CN110680501A - Surgical operation robot clamp driving unit - Google Patents
Surgical operation robot clamp driving unit Download PDFInfo
- Publication number
- CN110680501A CN110680501A CN201910996364.2A CN201910996364A CN110680501A CN 110680501 A CN110680501 A CN 110680501A CN 201910996364 A CN201910996364 A CN 201910996364A CN 110680501 A CN110680501 A CN 110680501A
- Authority
- CN
- China
- Prior art keywords
- clamp
- inner rod
- surgical
- rod
- drive unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000003780 insertion Methods 0.000 description 7
- 230000037431 insertion Effects 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 7
- 239000003814 drug Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 2
- 238000004393 prognosis Methods 0.000 description 2
- 208000032170 Congenital Abnormalities Diseases 0.000 description 1
- 206010061619 Deformity Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a surgical robot clamp driving unit, which belongs to the field of medical instruments, wherein the driving unit is connected with an extension part, the extension part is connected with an execution unit, the driving unit controls the execution unit to perform surgical operation through the extension part, the extension part is provided with an outer tube and an inner rod inside the outer tube, the inner rod is connected with the driving unit and the execution unit, and the inner rod controls the execution unit through axial movement and axial rotation.
Description
Technical Field
The present invention relates to the field of surgical instruments.
Background
Surgery is a science for researching the occurrence, development law and clinical manifestations, diagnosis, prevention and treatment of surgical diseases, and is a professional department taking surgical excision and repair as main treatment means. Surgery has advanced significantly with the application of microsurgical techniques. The special setting principle of each hospital surgery is similar to that of the internal medicine, and generally corresponds to the internal medicine. Surgical diseases are divided into five major groups, trauma, infection, tumor, deformity and dysfunction. Surgery is a subject of modern medicine and is primarily concerned with the treatment of patients by surgical methods to eradicate the patient. Surgery, like all clinical medicine, requires knowledge of the definition, etiology, presentation, diagnosis, staging, treatment, prognosis of a disease, and places more emphasis on surgical-related problems such as open-surgical indications, pre-operative assessment and care, surgical skills and procedures, post-operative care, surgical complications and prognosis.
Surgical robots are used more and more in the field of surgery, in which forceps, which are instruments often used in surgery, are generally provided with a distal end for performing various surgical operations and a proximal end for driving, the proximal end controlling the distal end, as shown in fig. 1, a conventional clamp is generally provided with two grooves at the end of the clamp, the opening and closing of the clamp are controlled by a groove of a pulling piece (such as a part 85 in figure 1), and the groove on one hand causes the execution section of the clamp to occupy large space, due to the friction between the parts pulling the pull groove and the clamp groove and the position of the hinge between the pull groove and the clamp, the design of the pull groove can ensure that the clamp is violent in opening and closing, the opening and closing of the clamp are not slow, and a large pull force is required to close the clamp. Further, when the existing clamp is used, the clamp can only be opened and closed by pulling, the clamp head cannot be rotated, and a separate rotating part must be arranged for rotating.
Disclosure of Invention
The invention aims to: the utility model discloses a surgical operation robot clamp drive unit, the drive unit be connected with the extension, the extension is connected with the execution unit, the drive unit carries out the operation through extension control execution unit, the extension be equipped with outer tube and the inside interior pole of outer tube, interior pole connection drive unit and execution unit, interior pole is through axial displacement and axial rotation control execution unit, the drive unit include:
a shell, a cavity is formed in the shell,
the first driving part is positioned in the cavity of the shell and controls the inner rod to move along the axial direction of the inner rod so as to control surgical instruments;
the second driving part is positioned in the cavity of the shell and controls the inner rod to rotate along the axial direction of the inner rod so as to control the surgical instrument.
