CN111012487A

CN111012487A - Be used for laparoscopic surgery robot apparatus coupling mechanism

Info

Publication number: CN111012487A
Application number: CN201811169625.5A
Authority: CN
Inventors: 李耀; 凌正刚; 黄松; 罗腾蛟
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2020-04-17

Abstract

The invention relates to an instrument connecting mechanism for a laparoscopic surgery robot, relates to the technical field of surgical robots, and is used for solving the technical problem that the motion in multiple directions cannot be integrated in the prior art. The invention relates to an instrument connecting mechanism for a laparoscopic surgery robot, which comprises a rotating mechanism and an opening and closing mechanism, wherein the rotating mechanism and the opening and closing mechanism can realize the rotation and opening and closing movement of instruments, so that the instrument connecting mechanism can simulate the rotation of arms and the closing and opening of fingers of a human, and the working angle of instruments such as a scalpel and the like can be flexibly adjusted in a surgery, so that the requirements of doctors on the freedom degree, flexibility and sensitivity of the instruments in complex surgeries are met; in addition, the opening and closing mechanism is sleeved in the rotating mechanism, so that the instrument connecting mechanism can be compact in structure, and the requirements of small size and light weight of the surgical instrument are met.

Description

Be used for laparoscopic surgery robot apparatus coupling mechanism

Technical Field

The invention relates to the technical field of surgical robots, in particular to an instrument connecting mechanism for a laparoscopic surgical robot.

Background

Minimally invasive surgery is practiced and rapidly developed based on traditional surgery with many advantages of fast postoperative recovery, small trauma, etc. Laparoscopic minimally invasive surgery, which is representative of minimally invasive surgery, has become a significant revolution of traditional open surgery. With the expansion of the field of minimally invasive surgery, the minimally invasive surgical robot system provides a new way for further perfecting the minimally invasive surgery aiming at the limitation of the conventional endoscope technology in clinical application.

At present, the instrument used by the existing minimally invasive surgical robot is fixed on an operation table only through a connecting mechanism, and cannot simulate the integrated motion of arms, wrists and fingers of a human, so that the requirements of a doctor on the degree of freedom, flexibility and sensitivity of the surgical instrument cannot be met when a more complex minimally invasive surgery is performed.

Disclosure of Invention

The invention provides an instrument connecting mechanism for a laparoscopic surgery robot, which is used for solving the technical problem that the motion in multiple directions cannot be integrated in the prior art.

The invention provides an instrument connecting mechanism for a laparoscopic surgery robot, which comprises a rotating mechanism and an opening and closing mechanism arranged in the rotating mechanism, wherein the rotating mechanism is rotatably connected with a transmission seat, one end of the opening and closing mechanism is provided with a clamping head, one end of the clamping head is connected with the end part of the rotating mechanism, the other end of the clamping head is provided with an instrument, and the other end of the opening and closing mechanism is fixedly connected with a sliding seat which is slidably arranged on the transmission seat.

In one embodiment, the rotation mechanism includes an instrument shaft coupled to a shaft on the drive mount.

In one embodiment, a first clamping groove is formed in the outer wall of the instrument rod, a positioning protrusion is arranged on the rotating shaft, and the first clamping groove is clamped with the positioning protrusion.

In one embodiment, the end of the instrument rod is provided with a rotating head, the rotating head is provided with an open slot, and the end of the clamping head far away from the instrument is arranged in the open slot.

In one embodiment, the opening and closing mechanism includes a draw bar coaxially disposed in the instrument bar, the draw bar being connected at one end to a slide seat slidably disposed on an actuator seat and at the other end to the actuator seat.

In one embodiment, a first end of the traction rod passes through the rotating head and then is arranged in the clamping head, and a second end of the traction rod is provided with a third clamping groove connected with the sliding seat in a clamping mode.

In one embodiment, push plates are respectively arranged on two sides of the traction rod, a first end of each push plate is hinged to the bottom of the instrument, and a second end of each push plate is hinged to the side of the traction rod.

In one embodiment, the clamping head is provided with a mounting groove for mounting the instrument, and the instrument is connected with the clamping head through a fourth pin shaft.

In one embodiment, fifth pin shafts are arranged on two sides of the first end of the traction rod, inclined holes are formed in the side walls of the instrument, and the fifth pin shafts penetrate through the inclined holes and then are rotatably connected with the side walls of the clamping heads.

