correspondingly move, so that manual direct profiling operation is realized; the tensioning adjustment of the pull rope can be realized, and the stable and accurate control of the surgical forceps is facilitated; the worm and gear mechanism has a self-locking function and is reliable in tensioning; the operation joint of the operation arm can be independently locked, the degree of freedom of the execution arm or the posture of the locking execution arm is reduced, the subsequent operation of an operator is facilitated, and the misoperation probability of the operator can be greatly reduced.
Description
Technical Field
The invention relates to the field of laparoscopes, in particular to a handheld single-arm multi-degree-of-freedom laparoscope.
Background
Laparoscopic surgery has the advantages of small wound and quick recovery, and is widely applied to abdominal surgery, thoracic surgery, gynecology and urology surgery. A handheld single-arm multi-degree-of-freedom laparoscope is an important tool for manual laparoscopic surgery. The existing multi-degree-of-freedom laparoscopic surgical forceps are driven by ropes when opened and closed, but the pull ropes are not provided with tensioning adjusting devices, so that the opening and closing of the laparoscopic surgical forceps can not be accurately controlled after the laparoscopic surgical forceps are used for a long time, and the joints are driven by the ropes and have poor rigidity.
Disclosure of Invention
In order to solve the problems in the background technology, the invention discloses a handheld single-arm multi-degree-of-freedom laparoscope, which comprises surgical forceps, a surgical mechanical arm and a handheld part;
The surgical mechanical arm comprises an execution arm and an operation arm; the executing arm comprises n executing joints, n is an integer greater than or equal to 2, the tail end of the ith executing joint is hinged with the head end of the (i + 1) th executing joint through an ith connecting shaft, and i is an integer from 1 to n-1; the tail end of the ith execution joint is matched with n-i +1 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +1 i-stage transition executing gears are sleeved on the ith connecting shaft, the first i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear is vertically meshed with the first i-stage active executing gear to the (n-i + 1) th i-stage active executing gear in a one-to-one correspondence mode respectively, and the first i-stage transition executing gear is fixedly connected with the head end of the (i + 1) th executing joint; the head end of the (i + 1) th executing joint is matched with n-i driven executing gears which are coaxially overlapped in sequence, and the first i-stage driven executing gear to the (n-i) th i-stage driven executing gear and the second i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear are vertically meshed in a one-to-one corresponding mode respectively; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the n-j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j-stage driven execution gear at the head end of the j +1 th execution joint to the n-j-th j-stage driven execution gear one by one, and j is an integer from 1 to n-2; an executing rotating rod which is coaxially connected with an n-grade driven executing gear at the head end of the nth executing joint is rotatably matched in the nth executing joint, and the executing rotating rod is connected with the surgical forceps;
the operating arm comprises n operating joints, wherein the tail end of the ith operating joint is hinged with the head end of the (i + 1) th operating joint through an ith hinge shaft, and n-i +1 i-stage driving operating gears which are sequentially and coaxially stacked together are matched with the tail end of the ith operating joint; n-i +1 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the (n-i + 1) th i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the (i + 1) th operation joint; the head end of the (i + 1) th operating joint is matched with n-i grade driven operating gears which are coaxially stacked together in sequence, and the first i grade driven operating gear to the (n-i) th i grade driven operating gear are vertically meshed with the second i grade transition operating gear to the (n-i + 1) th i grade transition operating gear in a one-to-one corresponding mode respectively; the first j + 1-stage driving operation gear at the tail end of the j +1 th operation joint to the n-j + 1-stage driving operation gear are respectively and correspondingly and coaxially connected with the first j-stage driven operation gear at the head end of the j +1 th operation joint to the n-j-stage driven operation gear in a one-to-one correspondence mode; an operation rotating rod which is coaxially connected with an n-stage driven operation gear at the head end of the nth operation joint is rotatably matched in the nth operation joint; the operation rotating rod is connected with the handheld part;
The first primary driving operating gear to the nth primary driving operating gear at the tail end of the first operating joint are respectively in one-to-one corresponding synchronous transmission connection with the first primary driving executing gear to the nth primary driving executing gear at the tail end of the first executing joint;
the opening and closing of the surgical forceps are controlled by a pull rope; one end of the pull rope is connected with the operating forceps, and the other end of the pull rope is connected with the handheld part; the handheld part controls the opening and closing of the surgical forceps through controlling the pull rope.
the diameters of the first i-stage driving execution gear to the (n-i + 1) th i-stage driving execution gear are sequentially reduced; the first i-stage transition execution gear and the (n-i + 1) th i-stage transition execution gear are coaxially stacked together in sequence and the diameters of the transition execution gears are sequentially reduced; the diameters of the first i-stage driven execution gear to the nth-i-stage driven execution gear are sequentially reduced;
The diameters of the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear are sequentially reduced; the first i-stage transition operating gear to the (n-i + 1) th i-stage transition operating gear are coaxially stacked together in sequence, and the diameters of the transition operating gears are sequentially reduced; the diameters of the first i-stage driven operating gear to the n-i-th i-stage driven operating gear are sequentially reduced.
The head end of the first executing joint of the executing arm is connected with the head end of the first operating joint of the operating arm through a connecting arm; the first primary driving execution gear to the nth primary driving execution gear at the tail end of the first execution joint are respectively in one-to-one correspondence coaxial connection with the first primary driving operation gear to the nth primary driving operation gear at the tail end of the first operation joint.
The first i + 1-stage driving executing gear at the tail end of the (i + 1) th executing joint to the (n-i) th i + 1-stage driving executing gear are respectively and correspondingly coaxially connected with the first i + 1-stage driven executing gear to the (n-i) th i-stage driven executing gear at the head end of the (i + 1) th executing joint in a one-to-one correspondence mode through n-i hollow executing rotating shafts which are rotatably arranged in the (i + 1) th executing joint and sequentially penetrate from outside to inside;
the first primary active execution gear to the nth primary active execution gear at the tail end of the first execution joint are respectively in one-to-one correspondence coaxial connection with the first primary active operation gear to the nth primary active operation gear at the tail end of the first operation joint through n hollow connection rotating shafts which are rotatably arranged in the connecting arm and sequentially penetrate from outside to inside;
The first i + 1-stage driving operation gear from the tail end of the i +1 th operation joint to the n-i + 1-stage driving operation gear are respectively and correspondingly and coaxially connected with the first i + 1-stage driven operation gear from the head end of the i +1 th operation joint to the n-i-stage driven operation gear through n-i hollow operation rotating shafts which are rotatably arranged in the i +1 th operation joint and penetrate through the i +1 th operation joint from outside to inside in sequence;
The actuating rotating rod and each i-stage driving actuating gear are of hollow structures;
one end of the pull rope is connected with the surgical forceps, and the other end of the pull rope penetrates through the execution rotating rod, the i-stage driving execution gears, the i-stage hollow execution rotating shaft at the innermost part in the i-th execution joint, the i-stage driven execution gears, the hollow connection rotating shaft at the innermost part in the connecting arm, the i-stage driven operation gears, the i-stage hollow operation rotating shaft at the innermost part in the i-th operation joint, the i-stage driving operation gears and the operation rotating rod and then penetrates out of the operation rotating rod.