In some preferred embodiments, the first driving part includes:
a first motor;
the screw rod is connected with the first motor and is driven to rotate by the first motor;
the sliding block is connected with the screw rod lead screw, and the screw rod rotates to control the sliding block to move along the axial direction of the screw rod;
the connecting part is fixedly connected with the sliding block;
and a rotating portion connecting the connecting portion to the inner rod, the rotating portion being stationary relative to the inner rod under axial rotation of the inner rod, the first motor being capable of controlling the inner rod to move in the axial direction of the inner rod by the rotating portion.
In some preferred embodiments, the rotating part is a bearing, an inner ring of the bearing is fixedly connected with the inner rod, and an outer ring of the bearing is fixedly connected with the connecting part.
In some preferred embodiments, the inner rod is provided with a connecting groove, the connecting groove is of an annular structure, the rotating portion is a circular ring portion, and the rotating portion is matched with the connecting groove.
In some preferred embodiments, the second driving part includes:
a second motor;
fixed pipe second motor drive fixed pipe rotates, and fixed pipe can be relative interior pole along interior pole axial displacement, and fixed pipe and interior pole are fixed in order when fixed pipe is rotated by the drive at the radial direction of fixed pipe, and interior pole is driven by fixed pipe and is rotated.
In some preferred embodiments, the fixed pipe is provided with a central groove, the end of the inner rod extends into the central groove, the inner rod is provided with clamping strips which extend axially, the inner wall of the central groove is provided with clamping grooves, and the clamping strips and the clamping grooves are matched to prohibit the radial rotation of the inner rod and the fixed pipe.
In some preferred embodiments, there are 2 card strips and 2 card slots.
In some preferred embodiments, the second driving part further includes a fixed head connected to the fixed pipe, and a rotating rod connected to the fixed head, and the rotating rod is driven to rotate by the second motor.
In some preferred embodiments, the execution unit includes:
a first clamp and a second clamp;
the first clamp and the second clamp are hinged on the hinge seat, and hinge shafts of the first clamp and the second clamp are coaxial;
the first clamp and the second clamp are respectively provided with a rotating channel, the far end of the inner rod is provided with a clamping column, the clamping column is clamped into the rotating channels of the first clamp and the second clamp, the inner rod moves axially, the first clamp and the second clamp are driven to open and close through the clamping column, and the inner rod axially rotates to drive the first clamp and the second clamp to axially rotate.
In some preferred embodiments, the actuating unit further includes a bearing, and the bearing is located between the hinge seat and the outer tube, so that the hinge seat can rotate relative to the outer tube, and the driving unit can rotate relative to the outer tube.
The clamp disclosed by the invention can be used for conveniently and easily opening and closing the clamp, and meanwhile, the clamping head can be pulled and rotated by using one part, so that the clamp is convenient and quick.
Drawings
FIG. 1 is a prior art clamp;
FIG. 2 is a schematic view of a clamp according to embodiment 1;
FIG. 3 is a schematic diagram of an execution unit of embodiment 1;
FIG. 4 is a schematic view of a drive unit of embodiment 1;
FIG. 5 is a component diagram of a drive unit of embodiment 1;
FIG. 6 is a component diagram of a drive unit of embodiment 1;
FIG. 7 is a clamp of embodiment 2;
FIG. 8 is an execution unit of embodiment 2;
FIG. 9 is an execution unit of embodiment 2;
FIG. 10 is a schematic view of example 3;
FIG. 11 is a schematic view of the first and second elongated portions separated;
figure 12 is a schematic view of a first inner rod;
figure 13 is a schematic view of a first inner rod;
figure 14 is a schematic view of a first inner rod;
figure 15 is a second inner rod schematic;
FIG. 16 is a schematic view of a fastener;
figure 17 is a schematic view of a fastener.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present embodiment discloses a surgical robot clamp, which comprises an execution unit 1, an extension part 2 and a driving unit 3, wherein two ends of the extension part are respectively connected with the execution unit and the driving unit, the driving unit controls the execution unit to perform a surgical operation through the extension part, the extension part comprises an outer tube 21 and an inner rod 22, the inner rod is positioned in the outer tube, and the execution unit is a surgical instrument with two jaws, such as surgical scissors, surgical forceps, electric coagulation forceps, application forceps and the like.