In one embodiment, a spring is provided between the drawbar and the gripping head.

Compared with the prior art, the invention has the advantages that: the rotating mechanism and the opening and closing mechanism can realize the rotating and opening and closing movement of the instrument, so that the instrument connecting mechanism can simulate the arm rotation and the finger closing and opening of a human, and the working angle of the instrument such as a scalpel and the like can be flexibly adjusted in the operation, so as to meet the requirements of doctors on the freedom degree, flexibility and sensitivity of the instrument in the complex operation; in addition, the opening and closing mechanism is sleeved in the rotating mechanism, so that the instrument connecting mechanism can be compact in structure, and the requirements of small size and light weight of the surgical instrument are met.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

FIG. 1 is a perspective view of an implement coupling mechanism according to a first embodiment of the present invention;

FIG. 2 is a schematic perspective view of an instrument connection mechanism (not shown) according to a first embodiment of the present invention;

FIG. 3 is a perspective view of the instrument linkage of the first embodiment of the present invention (outer and inner tubes not shown).

FIG. 4 is a perspective view of the instrument of FIG. 1;

FIG. 5 is a perspective view of an implement attachment mechanism according to a second embodiment of the present invention;

FIG. 6 is a perspective view of an instrument linkage (not shown) according to a second embodiment of the present invention;

FIG. 7 is a perspective view of an instrument linkage (not shown) according to a second embodiment of the present invention;

fig. 8 is a schematic view of a mounting structure of an instrument connecting mechanism for a laparoscopic surgical robot in an embodiment of the present invention.

In the drawings, like components are denoted by like reference numerals. The figures are not drawn to scale.

Reference numerals:

3-a transmission seat; 36-a sliding seat;

4-an instrument connection mechanism; 41-instrument rod; 42-an instrument;

43-threaded sleeve; 44-a first card slot; 47-a drawbar;

48-a third card slot; 411-outer tube; 412-rotating head;

413-a limiting head; 414-inner tube; 415-a trough body;

416-a stop collar; 417-open slots; 421-inclined holes;

422-right clamping piece; 423-left clip; 424-fourth pin;

465-a clamping head; 471-spring; 472-fifth pin;

473-push plate; 474-a third pin; 475-a first pin;

476-second pin.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1 and 8, the present invention provides an instrument connection mechanism for a laparoscopic surgery robot, which comprises a rotation mechanism and an opening and closing mechanism arranged in the rotation mechanism, wherein the rotation mechanism is rotatably connected with a transmission seat, one end of the opening and closing mechanism is provided with a clamping head 465, one end of the clamping head 465 is connected with the end of the rotation mechanism, the other end of the clamping head 465 is provided with an instrument 42, and the other end of the opening and closing mechanism is fixedly connected with a second seat 36 slidably arranged on the transmission seat 3.

In other words, the rotation mechanism is rotationally connected to the transmission seat 3, so as to realize the rotation thereof; the first end of the opening and closing mechanism is hinged with the clamping head 465, and the other end is fixedly connected with the sliding seat 36 which is arranged on the transmission seat 3 in a sliding manner, so that the opening and closing movement of the opening and closing mechanism is realized.

The instrument 42 of the present invention includes an instrument having two degrees of freedom in two directions. Specifically, the rotation about the X axis is realized by a rotation mechanism and the opening and closing movement about the Y axis is realized by an opening and closing mechanism.

The rotation mechanism and the opening and closing mechanism will be described in detail below.

The rotating mechanism comprises an instrument rod 41, one end of the instrument rod 41 is provided with an instrument 42, and the other end of the instrument rod 41 is connected with the transmission seat 3.

The first degree of freedom of the instrument 42 is a rotation of the axis (in the X-axis direction) of the instrument lever 41 as a rotation axis, and the first degree of freedom of the instrument 42 can realize a rotation motion simulating the arm of a human body.

Specifically, the instrument rod 41 is connected to the rotating shaft 33 of the transmission seat 3, as shown in fig. 1, a positioning protrusion 331 is disposed at an end of the rotating shaft 33, a first locking groove 44 is disposed on an outer wall of the instrument rod 41, and after the instrument rod 41 is inserted into the rotating shaft 33, the positioning protrusion 331 is engaged with the first locking groove 44, so that the instrument rod 41 and the rotating shaft 33 are positioned in a radial direction.