The handheld part comprises a handle, a first rotating wheel, a spring piece and a first rotating shaft, and the handle are hinged through the first rotating shaft; a spring leaf is arranged between the handle and the handle; the spring piece is used for keeping the handle and the handle in a relatively open state;
The front end of the handle is connected with the connecting rod through the first rotating wheel; the other end of the connecting rod is connected with an operation rotating rod of the operation arm; a cavity is formed in the upper inner part of the handle and used for allowing the pull rope to penetrate through; the handle is provided with a tensioning adjusting part; the tensioning adjustment portion is used for tensioning the pull rope.
The tensioning adjusting part comprises a second rotating wheel, a worm wheel and a worm; the turbine is rotatably connected with the upper end of the handle; the worm is matched with the worm wheel and is rotatably connected with the upper end of the handle; one end of the worm is connected with the second rotating wheel; one end face of the turbine is provided with a wire spool and a first threaded hole; the wire spool and the first threaded hole are provided with a counter sink hole at the corresponding position.
A flange is arranged on the end face of the wire spool; the flanges protrude out of the wire spool.
And locking devices are arranged at the tail end of the ith operating joint of the operating arm and one end of the non-sleeved stage transition operating gear at the ith hinge shaft at the hinge position of the head end of the (i + 1) th operating joint.
the locking device comprises a hand-screwed nut and a locking bolt matched with the hand-screwed nut; the outer side plate at the tail end of the ith operating joint is provided with a through hole which is matched with the locking bolt and is coaxial with the ith hinge shaft; the inner side plate at the head end of the (i + 1) th operation joint is provided with a through hole which is matched with the locking bolt and is coaxial with the (i) th hinge shaft; and a screw rod of the locking bolt sequentially passes through the through hole of the inner side plate at the head end of the (i + 1) th operation joint and the through hole of the outer side plate at the tail end of the (i) th operation joint and then is connected with the hand-screwed nut.
the surgical forceps comprise a mounting seat detachably connected with the execution rotating rod, a first forceps body hinged with the mounting seat, a second forceps body hinged with the mounting seat, a sliding block capable of being matched in the mounting seat in a sliding mode and a spring used for driving the sliding block to reset; the slider is used for driving the first clamp body and the second clamp body to open and close, the slider is connected with the first clamp body and the second clamp body through the first hinge rod and the second hinge rod respectively, two ends of the first hinge rod are hinged with the slider and the first clamp body respectively, two ends of the second hinge rod are hinged with the slider and the second clamp body respectively, and the slider is connected with one end of the pull rope.
The invention has the beneficial effects that: when the manipulator is used, a user can manually operate the manipulator to enable the manipulator to synchronously drive the manipulator to correspondingly move, so that manual direct profiling operation is realized; the tensioning adjustment of the pull rope can be realized, and the stable and accurate control of the surgical forceps is facilitated; the worm and gear mechanism has a self-locking function and is reliable in tensioning; the operation joint of the operation arm can be independently locked, the degree of freedom of the execution arm or the posture of the locking execution arm is reduced, the subsequent operation of an operator is facilitated, and the misoperation probability of the operator can be greatly reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a schematic view of the surgical robotic arm of the present invention;
FIG. 4 is an exploded view of the actuator arm of the present invention;
FIG. 5 is an exploded view of the operating arm of the present invention;
FIG. 6 is a cross-sectional view of the surgical robotic arm and forceps of the present invention;
FIG. 7 is an enlarged view of FIG. 6 at a;
FIG. 8 is an enlarged view of FIG. 6 at b;
FIG. 9 is an enlarged view at c of FIG. 6;
FIG. 10 is a schematic view of a hand-held portion according to the present invention
FIG. 11 is an exploded view of the hand piece of the present invention;
FIG. 12 is a schematic view of the invention at the location of the turbine and worm within the handpiece;
FIG. 13 is a schematic view of the construction of the turbine of the present invention;
Figure 14 is a partial cross-sectional view of a surgical clamp of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and to clearly and clearly define the scope of the present invention.
Referring to fig. 1 to 14, a hand-held single-arm multi-degree-of-freedom laparoscope comprises a forceps 3, a surgical manipulator 1 and a hand-held part 2.
Referring to fig. 1-9, the surgical robotic arm 1 includes an actuator arm 11 and an operator arm 12, wherein the actuator arm 11 is configured to directly control the movement of the forceps 3, the operator arm 12 is configured to control the movement of the actuator arm 11, and the actuator arm 11 is configured to move in a manner mimicking the movement of the operator arm 12 to achieve the profiling operation. The executing arm 11 comprises n executing joints A, wherein n is an integer greater than or equal to 2; the operating arm 12 includes n operating joints B, and the number of the operating joints B of the operating arm 12 is the same as the number of the executing joints a of the executing arm 11, and hereinafter, description will be given by taking n equal to 4 as an example.