In some preferred embodiments, as shown in fig. 3, the actuating unit includes a first clamp 11 and a second clamp 12, a hinge seat 17, and a pin 15, the first clamp and the second clamp are hinged through a first pin hole 16 at ends of the first clamp and the second clamp, the first connecting seat 112 and the second connecting seat 122 are respectively disposed at back sides of the first clamp and the second clamp, the hinge seat 17 is provided with a second pin hole 171, the hinge seat can axially rotate around the outer tube relative to the outer tube so that the actuating unit can rotate relative to the outer tube, and the pin connects the first pin hole and the second pin hole so that the ends of the first clamp and the second clamp are hinged on the hinge seat.
Continuing to be shown in fig. 3, the execution unit further includes a first connecting rod 13 and a second connecting rod 14, one end of the first connecting rod is hinged to the first connecting seat, one end of the second connecting rod is hinged to the second connecting seat, and the other ends of the first connecting rod and the second connecting rod are hinged to the inner rod 22, in this embodiment, the inner rod can be driven by the driving unit to move axially along the inner rod, and the axial movement of the inner rod pulls the first connecting rod and the second connecting rod to drive the first clamp and the second clamp to rotate around the second pin hole to open and close the first clamp and the second clamp, as shown in fig. 3, when the inner rod 22 moves towards the left side, the first clamp and the second clamp open; when the inner rod is moved to the right, the first and second jaws close.
Further, as shown in fig. 3, the inner rod can be driven by the driving unit to axially rotate around the inner rod to drive the first clamp, the second clamp and the hinge base to rotate relative to the outer tube, the rotation direction is an axial direction of the outer tube, and the axial direction of the outer tube is a direction indicated by an arrow in fig. 3. An actuating unit such as first and second jaws, an articulated mount, or the like, is axially rotatable about the outer tube to enable the position of the jaws to be changed as required by the procedure.
In order to enable the two connecting rods to control the axial rotation of the two clamps around the outer tube, in a more preferred embodiment, the first connecting seat and the second connecting seat are respectively provided with a groove, and the first connecting rod/the second connecting rod are hinged with the first connecting seat/the second connecting seat in the groove so that the first connecting rod and the first clamp have only one rotational degree of freedom, and the second connecting rod and the second clamp have only one rotational degree of freedom.
In view of the fact that the two connecting rods are in a lower position when the first and second jaws are closed, and the two connecting rods are easily in contact with and interfere with each other with the first and second jaws, in a more preferred embodiment, the first jaw is provided with a first recess 111 on the back side, the second jaw is provided with a second recess 121 on the back side, the first recess is located between the first connecting seat and the first pin hole, the second recess is located between the second connecting seat and the first pin hole, and the first recess and the second recess enable the first/second jaw and the first/second connecting rod not to interfere with each other.
In a more preferred embodiment, the hinge base 17 is provided with upper and lower grooves 172 through which the first and second connecting rods pass, respectively. The actuator unit comprises a bearing 18 by which the hinged socket and the outer tube are connected so that the hinged socket can rotate relative to the outer tube. As shown in fig. 3, the inner rod includes a fixing head, the first connecting rod and the second connecting rod are hinged on the fixing head, the fixing head and the inner rod are integrally formed or fixedly connected, and the hinged positions of the first connecting rod and the second connecting rod on the fixing head are coaxial or parallel.
Furthermore, the inner rod can drive the execution unit to open, close and rotate only by simultaneously completing axial movement and rotation, in some specific embodiments, as shown in fig. 4, the driving unit of the present embodiment is connected with an extension part, the extension part is connected with an executing unit, the driving unit controls the executing unit to perform a surgical operation through the extension part, the extension part is provided with an outer tube and an inner rod inside the outer tube, the inner rod is connected with the driving unit and the execution unit, the inner rod controls the execution unit through axial movement and axial rotation, the driving unit comprises a shell 33, a first driving part 31 and a second driving part 32, a cavity is formed in the shell 33, the first driving part 31 and the second driving part are located in the cavity of the shell, the first driving part controls the inner rod to move along the axial direction of the inner rod so as to control the surgical instrument, and the second driving part controls the inner rod to rotate along the axial direction of the inner rod so as to control the surgical instrument.