Further, the rotating shaft 33 is provided with an external thread, the outer wall of the instrument rod 41 is provided with a threaded sleeve 43, and after the instrument rod 41 extends into the rotating shaft 33, the instrument rod 41 is fixedly connected with the rotating shaft 33 through the threaded sleeve 43, so that the instrument rod 41 and the rotating shaft 33 are positioned in the axial direction.

To this end, the shaft 33 and the instrument lever 41 are fixed in both directions, so that when the shaft 33 rotates, the instrument lever 41 rotates accordingly.

Specifically, as shown in fig. 2 and 3, the instrument rod 41 includes an outer tube 411 and an inner tube 414 coaxially disposed in the outer tube 411, a rotating head 412 is disposed at a first end of the outer tube 411, a limiting head 413 is disposed at a second end of the outer tube, a limiting ring 416 is disposed on an outer wall of the limiting head 413, and the first engaging groove 44 is disposed on the limiting ring 416 and engaged with the positioning protrusion 331 of the rotating shaft 33.

The inner tube 414 is disposed in the outer tube 411, and a first end of the inner tube 414 extends out of the outer tube 411 and enters the rotary head 412 to contact with a collar inside the rotary head 412; the second end of the inner tube 414 is disposed outside the retaining head 413 and contacts the end surface of the retaining ring 416, such that the inner tube 414 is retained between the rotating head 412 and the retaining head 413.

Since the outer diameter of the inner tube 414 is the same as the inner diameter of the outer tube 411, the inner tube 414 and the outer tube 411 are tightly fitted to each other and can rotate together.

Further, the first end of the inner tube 414 is further opened with a groove 415 extending along the axial direction of the inner tube 414, and the groove 415 is to avoid interference with a swinging lever 463 described below.

The both sides setting of clamping head 465 is provided with connection plane 464 respectively, and the upper end of rotating head 412 is provided with open slot 417, and the tip setting of clamping head 465 is in open slot 417, and connection plane 464 contacts with the inner wall of open slot 417 to be connected rotating head 412 and connection plane 464 through the pin, thereby clamping head 465 can use the axis of pin to rotate as the rotation axis.

In this embodiment, the first end refers to the end near the instrument 42 and the second end refers to the end away from the instrument 42.

The second degree of freedom of the instrument 42 is to enable opening and closing operations, and the second degree of freedom of the instrument 42 is to enable movement that simulates closing and opening of human fingers.

As shown in fig. 2 and 3, the opening and closing mechanism includes a draw bar 47 coaxially disposed in the inner tube 414, the draw bar 47 extending beyond the end of the push rod 46, the draw bar 47 being capable of moving in the inner tube 414 in the axial direction thereof.

The outer wall of the traction rod 47 is provided with a third clamping groove 48, and when the traction rod 47 extends into the sliding seat 36 on the transmission seat 3, the traction rod is clamped with the sliding seat 36, so that the traction rod is fixed with the sliding seat 36.

The first end of the pull rod 47 passes through the push rod 46 and the gripping head 465 in sequence and is connected to the instrument 42.

In the first embodiment of the present invention, as shown in fig. 3 and 4, a push plate 473 is respectively provided on both sides of the traction rod 47, a first end of the push plate 473 is hinged to the bottom of the implement 42, and a second end of the push plate 473 is hinged to a side of the traction rod 47.

Further, a mounting groove for mounting the instrument 42 is provided on the clamping head 465, and the instrument pin 424 is connected with the clamping head 465.

As shown in fig. 4, in an expanded state of the instrument 42. The instrument 42 comprises a left clamping piece 423 and a right clamping piece 422, wherein the bottoms of the left clamping piece 423 and the right clamping piece 422 are arranged in the mounting grooves on the clamping head 465 and are rotatably connected with the clamping head 465 through a fourth pin 424.

The push plates 475 on the two sides of the traction rod 47 are rotatably connected with the right jaw 422 through a first pin 475 and rotatably connected with the left jaw 423 through a second pin 476; meanwhile, the push plates 473 on both sides of the drawbar 47 are rotatably connected to the drawbar 47 by the third pin 474.