Referring to fig. 4, 6 and 7, in the actuating arm 11, the tail end of a first actuating joint a1 is hinged with the head end of a second actuating joint a2 through a first connecting shaft C, and the tail end of the first actuating joint a1 is matched with four primary driving actuating gears a11 which are coaxially stacked together in sequence; four first-stage transition executing gears C1 are sleeved on the first connecting shaft C, the first-stage transition executing gear C11, the second first-stage transition executing gear C12, the third first-stage transition executing gear C13 and the fourth first-stage transition executing gear C14 are respectively vertically meshed with the first-stage driving executing gear A111, the second first-stage driving executing gear A112, the third first-stage driving executing gear A113 and the fourth first-stage driving executing gear A114 in a one-to-one correspondence manner, and the first-stage transition executing gear C11 is fixedly connected with the head end of the second executing joint A2 so that the second executing joint A2 can rotate relative to the first executing joint A1 when the first-stage driving executing gear A111 drives the first-stage transition executing gear C11 to rotate; the head end of the second executing joint A2 is matched with three first-stage driven executing gears A22 which are coaxially overlapped in sequence, the first-stage driven executing gear A221, the second first-stage driven executing gear A222 and the third first-stage driven executing gear A223 are vertically meshed with the second first-stage transition executing gear C12, the third first-stage transition executing gear C13 and the fourth first-stage transition executing gear C14 in a one-to-one correspondence mode respectively, and therefore the second first-stage driving executing gear A112 to the fourth first-stage driving executing gear A114 can drive the first-stage driven executing gear A221 to the third first-stage driven executing gear A223 to rotate respectively; the tail end of the second executing joint A2 is hinged with the head end of the third executing joint A3 through a second connecting shaft D, and the second connecting shaft D is perpendicular to the first connecting shaft C so that the rotating central axis of the third executing joint A3 is perpendicular to the rotating central axis of the second executing joint A2; the tail end of the second executing joint A2 is matched with three two-stage driving executing gears A21 which are coaxially overlapped in sequence, the first two-stage driving executing gear A211, the second two-stage driving executing gear A212 and the third two-stage driving executing gear A213 are respectively and correspondingly and coaxially connected with the first one-stage driven executing gear A221, the second one-stage driven executing gear A222 and the third one-stage driven executing gear A223, so that the first two-stage driving executing gear A211 to the third two-stage driving executing gear A212 and the first one-stage driven executing gear A221 to the third one-stage driven executing gear A223 respectively rotate synchronously; three second-stage transition executing gears D1 are sleeved on the second connecting shaft D, a first second-stage transition executing gear D11, a second-stage transition executing gear D12 and a third second-stage transition executing gear D13 are respectively and vertically meshed with the first second-stage driving executing gear A211, the second-stage driving executing gear A212 and the third second-stage driving executing gear A213 in a one-to-one correspondence manner, and the first second-stage transition executing gear D11 and the head end of the third executing joint A3 are fixedly connected so that when the first second-stage driving executing gear A211 drives the first second-stage transition executing gear D11 to rotate, the third executing joint A3 can rotate relative to the second executing joint A2; the head end of the third executing joint A3 is matched with two secondary driven executing gears A32 which are coaxially overlapped in sequence, the first secondary driven executing gear A321 and the second secondary driven executing gear A322 are vertically meshed with the second secondary transition executing gear D12 and the third secondary transition executing gear D13 in a one-to-one correspondence mode respectively, and thus the second secondary driving executing gear A212 and the third secondary driving executing gear A213 can drive the first secondary driven executing gear A321 and the second secondary driven executing gear A322 to rotate respectively; the tail end of the third executing joint A3 is hinged with the head end of the fourth executing joint A4 through a third connecting shaft E, and the third connecting shaft E is perpendicular to the second connecting shaft D, so that the rotating central shaft of the fourth executing joint A4 is perpendicular to the rotating central shaft of the third executing joint; the tail end of the third executing joint A3 is matched with two three-stage driving executing gears A31 which are coaxially overlapped in sequence and have successively decreasing diameters, the first three-stage driving executing gear A311 and the second three-stage driving executing gear A312 are respectively and correspondingly coaxially connected with the first two-stage driven executing gear A321 and the second two-stage driven executing gear A322 in a one-to-one correspondence manner, so that the first three-stage driving executing gear A311 and the second three-stage driving executing gear A312 respectively rotate synchronously with the first two-stage driven executing gear A321 and the second two-stage driven executing gear A322; two three-level transition executing gears E1 which are coaxially overlapped in sequence and have successively decreasing diameters are sleeved on the third connecting shaft E, the first three-level transition executing gear E11 and the second three-level transition executing gear E12 are respectively and correspondingly vertically meshed with the first three-level driving executing gear A311 and the second three-level driving executing gear A312 in a one-to-one correspondence manner, and the first three-level transition executing gear E11 is fixedly connected with the head end of the fourth executing joint A4 so that when the first three-level driving executing gear A311 drives the first three-level transition executing gear E11 to rotate, the fourth executing joint A4 can rotate relative to the third executing joint A3; the head end of the fourth executing joint A4 is matched with a three-stage driven executing gear A42, and the three-stage driven executing gear A42 is vertically meshed with a second three-stage transition executing gear E12, so that the second three-stage driving executing gear A312 can drive the three-stage driven executing gear A42 to rotate; an executing rotating rod A41 coaxially connected with a three-stage driven executing gear A42 at the head end of the fourth executing joint A4 is rotatably matched in the fourth executing joint A4, the executing rotating rod A41 is connected with the surgical clamp 3, and the opening and closing of the surgical clamp 3 can be controlled by a pull rope 4.
the diameters of the first primary driving executing gear A111, the second primary driving executing gear A112, the third primary driving executing gear A113 and the fourth primary driving executing gear A114 fitted at the end of the first executing joint A1 are sequentially decreased in diameter, the teeth of each primary driving executing gear A11 are provided on the outer peripheral surface of the primary driving executing gear A11, the diameters of the first primary driven executing gear A221, the second primary driven executing gear A222 and the third primary driven executing gear A223 fitted at the head end of the second executing joint A2 are sequentially decreased in diameter, the teeth of each primary driven executing gear A22 are provided on the outer peripheral surface of the primary driven executing gear A22, and the first primary transition executing gear C11, the second primary transition executing gear C12, the third primary transition executing gear C13 and the fourth primary transition executing gear C14 are sequentially coaxially superposed together and sequentially decreased in diameter, the teeth of each first-stage transition executing gear C1 are arranged on the peripheral surface of the first-stage transition executing gear C1, so that the first-stage transition executing gear C11 to the fourth first-stage transition executing gear C14 can be respectively vertically meshed with the first-stage driving executing gear A111 to the fourth first-stage driving executing gear A114 in a one-to-one correspondence manner, and the second first-stage transition executing gear C12 to the fourth first-stage transition executing gear C14 can be respectively vertically meshed with the first-stage driven executing gear A221 to the third first-stage driven executing gear A223 in a one-to-one correspondence manner; the diameters of the first two-stage driving executing gear a211, the second two-stage driving executing gear a212 and the third two-stage driving executing gear a213 fitted to the end of the second executing joint A2 are sequentially decreased in diameter, the teeth of each two-stage driving executing gear a21 are provided on the outer circumferential surface of the two-stage driving executing gear a21, the diameters of the first two-stage driven executing gear a321 and the second two-stage driven executing gear a322 fitted to the head end of the third executing joint A3 are sequentially decreased in diameter, the teeth of each two-stage driven executing gear a32 are provided on the outer circumferential surface of the two-stage driven executing gear a32, and the teeth of the first two-stage transition executing gear D11, the second two-stage transition executing gear D12 and the third two-stage transition executing gear D13 are sequentially coaxially stacked and sequentially decreased in diameter, the teeth of each two-stage transition executing gear D1 are provided on the outer circumferential surface of the two-stage transition, thus, the first two-stage transition executing gear D11, the second two-stage transition executing gear D12 and the third two-stage transition executing gear D13 can be respectively vertically engaged with the first two-stage driving executing gear A211, the second two-stage driving executing gear A212 and the third two-stage driving executing gear A213 in a one-to-one correspondence manner, and the second two-stage transition executing gear D12 and the third two-stage transition executing gear D13 can be respectively vertically engaged with the first two-stage driven executing gear A321 and the second two-stage driven executing gear A322 in a one-to-one correspondence manner; diameters of the first three-stage driving executing gear a311 and the second three-stage driving executing gear a312 fitted to a distal end of the third executing joint A3 are sequentially decreased in diameter, teeth of each of the three-stage driving executing gears a31 are provided on an outer circumferential surface of the three-stage driving executing gear a31, teeth of the three-stage driven executing gear a42 fitted to a distal end of the fourth executing joint a4 are provided on an outer circumferential surface of the three-stage driven executing gear a42, and the first three-stage transition executing gear E11 and the second three-stage transition executing gear E12 are coaxially stacked in sequence and have sequentially decreased diameters, teeth of each of the three-stage transition executing gears E1 are provided on an outer circumferential surface of the three-stage transition executing gear E1, so that the first three-stage transition executing gear E11 and the second three-stage transition executing gear E12 can be vertically engaged with the first three-stage driving executing gear a311 and the second three-stage driving executing gear a312 one by one, the second three-stage transition executing gear E12 can be vertically meshed with the three-stage driven executing gear A42.