As for the structure of the first driving part, in a preferred embodiment, as shown in fig. 5, the first driving part 31 includes:
the first motor 315, the screw 314, the slider 313, the connecting portion 312 and the rotating portion 311, the screw 314 is connected with the first motor and driven to rotate by the first motor, the slider 313 is connected with the screw rod, the screw rotation control slider moves along the axial direction of the screw, the connecting portion is fixedly connected with the slider, the rotating portion 311 connects the connecting portion to the inner rod, the rotating portion can be stationary relative to the inner rod under the axial rotation of the inner rod, and the first motor can control the inner rod to move along the axial direction of the inner rod through the rotating portion.
In one embodiment, the rotating portion is a bearing, an inner ring of the bearing is fixedly connected with an inner rod, and an outer ring of the bearing is fixedly connected with the connecting portion. In another embodiment, the inner rod is provided with a connecting groove 22, the connecting groove is of an annular structure, the rotating part is a circular ring part, and the rotating part is matched with the connecting groove.
As for the structure of the second driving part, in a preferred embodiment, the second driving part 32 includes:
In still more preferred embodiments, as shown in fig. 6, the fixed pipe is provided with a central groove 3211, the end of the inner rod extends into the central groove, the inner rod is provided with a clamping strip 221 extending axially and distributed, the inner wall of the central groove is provided with a clamping groove 3212, as shown in fig. 6, the clamping strips are 2, the clamping grooves are 2 and distributed vertically, certainly, the clamping strips and the clamping grooves can be 1, 3, 4 or the like, and the clamping strips and the clamping grooves are matched to prohibit the radial rotation of the inner rod and the fixed pipe, that is, the inner rod and the fixed pipe cannot rotate axially around the inner rod, but the inner rod and the fixed pipe can move axially along the inner rod, and at this time, the clamping strips just move in the clamping grooves, the first driving part can drive the inner rod to move axially along the inner rod, while the fixed pipe remains stationary, and the execution unit. When the fixed pipe is driven to rotate to enable the inner rod to rotate, each part of the first driving part is static due to the fact that the rotating part can rotate, and the inner rod rotates axially to drive the execution unit to rotate around the outer pipe.
In a more preferred embodiment, the second driving part further includes a fixed head 322 connected to the fixed pipe, and a rotating rod 323 connected to the fixed head, and the rotating rod is driven to rotate by the second motor.
Example 2
The present embodiment discloses a surgical robot gripper, as shown in fig. 7-9, which includes an extension part and a driving unit of embodiment 1, and is different from the embodiment 1 in that, as shown in fig. 7, a specific embodiment of the present invention includes:
the clamp comprises a first clamp 11, a second clamp 12 and an articulated seat 13, wherein the first clamp and the second clamp are articulated on the articulated seat, the articulated shafts of the first clamp and the second clamp are coaxial, the first clamp and the second clamp are respectively provided with a rotating channel 111, the far end of an inner rod is provided with a clamping column 221, the clamping column is clamped into the rotating channels of the first clamp and the second clamp, the inner rod moves axially, the first clamp and the second clamp are driven to open and close through the clamping column, and the inner rod axially and automatically drives the first clamp and the second clamp to axially and automatically rotate;
further, as shown in fig. 9, the actuator unit further includes a bearing 18, which is located between the hinge seat and the outer tube, so that the hinge seat can rotate relative to the outer tube, and thus the driving unit can rotate relative to the outer tube.
The present embodiment also discloses a surgical robotic forceps, comprising:
the drive unit of embodiment 1;
an extension portion;
in the execution units of embodiment 2 and embodiment 1, the extension part is respectively connected with the driving unit and the execution unit, and the driving unit controls the execution unit to perform a surgical operation instruction through the extension part.