When the drawbar 47 is moved in its axial direction, the angle between the drawbar 47 and the push plate 473 and the angle between the push plate 473 and the left and

right jaws

423 and 422 are changed, so that the left and

right jaws

423 and 422 are separated or closed at the upper end, i.e., the tool 42 is opened or closed.

The outer wall of the second end of the pulling rod 47 is provided with a third clamping groove 48, and the third clamping groove 48 is clamped with the second clamping hole 361 of the sliding seat 36, so that when the sliding seat 36 moves, the pulling rod 47 is driven to move along the axial direction of the sliding seat, the hinge angle between the pushing plate 473 and the left clamping piece 423 and the right clamping and closing piece 422 is changed, and the instrument 42 is opened or closed.

In the second embodiment of the present invention, as shown in fig. 5-7, an inclined hole 421 is provided on the sidewall of the implement 42, a fifth pin 472 is provided at both sides of the first end of the traction rod 47, the fifth pin 472 is provided in the inclined hole 421, and when the traction rod 47 is subjected to a pulling force or a pushing force, the fifth pin 472 is pushed to move in the inclined hole 421, so as to open or close the implement 42.

Similarly, the outer wall of the second end of the traction rod 47 is provided with a third locking groove 48, and the third locking groove 48 is locked with the second locking hole 361 of the sliding seat 36, so that when the sliding seat 36 moves, the traction rod 47 will be driven to move along the axial direction thereof, so that the pin 472 moves in the inclined hole 421, and the instrument 42 is opened or closed.

In addition, on the basis of the above embodiment, a spring 471 is disposed between the traction rod 47 and the clamping head 465, a first end of the spring 471 is connected to an inner wall of the clamping head 465, and a second end of the spring 471 is connected to an inner wall of the adapter 461, so that the spring 471 is limited between the clamping head 465 and the adapter 461.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides a be used for laparoscopic surgery robot apparatus coupling mechanism, its characterized in that includes rotary mechanism and sets up opening and shutting mechanism in the rotary mechanism, rotary mechanism rotates with the driving seat and rotates to be connected, the one end of opening and shutting mechanism is provided with the holding head, the one end of holding head with rotary mechanism's tip links to each other, the other end of holding head is provided with the apparatus, the other end and the gliding ground of opening and shutting mechanism set up sliding seat fixed connection on the driving seat.

2. A robotic device coupling mechanism for laparoscopic surgery according to claim 1, wherein said rotation mechanism comprises a device rod, said device rod being connected to a rotation shaft on the transmission base.

3. The mechanism as claimed in claim 2, wherein a first engaging groove is formed on an outer wall of the instrument rod, a positioning protrusion is formed on the shaft, and the first engaging groove is engaged with the positioning protrusion.

4. A robotic instrument linkage mechanism for laparoscopic surgery according to claim 2 or 3, wherein the end of said instrument rod is provided with a rotating head, on which an open slot is provided, in which the end of said gripping head remote from said instrument is provided.

5. A robotic device coupling mechanism for laparoscopic surgery according to claim 4, wherein said opening and closing mechanism comprises a traction rod coaxially disposed in said device rod, said traction rod being connected at one end to a sliding seat slidably disposed on an actuator seat and at the other end to said actuator seat.

6. The coupling mechanism for a laparoscopic surgical robotic instrument according to claim 5, wherein a first end of said pull rod is disposed in said gripping head after passing through said rotating head, and a second end of said pull rod is provided with a third catching groove for catching and connecting with said sliding seat.

7. A robot instrument connecting mechanism for laparoscopic surgery according to claim 6, wherein a push plate is provided at both sides of the traction rod, respectively, a first end of the push plate is hinged to the bottom of the instrument, and a second end of the push plate is hinged to a side of the traction rod.

8. A robot instrument connecting mechanism for laparoscopic surgery according to claim 7, wherein a mounting groove for mounting the instrument is provided on the gripping head, and the instrument is connected to the gripping head by a fourth pin.

9. A robot instrument connecting mechanism for laparoscopic surgery according to claim 6, wherein, fifth pin shafts are provided at both sides of the first end of the traction rod, an inclined hole is provided on the side wall of the instrument, and the fifth pin shafts are rotatably connected with the side wall of the clamping head after passing through the inclined hole.

10. A robotic instrument linkage mechanism for laparoscopic surgery according to claim 9, wherein a spring is provided between said drawbar and said gripping head.