Referring to fig. 5, 6 and 9, in the operating arm 12, the tail end of a first operating joint B1 is hinged with the head end of a second operating joint B2 through a first hinge shaft F, and the tail end of a first operating joint B1 is matched with four primary driving operating gears B11 which are coaxially stacked together in sequence; four primary transitional operation gears F1 are sleeved on the first hinge shaft F, the first primary transitional operation gear F11, the second primary transitional operation gear F12, the third primary transitional operation gear F13 and the fourth primary transitional operation gear F14 are respectively vertically meshed with the first primary driving operation gear B111, the second primary driving operation gear B113, the third primary driving operation gear B113 and the fourth primary driving operation gear B114 in a one-to-one correspondence manner, and the first primary transitional operation gear F11 is fixedly connected with the head end of the second operation joint B2 so that when the second operation joint B2 rotates relative to the first operation joint B1, the first primary transitional operation gear F1 drives the first primary driving operation gear B111 to rotate; the head end of the second operating joint B2 is matched with three primary driven operating gears B22 which are coaxially overlapped in sequence, the first primary driven operating gear B221, the second primary driven operating gear B222 and the third primary driven operating gear B223 are vertically meshed with the second primary transition operating gear F12, the third primary transition operating gear F13 and the fourth primary transition operating gear F14 in a one-to-one correspondence mode respectively, and therefore the second primary driving operating gear B112 to the fourth primary driving operating gear B114 and the first primary driven operating gear B221 to the third primary driven operating gear B223 can rotate synchronously respectively; the tail end of the second operating joint B2 is hinged with the head end of the third operating joint B3 through a second hinge shaft G, and the second hinge shaft G is perpendicular to the first hinge shaft F so that the rotating central axis of the third operating joint B3 is perpendicular to the rotating central axis of the second operating joint B2; the tail end of the second operating joint B2 is matched with three secondary driving operating gears B21 which are coaxially stacked together in sequence, the first secondary driving operating gear B211, the second secondary driving operating gear B212 and the third secondary driving operating gear B213 are respectively in one-to-one correspondence coaxial connection with the first primary driven operating gear B221, the second primary driven operating gear B222 and the third primary driven operating gear B223, so that the first secondary driving operating gear B211 to the third secondary driving operating gear B213 and the first primary driven operating gear B221 to the third primary driven operating gear B223 respectively rotate synchronously; three second-stage transitional operation gears G1 are sleeved on the second hinge shaft G, the first second-stage transitional operation gear G11, the second-stage transitional operation gear G12 and the third second-stage transitional operation gear G13 are respectively vertically meshed with the first second-stage driving operation gear B211, the second-stage driving operation gear B212 and the third second-stage driving operation gear B213 in a one-to-one correspondence manner, and the first second-stage transitional operation gear G11 and the head end of the third operation joint B3 are fixedly connected so that when the third operation joint B3 rotates relative to the second operation joint B2, the first second-stage driving operation gear B211 and the first second-stage transitional operation gear G11 rotate synchronously; the head end of the third operating joint B3 is matched with two secondary driven operating gears B32 which are coaxially stacked together in sequence, the first secondary driven operating gear B321 and the second secondary driven operating gear B322 are vertically meshed with the second secondary transition operating gear G12 and the third secondary transition operating gear G13 in a one-to-one correspondence mode respectively, and therefore the second secondary driving operating gear B212 and the third secondary driving operating gear B213 can rotate synchronously with the first secondary driven operating gear B321 and the second secondary driven operating gear B322 respectively; the tail end of the third operating joint B3 is hinged with the head end of the fourth operating joint B4 through a third hinge shaft H, and the third hinge shaft H is perpendicular to the second hinge shaft G so that the rotating central axis of the fourth operating joint B4 is perpendicular to the rotating central axis of the third operating joint B3; the tail end of the third operating joint B3 is matched with two three-stage driving operating gears B31 which are coaxially stacked together in sequence, and the first three-stage driving operating gear B311 and the second three-stage driving operating gear B312 are respectively in one-to-one corresponding coaxial connection with the first two-stage driven operating gear B321 and the second two-stage driven operating gear B322, so that the first three-stage driving operating gear B311 and the second three-stage driving operating gear B312 respectively rotate synchronously with the first two-stage driven operating gear B321 and the second two-stage driven operating gear B322; two third-level transitional operation gears H1 are sleeved on the third hinge shaft H, the first third-level transitional operation gear H11 and the second third-level transitional operation gear H12 are respectively vertically meshed with the first third-level active operation gear B311 and the second third-level active operation gear B312 in a one-to-one correspondence manner, and the first third-level transitional operation gear H11 is fixedly connected with the head end of the fourth operation joint B4, so that when the fourth operation joint B4 rotates relative to the third operation joint B3, the first third-level active operation gear B311 and the first third-level transitional operation gear H11 synchronously rotate; the head end of the fourth operating joint B4 is matched with a three-stage driven operating gear B42, and the three-stage driven operating gear B42 is vertically meshed with a second three-stage transition operating gear H12, so that the second three-stage driving operating gear B312 and the three-stage driven operating gear B42 synchronously rotate. An operation rotating rod B41 coaxially connected with a third-stage driven operation gear B42 at the head end of the fourth operation joint B4 is rotatably fitted in the fourth operation joint B4, the operation rotating rod B41 is connected with the handheld portion 2, and the handheld portion 2 can rotatably operate the rotating rod B41.