The embodiment discloses a surgical robot, which is characterized by comprising a clamp and a surgical robot body, wherein the clamp is arranged on the surgical robot body.
Example 3
This embodiment discloses a replaceable surgical robotic instrument extension that can be used with the jaws of embodiments 1 and 2. as shown in fig. 10, the extension includes a first extension 200 and a second extension 300, the first extension 200 is connected to the implement end of the instrument, the first extension includes a first outer tube and a first inner rod 210 inside the first outer tube, the second extension 300 is detachably connected to the first extension, the second extension is connected to the drive unit of the instrument, the second extension includes a second outer tube 320 and a second inner rod 310 inside the second outer tube;
as shown in fig. 11, the first outer tube is detachably connected to the second outer tube, the first inner rod is detachably connected to the second inner rod, when the first inner rod is connected to the second inner rod, the first inner rod can rotate synchronously with the rotation of the second inner rod, and the first inner rod can move synchronously with the axial movement of the first inner rod.
As shown in fig. 12, the first inner rod comprises a first inner rod body 211, a fixing piece 212 and a clamping rod 213, one end of the fixing piece is hinged to the first inner rod body, the other end of the fixing piece is a clamping portion, the hinge shaft is parallel to the axial direction of the first inner rod, the clamping portion can rotate around the hinge shaft, the fixing piece is provided with a channel 2121, the clamping rod can be clamped into the channel, the clamping rod can be fixed 220 by a first outer tube to limit the rotation of the fixing piece, the first inner rod body is provided with an insertion groove 2111, a part of the second inner rod can enter the insertion groove, a fixing groove 312 is formed in the second inner rod, and when the clamping rod 213 is taken out from the channel of the fixing piece, the fixing piece rotates around the hinge shaft to enable the clamping portion of the fixing piece to enter the fixing groove of the second inner rod so as to fix.
As shown in fig. 11, the first outer tube and the first inner rod are provided with holes for fixing the clamping rod, and the holes of the first outer tube and the first inner rod correspond to the channel 2121 of the fixing member, so that the clamping rod can penetrate through the fixing member, the first inner rod and the first outer tube to fix the position of the fixing member.
As shown in fig. 12-13, the first inner rod body is provided with a rotation column 214, the rotation column and the first inner rod body are integrally formed, the fixing member is hinged on the rotation column 214, the fixing member and the first inner rod body are provided with a spring 215, the spring can be preloaded, the spring drives the fixing member to rotate so that the clamping portion of the fixing member is clamped into the fixing groove, specifically, as shown in fig. 12, as the clamping rod penetrates through the fixing member to fix the fixing member on the left side, the spring is preloaded, the fixing member has a tendency of turning right, the execution unit and the first extension portion can form a whole replaceable consumable, and the second extension portion and the driving unit are connected with a surgical instrument. When the special needs that need the operation need change the consumptive material, the initial state of consumptive material is the spring preloaded, the mounting is located left state, insert the second of second extension portion in the insertion groove this time, the design of insertion groove makes the second in pole male the mounting and the second in pole on the fixed slot corresponding, later take out the kelly from the above, the mounting turns left under the effort of spring, make the card portion of mounting just can block into in the fixed slot, it is further, first outer tube and second outer tube can pass through the buckle, modes such as screws are connected, the preferred connected mode that does not need other parts through buckle etc..
When the consumptive material needs to be taken out, the hole of the first outer tube of kelly follow lower part and first interior pole is inserted during this time, the head of kelly can support the downside of mounting, the mounting can slow left turn, card portion takes out from the fixed slot of pole in the second, go into the passageway of mounting until kelly card, card portion takes out from the fixed slot of pole in the second completely, pole and first interior pole separation in the second, synchronous with first outer tube and the separation of second outer tube, then first extension and the complete separation of second extension.