The diameters of the first primary driving operation gear B111, the second primary driving operation gear B112, the third primary driving operation gear B113 and the fourth primary driving operation gear B114 fitted to the distal end of the first operation joint B1 are sequentially decreased in diameter, the teeth of each primary driving operation gear B11 are provided on the outer peripheral surface of the primary driving operation gear B11, the diameters of the first primary driven operation gear B221, the second primary driven operation gear B222 and the third primary driven operation gear B223 fitted to the distal end of the second operation joint B2 are sequentially decreased in diameter, the teeth of each primary driven operation gear B22 are provided on the outer peripheral surface of the primary driven operation gear B22, and the first primary transition operation gear F11, the second primary transition operation gear F12, the third primary transition operation gear F13 and the fourth primary transition operation gear F14 are sequentially coaxially superposed together and sequentially decreased in diameter, the teeth of each first-stage transitional operation gear F1 are arranged on the peripheral surface of the first-stage transitional operation gear F1, so that the first-stage transitional operation gear F11 to the fourth first-stage transitional operation gear F14 can be vertically meshed with the first-stage driving operation gear B111 to the fourth first-stage driving operation gear B114 in a one-to-one correspondence mode respectively, and the second first-stage transitional operation gear F12 to the fourth first-stage transitional operation gear F14 can be vertically meshed with the first-stage driven operation gear B221 to the third first-stage driven operation gear B223 in a one-to-one correspondence mode respectively; the diameters of the first secondary driving operation gear B211, the second secondary driving operation gear B212 and the third secondary driving operation gear B213 fitted to the distal end of the second operation joint B2 are sequentially decreased in diameter, the teeth of each secondary driving operation gear B21 are provided on the outer peripheral surface of the secondary driving operation gear B21, the diameters of the first secondary driven operation gear B321 and the second secondary driven operation gear B322 fitted to the leading end of the third operation joint B3 are sequentially decreased in diameter, the teeth of each secondary driven operation gear B32 are provided on the outer peripheral surface of the secondary driven operation gear B32, and the teeth of the first secondary transition operation gear G11, the second secondary transition operation gear G12 and the third secondary transition operation gear G13 are sequentially coaxially stacked together and sequentially decreased in diameter, the teeth of each secondary transition operation gear G1 are provided on the outer peripheral surface of the secondary transition operation gear G1, thus, the first two-stage transitional operation gear G11, the second two-stage transitional operation gear G12 and the third two-stage transitional operation gear G13 can be respectively vertically meshed with the first two-stage driving operation gear B211, the second two-stage driving operation gear B212 and the third two-stage driving operation gear B213 in a one-to-one correspondence manner, and the second two-stage transitional operation gear G12 and the third two-stage transitional operation gear G13 can be respectively vertically meshed with the first two-stage driven operation gear B321 and the second two-stage driven operation gear B322 in a one-to-one correspondence manner; diameters of a first three-stage driving operation gear B311 and a second three-stage driving operation gear B312 fitted to a distal end of a third operation joint B3 are sequentially decreased in diameter, teeth of each three-stage driving operation gear B31 are provided on an outer peripheral surface of a three-stage driving operation gear B31, teeth of a three-stage driven operation gear B42 fitted to a distal end of a fourth operation joint B4 are provided on an outer peripheral surface of a three-stage driven operation gear B42, and teeth of each three-stage transition operation gear H11 and a second three-stage transition operation gear H12 are coaxially stacked in sequence and have sequentially decreased diameters, and teeth of each three-stage transition operation gear H1 are provided on an outer peripheral surface of a three-stage transition operation gear H1, so that the first three-stage transition operation gear H11 and the second three-stage transition operation gear H12 can be vertically engaged with the first three-stage driving operation gear B311 and the second three-stage driving operation gear B312, one by one, the second three-stage transition operating gear H12 can be vertically meshed with the three-stage driven operating gear B42.
referring to fig. 6 to 9, the first primary active operating gear B111, the second primary active operating gear B112, the third primary active operating gear B113 and the fourth primary active operating gear B114 at the end of the first operating joint B1 are in one-to-one corresponding synchronous transmission connection with the first primary active executing gear a111, the second primary active executing gear a112, the third primary active executing gear a113 and the fourth primary active executing gear a114 at the end of the first executing joint A1, respectively; thus, the joints a of the executing arm 11 correspond to the joints B of the operating arm 12 one by one, so that when the operating arm 12 acts, the executing arm 11 synchronously imitates the movement of the operating arm 12 and correspondingly moves to realize copying operation; for example, when the operation lever B41 of the operation arm 12 is rotated, the execution lever a41 of the execution arm 11 is synchronously rotated; the second operating joint B2 of the operating arm 12 rotates relative to the first operating joint B1, and the second executing joint A2 of the executing arm 11 simultaneously rotates relative to the first executing joint A1; therefore, when the user only needs to manually operate the operating arm 12 to make the operating arm 12 move, the operating arm 12 can synchronously drive the executing arm 11 to move correspondingly, the executing arm 11 and the operating arm 12 are in transmission fit in a gear transmission mode, manual direct profiling operation can be realized, and high-precision movement can be realized.
referring to fig. 1-9, the actuator arm 11 and the manipulator arm 12 of the surgical robotic arm 1 may be connected by a connecting arm 13; wherein, two ends of the connecting arm 13 are respectively connected with the head end of the first executing joint A1 of the executing arm 11 and the head end of the first operating joint B1 of the operating arm 12; the first primary driving operation gear B111 to the fourth primary driving operation gear B114 at the head end of the first operation joint B1 are respectively and coaxially connected with the first primary driving execution gear A111 to the fourth primary driving execution gear A114 at the head end of the first execution joint A1 in a one-to-one correspondence manner.
Referring to fig. 4-9, the first executing joint A1 is rotatably fitted with four first-stage hollow executing rotating shafts a13 which are sequentially penetrated and sleeved from outside to inside, the first operating joint B1 is rotatably fitted with four first-stage hollow operating rotating shafts B13 which are sequentially penetrated and sleeved from outside to inside, the connecting arm 13 is provided with four rotatable hollow connecting rotating shafts which are sequentially penetrated and sleeved from outside to inside, the first-stage hollow executing rotating shaft a131, the first hollow connecting rotating shaft 131 and the first-stage hollow operating rotating shaft B131 are the same rotating shaft, the second first-stage hollow executing rotating shaft a132, the second hollow connecting rotating shaft 131 and the second first-stage hollow operating rotating shaft B132 are the same rotating shaft, and the third first-stage hollow executing rotating shaft a133, the third hollow connecting rotating shaft 133 and the third first-stage hollow operating rotating shaft B133 are the same rotating shaft, and the fourth first-stage hollow executing rotating shaft a134, the fourth hollow connecting rotating shaft 134 and the fourth first-stage hollow operating rotating shaft B134 are the same rotating shaft.
Three second-stage hollow execution rotating shafts A23 which are sequentially sleeved from outside to inside are rotatably matched in the second execution joint A2, two ends of a first second-stage hollow execution rotating shaft A231 are respectively connected with a first-stage driven execution gear A221 and a first second-stage driving execution gear A211, two ends of a second-stage hollow execution rotating shaft A232 are respectively connected with a second first-stage driven execution gear A222 and a second-stage driving execution gear A212, two ends of a third second-stage hollow execution rotating shaft A233 are respectively connected with a third first-stage driven execution gear A223 and a third second-stage driving execution gear A213, and therefore the first-stage driven execution gear A221 to the third-stage driven execution gear A223 are respectively and correspondingly and coaxially connected with the first second-stage driving execution gear A211 to the third-stage driving execution gear A213 through three second-stage hollow execution rotating shafts A23; two three-level hollow execution rotating shafts A33 which are sequentially sleeved from outside to inside are rotatably matched in the third execution joint A3, two ends of the first three-level hollow execution rotating shaft A331 are respectively connected with the first two-level driven execution gear A321 and the first three-level driving execution gear A311, two ends of the second three-level hollow execution rotating shaft A332 are respectively connected with the second two-level driven execution gear A322 and the second three-level driving execution gear A312, and therefore the first two-level driven execution gear A321 and the second two-level driven execution gear A322 are respectively in one-to-one corresponding coaxial connection with the first three-level driving execution gear A311 and the second three-level driving execution gear A312 through the two three-level hollow execution rotating shafts.
Three second-stage hollow operating rotating shafts B23 which are sequentially sleeved from outside to inside are rotatably matched in the second operating joint B2, two ends of a first second-stage hollow operating rotating shaft B231 are respectively connected with a first-stage driven operating gear B221 and a first second-stage driving operating gear B211, two ends of a second-stage hollow operating rotating shaft B232 are respectively connected with a second first-stage driven operating gear B222 and a second-stage driving operating gear B212, two ends of a third second-stage hollow operating rotating shaft B233 are respectively connected with a third first-stage driven operating gear B223 and a third second-stage driving operating gear B213, and therefore the first-stage driven operating gear B221 to the third first-stage driven operating gear B223 are respectively in one-to-one coaxial connection with the first second-stage driving operating gear B211 to the third second-stage driving operating gear B213 through three second-stage hollow operating rotating shafts B; two three-level hollow operation rotating shafts B33 which are sequentially sleeved from outside to inside are rotatably matched in the third operation joint B3, two ends of the first three-level hollow operation rotating shaft B331 are respectively connected with a first two-level driven operation gear B321 and a first three-level driving operation gear B311, two ends of the second three-level hollow operation rotating shaft B332 are respectively connected with a second two-level driven operation gear B322 and a second three-level driving operation gear B312, and therefore the first two-level driven operation gear B321 and the second two-level driven operation gear B322 are respectively in one-to-one corresponding coaxial connection with the first three-level driving operation gear B311 and the second three-level driving operation gear B312 through the two three-level hollow operation rotating shafts.
referring to fig. 6 to 9, the executing rotary rod a41, each three-stage driving executing gear a31, each two-stage driving executing gear a21, each one-stage driving executing gear a11, three-stage driven executing gear a42, each two-stage driven executing gear a32, each one-stage driven executing gear a22, each one-stage driven operating gear B22, each two-stage driven operating gear B32, three-stage driven operating gear B42, each one-stage driving operating gear B11, each two-stage driving operating gear B21, each three-stage driving operating gear B31 and the operating rotary rod B41 are all hollow structures, in addition, each primary hollow operation rotating shaft B13, each secondary hollow operation rotating shaft B23, each tertiary hollow operation rotating shaft B33, each hollow connection rotating shaft, each primary hollow execution rotating shaft A13, each secondary hollow execution rotating shaft A23 and each tertiary hollow execution rotating shaft A33 are added, so that a channel can be formed in the surgical manipulator 1 for the pull rope 4 to pass through; one end of a pull rope 4 is connected with the surgical forceps 3, the other end of the pull rope 4 can pass through an execution rotating rod A41, a three-level driven execution gear A42, each three-level driving execution gear A31, an innermost three-level hollow execution rotating shaft A332 in a third execution joint A3, each two-level driven execution gear A32, each two-level driving execution gear A21, an innermost two-level hollow execution rotating shaft A233 in a second execution joint A2, each one-level driven execution gear A22, each one-level driving execution gear A11, an innermost one-level hollow execution rotating shaft A134 in a first execution joint A1, an innermost hollow connection rotating shaft 134 in a connecting arm 13, an innermost one-level hollow operation rotating shaft B134 in a first operation joint B1, each one-level driving operation gear B11, each one-level driven operation gear B22, an innermost two-level hollow operation rotating shaft B233 in a second operation joint B2, each two-level hollow operation rotating shaft B21, The two-stage driven operating gear B32, the three-stage hollow operating rotating shaft B332 at the innermost stage in the third operating joint B3, the three-stage driving operating gear B31, the three-stage driven operating gear B42 and the operating rotating rod B41 penetrate out of the operating rotating rod B41 so as to be connected with the handheld part 2.
referring to fig. 10-13, the handle portion comprises a handle 21, a grip 22, a first rotating wheel 23, a spring plate 24, and a first rotating shaft 26, wherein the handle 21 and the grip 22 are hinged through the first rotating shaft 26; a spring piece 24 is arranged between the handle 21 and the handle 22; the spring piece 24 is used to keep the handle 21 and the knob 22 in a relatively open state.
the front end of the handle is connected with the connecting rod 5 through the first rotating wheel 23; the other end of the connecting rod 5 is connected with an operation rotating rod B41 of the operation arm; one end of the pull rope 4 is connected with the handle 22; a cavity is arranged inside the upper part of the handle 21 and is used for passing through the pull rope 4; the handle 22 is provided with a tension adjusting portion; the tension adjusting portion is used to tension the pulling rope 4.