According to the extension part, the first inner rod and the second inner rod are only required to be provided with holes on the side surface when being combined and separated, the outer part is not required on the side surface, the first inner rod and the first outer tube of the first extension part are fixed through the clamping rods, the position is not prone to shifting, and the accuracy of a surgical instrument is kept. When the clamping rod is used, the first extending part and the second extending part can be installed in place by drawing out the clamping rod, and no additional part is needed. The surface of the outer tube does not need to be changed and can keep the original shape.
In a preferred embodiment, as shown in fig. 17, the fixing member is provided with a sliding groove 2122, the sliding groove extends to the passage opening 2121, the sliding groove slides the clamping rod into the groove 2121, when the fixing member rotates to the rightmost side, the clamping rod enters from the hole, the end of the clamping rod first contacts the sliding groove 2122 to push the clamping rod, the clamping rod drives the fixing member to rotate until the clamping rod enters into the groove 2121, the sliding groove can reduce the interference friction between the clamping rod and the fixing member, so that the fixing member can rotate more flexibly, and the pushing force of the clamping rod is saved.
In a further preferred embodiment, as shown in fig. 14 and 15, the first inner rod body insertion groove has a semicircular cross section, and the second inner rod is provided with an insertion projection 311 which is inserted into the insertion groove and fixes the first inner rod and the second inner rod to restrict the first inner rod and the second inner rod from rotating relatively to the axial direction.
In a further preferred embodiment, as shown in fig. 16, the end of the latch rod is a pointed shape to enable the latch rod to slide into the channel on the surface of the fixing member, and the pointed shape can be attached to the fixing member when the latch rod contacts the fixing member, so as to reduce the friction force between the latch rod and the fixing member.
Claims (10)
1. The utility model provides a surgical operation robot clamp drive unit, its characterized in that, drive unit be connected with the extension, the extension is connected with the execution unit, drive unit carries out the operation through extension control execution unit, the extension be equipped with outer tube and the inside interior pole of outer tube, interior pole connection drive unit and execution unit, interior pole is through axial displacement and axial rotation control execution unit, drive unit include:
a housing (33) having a cavity formed therein,
the first driving part (31) is positioned in the cavity of the shell and controls the inner rod to move along the axial direction of the inner rod so as to control surgical instruments;
and the second driving part (32) is positioned in the cavity of the shell and controls the inner rod to rotate along the axial direction of the inner rod so as to control the surgical instrument.
2. A surgical robotic forceps drive unit as claimed in claim 1, wherein the first drive section (31) comprises:
a first motor (315);
the screw rod (314) is connected with the first motor and is driven to rotate by the first motor;
a slide block (313) connected with the screw rod, wherein the screw rod rotation controls the slide block to move along the axial direction of the screw rod;
a connecting part (312) fixedly connected with the slide block;
and a rotating part (311) which connects the connecting part to the inner rod, wherein the rotating part can be static relative to the inner rod under the axial rotation of the inner rod, and the first motor can control the inner rod to move along the axial direction of the inner rod through the rotating part.
3. A surgical robotic forceps drive unit as claimed in claim 2, wherein the rotatable portion is a bearing, an inner race of the bearing being fixedly connected to the inner shaft and an outer race of the bearing being fixedly connected to the connecting portion.
4. A surgical robotic forceps drive unit as claimed in claim 2, wherein the inner rod is provided with a coupling slot (22) which is of annular configuration, the rotatable portion is a circular portion and the rotatable portion cooperates with the coupling slot.
5. Surgical robotic clamp drive unit according to any of claims 1-4, characterized in that the second drive portion (32) comprises:
a second motor (324);
fixed pipe (321), the fixed pipe of second motor drive rotates (321), and interior pole along interior pole axial displacement relatively can be managed to fixed pipe, and fixed pipe and interior pole are fixed in order when fixed pipe is rotated by the drive at the radial direction of fixed pipe, and interior pole is driven to rotate by fixed pipe.