the tension adjusting part comprises a second rotating wheel 25, a worm wheel 27 and a worm 28; the turbine 27 is rotatably connected with the upper end of the handle 22; the worm 28 is matched with the worm wheel 27 and is rotatably connected with the upper end of the handle 22; one end of the worm 28 is connected with the second rotating wheel 25; one end surface of the worm wheel 27 is provided with a wire spool 271 and a first threaded hole 272; the wire spool 271 and the first threaded hole 272 are provided with a counter sink hole 273, one end of the pull rope 4 is fixed at the first threaded hole 272 through a bolt and can be wound on the wire spool 271, the worm 28 is driven to rotate through rotating the second rotating wheel 25, and then the worm wheel 27 is driven to rotate, so that the tension degree of the pull rope 4 can be adjusted. Therefore, the tensioning adjustment of the pull rope can be realized, and the stable and accurate control of the surgical forceps is facilitated; the worm gear mechanism has a self-locking function and is reliable in tensioning.
the end face of the wire spool 271 is provided with a flange 274; the rib 274 protrudes from the spool 271 and prevents the rope 4 from sliding off the spool 271. The tail end of the first operating joint B1 of the operating arm 12 and the first end of the second operating joint B2 are provided with locking devices at one end of a transition operating gear F1 which is not sleeved with a stage; a locking device is arranged at one end of a transition operating gear G1 which is not sleeved at a second hinging shaft G at the tail end of the second operating joint B2 and the head end of the third operating joint B3 of the operating arm 12; and locking devices are arranged at the tail end of the third operating joint B3 of the operating arm 12 and one end of the third hinge shaft H of the head end of the fourth operating joint B4, which is not sleeved with the step transition operating gear H1.
The locking device comprises a hand nut 121 and a locking bolt 124 matched with the hand nut 121; the outer side plate 122 at the tail end of the ith operating joint B is provided with a through hole which is matched with the locking bolt 124 and is coaxial with the ith hinge shaft; the inner side plate 123 at the head end of the (i + 1) th operating joint B is provided with a through hole which is matched with the locking bolt 124 and is coaxial with the ith hinge shaft; a screw rod of the locking bolt 124 sequentially passes through a through hole of the inner side plate 123 at the head end of the (i + 1) th operating joint B and a through hole of the outer side plate 122 at the tail end of the (i) th operating joint B and then is connected with the hand nut 121; the screw of the locking bolt 124 is also used as a hinge shaft at one side of the hinge of the corresponding operation joint B; the hand-screwed nut 121 of the locking device at the corresponding operating joint B is screwed, and the movement of the operating joint is locked; loosening the hand-screwed nuts 121 of the locking device at the respective operating joints B, the movement of which is released; the operation joint B of the operation arm 12 can be independently locked, the degree of freedom of the execution arm 11 or the posture of the execution arm 11 is reduced, the subsequent operation of an operator is facilitated, and the misoperation probability of the operator can be greatly reduced.
Referring to fig. 7 and 14, the forceps 3 includes a mounting seat 31 detachably connected to the execution rotation rod a41, a first forceps body 32 hinged to the mounting seat 31, a second forceps body 33 hinged to the mounting seat 31, a slide block 34 slidably fitted in the mounting seat 31, and a spring 35 for driving the slide block to return; the sliding block 34 is used for driving the first forceps body 32 and the second forceps body 33 to open and close, the sliding block 34 is connected with the first forceps body 32 and the second forceps body 33 through the first hinge rod 36 and the second hinge rod 37 respectively, two ends of the first hinge rod 36 are hinged with the sliding block 34 and the first forceps body 32 respectively, two ends of the second hinge rod 37 are hinged with the sliding block 34 and the second forceps body 33 respectively, the sliding block 34 is connected with one end of the pull rope 4, and therefore the surgical forceps 3 can be driven to open and close by pulling the pull rope 4.
It should be noted that when n =2, the actuating arm 11 can control the forceps to realize one degree of freedom of oscillation and one degree of freedom of rotation; the joints of the operation arm 12 and the execution arm 11 correspond one to one.
When n is greater than or equal to 3, the connecting shafts at the hinged positions between the adjacent executing joints of the executing arm 11 can be perpendicular to each other, can also be parallel to each other, and can also be oblique to each other. The above embodiments are all within the scope of the present application.
the above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (10)
1. a hand-held single-arm multi-degree-of-freedom laparoscope is characterized by comprising surgical forceps, a surgical mechanical arm and a hand-held part;
The surgical mechanical arm comprises an execution arm and an operation arm; the executing arm comprises n executing joints, n is an integer greater than or equal to 2, the tail end of the ith executing joint is hinged with the head end of the (i + 1) th executing joint through an ith connecting shaft, and i is an integer from 1 to n-1; the tail end of the ith execution joint is matched with n-i +1 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +1 i-stage transition executing gears are sleeved on the ith connecting shaft, the first i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear is vertically meshed with the first i-stage active executing gear to the (n-i + 1) th i-stage active executing gear in a one-to-one correspondence mode respectively, and the first i-stage transition executing gear is fixedly connected with the head end of the (i + 1) th executing joint; the head end of the (i + 1) th executing joint is matched with n-i driven executing gears which are coaxially overlapped in sequence, and the first i-stage driven executing gear to the (n-i) th i-stage driven executing gear and the second i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear are vertically meshed in a one-to-one corresponding mode respectively; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the n-j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j-stage driven execution gear at the head end of the j +1 th execution joint to the n-j-th j-stage driven execution gear one by one, and j is an integer from 1 to n-2; an executing rotating rod which is coaxially connected with an n-grade driven executing gear at the head end of the nth executing joint is rotatably matched in the nth executing joint, and the executing rotating rod is connected with the surgical forceps;
The operating arm comprises n operating joints, wherein the tail end of the ith operating joint is hinged with the head end of the (i + 1) th operating joint through an ith hinge shaft, and n-i +1 i-stage driving operating gears which are sequentially and coaxially stacked together are matched with the tail end of the ith operating joint; n-i +1 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the (n-i + 1) th i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the (i + 1) th operation joint; the head end of the (i + 1) th operating joint is matched with n-i grade driven operating gears which are coaxially stacked together in sequence, and the first i grade driven operating gear to the (n-i) th i grade driven operating gear are vertically meshed with the second i grade transition operating gear to the (n-i + 1) th i grade transition operating gear in a one-to-one corresponding mode respectively; the first j + 1-stage driving operation gear at the tail end of the j +1 th operation joint to the n-j + 1-stage driving operation gear are respectively and correspondingly and coaxially connected with the first j-stage driven operation gear at the head end of the j +1 th operation joint to the n-j-stage driven operation gear in a one-to-one correspondence mode; an operation rotating rod which is coaxially connected with an n-stage driven operation gear at the head end of the nth operation joint is rotatably matched in the nth operation joint; the operation rotating rod is connected with the handheld part;
the first primary driving operating gear to the nth primary driving operating gear at the tail end of the first operating joint are respectively in one-to-one corresponding synchronous transmission connection with the first primary driving executing gear to the nth primary driving executing gear at the tail end of the first executing joint;
The opening and closing of the surgical forceps are controlled by a pull rope; one end of the pull rope is connected with the operating forceps, and the other end of the pull rope is connected with the handheld part; the handheld part controls the opening and closing of the surgical forceps through controlling the pull rope.
2. the hand-held single-arm multiple-degree-of-freedom laparoscope of claim 1 wherein the diameters of the first i-stage active execution gear to the (n-i + 1) th i-stage active execution gear decrease sequentially; the first i-stage transition execution gear and the (n-i + 1) th i-stage transition execution gear are coaxially stacked together in sequence and the diameters of the transition execution gears are sequentially reduced; the diameters of the first i-stage driven execution gear to the nth-i-stage driven execution gear are sequentially reduced;
the diameters of the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear are sequentially reduced; the first i-stage transition operating gear to the (n-i + 1) th i-stage transition operating gear are coaxially stacked together in sequence, and the diameters of the transition operating gears are sequentially reduced; the diameters of the first i-stage driven operating gear to the n-i-th i-stage driven operating gear are sequentially reduced.
3. The hand-held single-arm multiple degree of freedom laparoscope as recited in claim 2, wherein the head end of the first actuator joint of the actuator arm is connected to the head end of the first manipulator joint of the manipulator arm via a connecting arm; the first primary driving execution gear to the nth primary driving execution gear at the tail end of the first execution joint are respectively in one-to-one correspondence coaxial connection with the first primary driving operation gear to the nth primary driving operation gear at the tail end of the first operation joint.
4. The hand-held single-arm multi-degree-of-freedom laparoscope as recited in claim 3, wherein the first i + 1-stage active execution gear at the end of the (i + 1) -th execution joint to the (n-i) -th i + 1-stage active execution gear are respectively and coaxially connected with the first i + 1-stage driven execution gear to the (n-i) -th i-stage driven execution gear at the head end of the (i + 1) -th execution joint in a one-to-one correspondence manner through n-i sequentially sleeved i + 1-stage hollow execution rotating shafts rotatably arranged in the (i + 1) -th execution joint from outside to inside;
The first primary active execution gear to the nth primary active execution gear at the tail end of the first execution joint are respectively in one-to-one correspondence coaxial connection with the first primary active operation gear to the nth primary active operation gear at the tail end of the first operation joint through n hollow connection rotating shafts which are rotatably arranged in the connecting arm and sequentially penetrate from outside to inside;
The first i + 1-stage driving operation gear from the tail end of the i +1 th operation joint to the n-i + 1-stage driving operation gear are respectively and correspondingly and coaxially connected with the first i + 1-stage driven operation gear from the head end of the i +1 th operation joint to the n-i-stage driven operation gear through n-i hollow operation rotating shafts which are rotatably arranged in the i +1 th operation joint and penetrate through the i +1 th operation joint from outside to inside in sequence;
The actuating rotating rod and each i-stage driving actuating gear are of hollow structures;
One end of the pull rope is connected with the surgical forceps, and the other end of the pull rope penetrates through the execution rotating rod, the i-stage driving execution gears, the i-stage hollow execution rotating shaft at the innermost part in the i-th execution joint, the i-stage driven execution gears, the hollow connection rotating shaft at the innermost part in the connecting arm, the i-stage driven operation gears, the i-stage hollow operation rotating shaft at the innermost part in the i-th operation joint, the i-stage driving operation gears and the operation rotating rod and then penetrates out of the operation rotating rod.
5. The hand-held single-arm multiple degree of freedom laparoscope as recited in claim 4, wherein the hand-held part comprises a handle, a first wheel, a spring plate, and a first shaft, and the handle are hinged through the first shaft; a spring leaf is arranged between the handle and the handle; the spring piece is used for keeping the handle and the handle in a relatively open state;
The front end of the handle is connected with the connecting rod through the first rotating wheel; the other end of the connecting rod is connected with an operation rotating rod of the operation arm; one end of the pull rope is connected with the handle; a cavity is formed in the upper inner part of the handle and used for allowing the pull rope to penetrate through; the handle is provided with a tensioning adjusting part; the tensioning adjustment portion is used for tensioning the pull rope.
6. The hand-held single-arm multiple degree of freedom laparoscope as recited in claim 5, wherein the tensioning adjustment part comprises a second wheel, a worm gear, and a worm; the turbine is rotatably connected with the upper end of the handle; the worm is matched with the worm wheel and is rotatably connected with the upper end of the handle; one end of the worm is connected with the second rotating wheel; one end face of the turbine is provided with a wire spool and a first threaded hole; the wire spool and the first threaded hole are provided with a counter sink hole at the corresponding position.
7. The hand-held single-arm multiple-degree-of-freedom laparoscope as recited in claim 6, wherein the end surface of the wire spool is provided with a flange; the flanges protrude out of the wire spool.
8. the hand-held single-arm multiple-degree-of-freedom laparoscope as recited in claim 7, wherein the locking device is disposed at one end of the non-nested-stage transitional operation gear at the i-th hinge axis where the i-th operation joint of the operation arm is hinged to the i + 1-th operation joint of the operation arm.
9. The hand-held single-arm multiple degree of freedom laparoscope as recited in claim 8, wherein the locking device comprises a hand nut and a locking bolt adapted to the hand nut; the outer side plate at the tail end of the ith operating joint is provided with a through hole which is matched with the locking bolt and is coaxial with the ith hinge shaft; the inner side plate at the head end of the (i + 1) th operation joint is provided with a through hole which is matched with the locking bolt and is coaxial with the (i) th hinge shaft; and a screw rod of the locking bolt sequentially passes through the through hole of the inner side plate at the head end of the (i + 1) th operation joint and the through hole of the outer side plate at the tail end of the (i) th operation joint and then is connected with the hand-screwed nut.
10. The hand-held single-arm multiple-degree-of-freedom laparoscope as recited in claim 9, wherein the surgical forceps comprise a mounting base detachably connected to the execution rotation rod, a first forceps body hinged to the mounting base, a second forceps body hinged to the mounting base, a slider slidably fitted in the mounting base, and a spring for driving the slider to return; the slider is used for driving the first clamp body and the second clamp body to open and close, the slider is connected with the first clamp body and the second clamp body through the first hinge rod and the second hinge rod respectively, two ends of the first hinge rod are hinged with the slider and the first clamp body respectively, two ends of the second hinge rod are hinged with the slider and the second clamp body respectively, and the slider is connected with one end of the pull rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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