6. The surgical robot clamp driving unit according to claim 5, wherein the fixed tube is provided with a central groove (3211), the end of the inner rod extends into the central groove, the inner rod is provided with clamping strips (221) axially extending and distributed, the inner wall of the central groove is provided with clamping grooves (3212), the clamping strips and the clamping grooves are matched to prohibit the radial rotation of the inner rod and the fixed tube, the number of the clamping strips is 2, and the number of the clamping grooves is 2.
7. The surgical robot jaw driving unit according to claim 6, wherein the second driving part further includes a fixed head (322) connected to the fixed pipe, and a rotation lever (323) connected to the fixed head, the rotation lever being driven to rotate by the second motor.
8. A surgical robotic clip drive unit as claimed in claim 7, wherein the actuator unit comprises:
a first clamp (11) and a second clamp (12);
the first clamp and the second clamp are hinged on the hinge seat, and hinge shafts of the first clamp and the second clamp are coaxial;
the first clamp and the second clamp are respectively provided with a rotating channel (111), the far end of the inner rod is provided with a clamping column (221), the clamping column is clamped into the rotating channels of the first clamp and the second clamp, the inner rod moves axially, the first clamp and the second clamp are driven to open and close through the clamping column, and the inner rod axially automatically drives the first clamp and the second clamp to axially automatically rotate;
and a bearing (18) positioned between the hinge seat and the outer tube so that the hinge seat can rotate relative to the outer tube and the drive unit can rotate relative to the outer tube.
9. A surgical robotic clamp, comprising:
the drive unit of any one of claims 1-8;
an extension portion;
and the extension part is respectively connected with the driving unit and the execution unit, and the driving unit controls the execution unit to carry out a surgical operation instruction through the extension part.
10. A surgical robot comprising the clamp of claim 9 and a surgical robot body, the clamp being mounted on the surgical robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910996364.2A CN110680501B (en) | 2019-10-18 | 2019-10-18 | Surgical operation robot clamp driving unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910996364.2A CN110680501B (en) | 2019-10-18 | 2019-10-18 | Surgical operation robot clamp driving unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110680501A true CN110680501A (en) | 2020-01-14 |
| CN110680501B CN110680501B (en) | 2020-06-19 |
Family
ID=69113367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910996364.2A Active CN110680501B (en) | 2019-10-18 | 2019-10-18 | Surgical operation robot clamp driving unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110680501B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568557A (en) * | 2020-05-31 | 2020-08-25 | 秦万祥 | Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040225323A1 (en) * | 2003-05-08 | 2004-11-11 | Olympus Corporation | Surgical instrument |
| CN202497189U (en) * | 2012-02-24 | 2012-10-24 | 杭州光典医疗器械有限公司 | Ligature forceps |
| CN204446001U (en) * | 2014-12-29 | 2015-07-08 | 杭州桐庐时空候医疗器械有限公司 | A kind of dismountable type Basilar artery pincers of Minimally Invasive Surgery |
| CN205548671U (en) * | 2015-02-06 | 2016-09-07 | 柯惠有限合伙公司 | Pliers |
| US20170354456A1 (en) * | 2016-06-14 | 2017-12-14 | Gyrus Acmi, Inc., D.B.A. Olympus Surgical Technologies America | Surgical apparatus with jaw force limiter |
| CN208525044U (en) * | 2017-07-31 | 2019-02-22 | 成都博恩思医学机器人有限公司 | The surgical instrument and operating robot of operating robot |
| CN209186824U (en) * | 2018-06-06 | 2019-08-02 | 杭州欧创医疗器械有限公司 | YES applicator |
| CN209253115U (en) * | 2017-07-13 | 2019-08-16 | 上海逸思医疗科技有限公司 | A kind of surgical operating instrument and system driving clamping device with electricity |
| CN209335440U (en) * | 2018-12-19 | 2019-09-03 | 北京大学第三医院 | Rotatable Manual clamp |
-
2019
- 2019-10-18 CN CN201910996364.2A patent/CN110680501B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040225323A1 (en) * | 2003-05-08 | 2004-11-11 | Olympus Corporation | Surgical instrument |
| CN202497189U (en) * | 2012-02-24 | 2012-10-24 | 杭州光典医疗器械有限公司 | Ligature forceps |
| CN204446001U (en) * | 2014-12-29 | 2015-07-08 | 杭州桐庐时空候医疗器械有限公司 | A kind of dismountable type Basilar artery pincers of Minimally Invasive Surgery |
| CN205548671U (en) * | 2015-02-06 | 2016-09-07 | 柯惠有限合伙公司 | Pliers |
| US20170354456A1 (en) * | 2016-06-14 | 2017-12-14 | Gyrus Acmi, Inc., D.B.A. Olympus Surgical Technologies America | Surgical apparatus with jaw force limiter |
| CN209253115U (en) * | 2017-07-13 | 2019-08-16 | 上海逸思医疗科技有限公司 | A kind of surgical operating instrument and system driving clamping device with electricity |
| CN208525044U (en) * | 2017-07-31 | 2019-02-22 | 成都博恩思医学机器人有限公司 | The surgical instrument and operating robot of operating robot |
| CN209186824U (en) * | 2018-06-06 | 2019-08-02 | 杭州欧创医疗器械有限公司 | YES applicator |
| CN209335440U (en) * | 2018-12-19 | 2019-09-03 | 北京大学第三医院 | Rotatable Manual clamp |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568557A (en) * | 2020-05-31 | 2020-08-25 | 秦万祥 | Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110680501B (en) | 2020-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110613509B (en) | Surgical operation robot clamp execution unit | |
| US9585550B2 (en) | Rectal expander | |
| US20110238084A1 (en) | Surgical instrument | |
| JP2012518478A (en) | Access device and system with multi-treatment instrument | |
| JP2014529437A (en) | Actuating knob for surgical instruments | |
| JP2013537839A (en) | Laparoscopic instrument with attached end effector | |
| JP4856109B2 (en) | Surgical instrument and surgical instrument | |
| CN109223172B (en) | A kind of gynaecology and obstetrics operation electric coagulation forceps | |
| CN110623729B (en) | Replaceable surgical robot extension part | |
| CN110652358B (en) | Surgical instrument of tumor surgical robot | |
| JP2017099879A (en) | Powered endoscopic suturing device | |
| CN110680501B (en) | Surgical operation robot clamp driving unit | |
| EP2064985A2 (en) | Apparatus for controlling endoscopic instrument | |
| BR112020005851A2 (en) | circular stapling instrument with single closing rod | |
| CN110537945A (en) | Minimally invasive surgical instrument | |
| KR20240130805A (en) | Controllable Sith and Adjustable Scope Attachments | |
| CN210990437U (en) | Adjustable pipeline device for assisting endoscope treatment and double-interface device thereof | |
| US20230018532A1 (en) | Motorized actuation module for actuating an endoscopic instrument | |
| JP6535132B2 (en) | Treatment tool for endoscope | |
| CN112545605A (en) | Multi-head hemostatic clamp | |
| CN219397383U (en) | Rotary living body sampling forceps | |
| US20230355337A1 (en) | Endoscope adapter and auxiliary instrument for endoscopic surgery | |
| CN214284997U (en) | Biopsy forceps with anchoring function | |
| CN217471999U (en) | Hemostatic clamp with fluorescence imaging | |
| CN111202568B (en) | Magnetic force feedback operation instrument of gynecological and obstetrical surgical robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zou Lei Inventor after: Liu Kai Inventor after: Chai Jie Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200522 Address after: 250000 Shandong city of Ji'nan province Yan Ji Road, No. 440 Applicant after: SHANDONG RESEARCH INSTITUTE OF TUMOUR PREVENTION TREATMENT Address before: 610000 unit 1, building 7, Tianfu New Valley, No. 399, west section of Fucheng Avenue, hi tech Zone, Chengdu, Sichuan Province Applicant before: Yang Rui |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |