CN111012502A - Instrument fixing device for laparoscopic surgery robot - Google Patents

Abstract

The invention relates to an instrument fixing device for a laparoscopic surgery robot, relates to the technical field of robots, and is used for solving the technical problem that the motions in multiple directions cannot be integrated in the prior art. The invention relates to an instrument fixing device for a laparoscopic surgery robot, which comprises a driving seat, a transmission seat arranged on the driving seat and an instrument connecting mechanism arranged on the transmission seat, wherein a swinging mechanism and an opening and closing mechanism transmit torque through the transmission seat, so that swinging and opening and closing movements of instruments can be realized, the instrument connecting mechanism can simulate the rotation of wrists of a person and the closing or opening of fingers, and the requirements of doctors on the freedom degree, flexibility and sensitivity of the instruments in complex operations can be met; in addition, the swing mechanism is sleeved inside the fixed shaft, so that the instrument connecting mechanism has a compact structure, and the requirements of small size and light weight of the surgical instrument are met.

Description

Instrument fixing device for laparoscopic surgery robot

Technical Field

The invention relates to the technical field of robots, in particular to an instrument fixing device for a laparoscopic surgery 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 fixing device of the instrument used by the existing minimally invasive surgical robot only fixes the instrument on the operating table, but cannot simulate the integrated movement of the wrist and the finger 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 fixing device 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 fixing device for a laparoscopic surgery robot, which comprises a driving seat, a transmission seat arranged on the driving seat and an instrument connecting mechanism arranged on the transmission seat, wherein the instrument connecting mechanism comprises a fixed shaft, a swinging mechanism arranged in the fixed shaft and an opening and closing mechanism arranged in the swinging mechanism, the end part of the swinging mechanism is respectively hinged with the fixed shaft and the opening and closing mechanism, and an instrument is arranged at the end part of the opening and closing mechanism.

In one embodiment, the swing mechanism and the opening and closing mechanism are respectively connected with the transmission seat in a sliding manner.

In one embodiment, the swing mechanism comprises a push rod coaxially arranged in the fixed shaft, one end of the push rod being connected to a first seat slidingly arranged on the transmission seat and the other end being hinged to the fixed shaft by means of a gripping head.

In one embodiment, the first end of the push rod is provided with an adapter, the adapter is arranged in the fixed shaft, the end part of the adapter is connected with a swing rod, the swing rod is hinged with the side part of the clamping head, and the instrument is connected with the end part of the clamping head; the second end of the push rod is connected with the clamping pipe; and a second clamping groove connected with the first seat in a clamping manner is arranged on the outer wall of the clamping pipe.

In one embodiment, the end of the fixed shaft 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 comprises a draw bar coaxially arranged in the push rod, a first end of the draw bar is arranged in the clamping head after penetrating through the rotating head, and a second end of the draw bar is provided with a third clamping groove in clamping connection with the second seat.

In one embodiment, the first seat is connected to the drive mechanism by a first transmission mechanism and the second seat is connected to the drive mechanism by a second transmission mechanism.

In one embodiment, the drive mechanism further comprises an isolation seat arranged between the drive seat and the transmission seat.

In one embodiment, the transmission seat is connected with the isolation seat through a first quick-release structure.

In one embodiment, the isolation seat is connected with the driving seat through a second quick release structure.

Compared with the prior art, the invention has the advantages that: the swinging mechanism and the opening and closing mechanism transmit torque through the transmission seat, so that swinging and opening and closing motions of the instrument can be realized, and the instrument connecting mechanism can simulate wrist rotation and finger folding or unfolding of a human so as to meet the requirements of doctors on the freedom degree, flexibility and sensitivity of the instrument in complex operations; in addition, the swing mechanism is sleeved inside the fixed shaft, so that the instrument connecting mechanism has a compact 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 illustrating an instrument fixing device for a laparoscopic surgical robot according to an embodiment of the present invention;

FIG. 2 is a perspective view illustrating an instrument fixing apparatus for a laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings);

FIG. 3 is an elevation view of a first quick release structure in an embodiment of the present invention;

FIG. 4 is an exploded view of the first quick release structure shown in FIG. 3;

FIG. 5 is an exploded view (bottom view) of a second quick release structure in an embodiment of the invention;

FIG. 6 is an exploded view (top view) of a second quick release structure in an embodiment of the invention;

FIG. 7 is an exploded view of an instrument fixing device for a laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings)

FIG. 8 is a schematic perspective view of a transmission base according to an embodiment of the present invention;

FIG. 9 is a perspective cross-sectional view of the actuator mount shown in FIG. 8;

FIG. 10 is a perspective view of an implement attachment mechanism according to a first embodiment of the present invention;

FIG. 11 is a schematic perspective view of an instrument linkage mechanism (not shown) according to a first embodiment of the present invention;

fig. 12 is a perspective view of an instrument connection mechanism (not shown with a rotator head) according to a first embodiment of the present invention.

FIG. 13 is a perspective view of the instrument of FIG. 10;

FIG. 14 is a perspective view of an implement attachment mechanism according to a second embodiment of the present invention;

FIG. 15 is a perspective view of an instrument linkage mechanism according to a second embodiment of the present invention (the fixed shaft and gripping head are not shown).

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

Reference numerals:

1-a driving seat; 2-an isolation seat; 3-a transmission seat;

4-an instrument connection mechanism; 5-a drive mechanism; 6-a first quick release structure;

7-a second quick release structure; 11-a base; 12-a fixed seat;

22-a fifth coupling; 23-eighth coupling; 33-a connecting shaft;

35-a first seat; 36-a second seat; 37-a sixth coupling;

38-ninth coupling; 41-a fixed shaft; 42-an instrument;

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

45-a second card slot; 46-a push rod; 47-a drawbar;

48-a third card slot; 51-a power source; 52-a drive plate;

54-a fourth coupling; 55-a seventh coupling;

57-a second spring; 58-a third spring;

61-a first positioning portion; 62-a first positioning portion; 71-a third location portion;

72-a fourth location portion; 73-a fifth location section;

122-a second aperture; 123-a third aperture; 221-a second groove;

222-a first card strip; 371-a second card strip; 331-positioning protrusions;

351-a first card hole; 352-a first resilient catch; 353-a first pressing part;

354-first lead screw; 355-a first runner; 356-first sliding rail;

357-rear retainer; 358-a first spring retainer;

361-second card hole; 362-a second resilient catch; 363-a second pressing part;

364-second lead screw; 365-a second chute; 366-a second slide rail;

367-a second spring limiting body; 368-circuit board;

412-rotating head; 413-a limit clip;

415-a trough body; 416-a stop collar;

417-open slots; 421-inclined holes; 461-adapter;

462-a bayonet tube; 463-a swinging lever; 464-connecting plane;

465-a clamping head; 471-fourth spring; 472-pin axis;

512-a second motor; 513 — a third motor;

541-a first groove; 611-a third slide rail; 612-a third runner;

613-guide inclined plane; 621-a first receiving chamber; 622-a first elastomer;

623-clamping jaw; 624-barbs; 625-a card hole;

626-an arc-shaped guide groove; 627-conducting bar; 628-a guide;

711-a fourth runner; 712-a slider; 721-a fixture block;

722-slot; 723-slotted hole; 731-pressing sheet;

732-a second elastomer; 733-stepped hole; 734-mounting holes;

735-fixing the disc; 736-ear; 737-notch;

738-cover.

Detailed Description

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

As shown in fig. 1 and 2, the present invention provides an instrument fixing device for a laparoscopic surgery robot, which includes a driving seat 1, a driving seat 3 disposed on the driving seat 1, and an instrument connecting mechanism 4 disposed on the driving seat 3, wherein the instrument connecting mechanism 4 includes a fixed shaft 41, a swing mechanism disposed in the fixed shaft 41, and an opening and closing mechanism disposed in the swing mechanism, ends of the swing mechanism are hinged to the fixed shaft 41 and the opening and closing mechanism, respectively, and an instrument 42 is disposed at an end of the opening and closing mechanism.

It should be noted that the instrument 42 of the present invention is meant to be capable of swinging about the Z-axis (as shown in fig. 1) as well as opening and closing about the Y-axis.

Further, the fixing device of the present invention further includes a spacer 2 disposed between the driving seat 1 and the driving seat 3, and the connection manner thereof will be described in detail below.

The driving seat 1 comprises a base 11 fixedly connected with a sliding table of the trolley and a fixed seat 12 integrally arranged with the base 11. The base 11 is used for fixing a driving plate 52 in the driving mechanism 5, the side wall of the fixing seat 12 is used for fixing a power source 51 of the driving mechanism 5, and the power source 51 is electrically connected with the driving plate 52.

The instrument connecting mechanism 4 comprises a fixing shaft 41, and the fixing shaft 41 is fixed on the transmission seat 3 after sequentially penetrating through the side wall of the fixing seat 12, the side wall of the isolation seat 2 and the side wall of the transmission seat 3.

The fixed shaft 41 is connected to the connecting shaft 33 in the following manner:

as shown in fig. 7, the end of the connecting shaft 33 is provided with a positioning protrusion 331, the outer wall of the fixing shaft 41 is provided with a first locking groove 44, and after the fixing shaft 41 is inserted into the connecting shaft 33, the positioning protrusion 331 is engaged with the first locking groove 44, so that the fixing shaft 41 and the connecting shaft 33 are positioned in the radial direction.

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

To this end, the connecting shaft 33 and the fixed shaft 41 are fixed in both directions, and thus the fixed shaft 41 is fixed to the transmission housing 3.

The implementation of the first degree of freedom of the instrument 42 is first explained. The first degree of freedom of the instrument 42 is rotatable about the Z-axis (perpendicular to the axis of the fixed shaft 41) as a rotation axis, and the first degree of freedom of the instrument 42 can realize a rotation motion that simulates a wrist joint of a human body.

The transmission base 3 is slidably provided with a first base 35, and the first base 35 is connected with the driving mechanism 5 through a first transmission mechanism.

In one embodiment, the first transmission mechanism is a first lead screw 354.

The side wall of the fixed seat 12 is provided with a second hole 122, the power source 51 includes a second motor 512, and an output shaft of the second motor 512 is disposed in the second hole 122. In order to improve the space utilization, the axial direction of the fixed shaft 41, the axial direction of the second motor 512, and the length direction of the fixed base 12 are the same.

The second motor 512 is disposed on the sidewall of the fixing base 12, and an output shaft thereof passes through the second hole 122 and is fixedly connected to the fourth coupler 54 at an end portion of the output shaft. And a fifth coupler 22 and a sixth coupler 37 are respectively arranged on the side wall of the isolation seat 2 and the side wall of the transmission seat 3, and the fifth coupler 22 is respectively connected with a fourth coupler 54 and the sixth coupler 37.

The sixth coupling 37 is connected to the first threaded spindle 354, wherein the first threaded spindle 354 passes through the first seat 35 and forms a threaded connection with the first seat 35. The first slide groove 355 is disposed at the bottom of the first seat 35, the first slide rail 356 on the transmission seat 3 is disposed in the first slide groove 355, and when the first lead screw 354 rotates, the first seat 35 moves along the axial direction of the first lead screw 354.

Further, the limit position of the rightward movement of the first seat 35 is limited by a first spring stopper 358, as shown in fig. 8, the first spring stopper 358 is disposed on the first lead screw 354, and when the first seat 35 moves rightward (in the direction close to the instrument 42) and compresses the spring to the maximum retraction amount, the first seat 35 cannot move rightward any more, and the spring can prevent the first seat 35 from colliding with the first spring stopper 358 when moving to the limit position.

Similarly, the limit position of the leftward movement of the first seat 35 is defined by a rear retainer 357, as shown in fig. 8, the rear retainer 357 is disposed on the first lead screw 354, and when the first seat 35 moves leftward (away from the instrument 42) and contacts the rear retainer 357, it cannot move leftward any more.

By mechanically limiting the extreme positions of the first seat 35 in both directions, the maximum rotation angle of the instrument 42 can be controlled.

The end of the fixed shaft 41 is fixed to the first seat 35, and specifically, the fixing between the end of the fixed shaft 41 and the first seat 35 is as follows:

as shown in fig. 8 and 9, the first seat 35 is provided with a first engaging hole 351 for mounting the fixed shaft 41, and an axis of the first engaging hole 351 coincides with an axis of the connecting shaft 33. A first elastic catching plate 352 is disposed in the first catching hole 351, and the first elastic catching plate 352 is movable in a radial direction of the first catching hole 351 so that a mounting diameter of the first catching hole 351 is reduced (i.e., smaller than an actual diameter of the first catching hole 351) or the mounting diameter of the first catching hole 351 is increased (i.e., equal to the actual diameter of the first catching hole 351).

A first pressing part 353 is arranged at the end of the first seat 35, the first pressing part 353 can be a pressing rod, the first pressing part 353 is connected with the first elastic clamping plate 352, and when the first pressing part 353 is pressed down, the first elastic clamping plate 352 moves downwards to increase the installation diameter of the first clamping hole 351; when the pressure applied to the first pressing part 353 is removed, the first elastic catching plate 352 is sprung upward by the elastic member, so that the installation diameter of the first catching hole 351 is reduced.

The fixed shaft 41 is coaxially provided with a push rod 46, the push rod 46 extends out of the end of the fixed shaft 41, and relative rotation can be generated between the fixed shaft 41 and the push rod 46. Be provided with second draw-in groove 45 on the outer wall of catch bar 46, after catch bar 46 stretched into first card hole 351, the first cardboard 352 of elasticity and second draw-in groove 45 looks block made catch bar 46 fix in first card hole 351 to fix with first seat 35.

When the fixed shaft 41 needs to be detached, the first pressing portion 353 is pressed to move the first elastic clamping plate 352 along the radial direction of the first clamping hole 351, so that the installation diameter of the first clamping hole 351 is increased, and the push rod 46 can be taken out of the first clamping hole 351.

Therefore, when the driving plate 52 receives an instruction of rotating the instrument along the Z axis, the driving plate 52 drives the second motor 512 to rotate, and power is transmitted along the output shaft of the second motor 512, the fourth coupler 54, the fifth coupler 22, the sixth coupler 37, the first lead screw 354 and the first seat 35, so that the rotation motion of the second motor 512 is converted into the linear reciprocating motion of the first seat 35, that is, the pushing rod 46 can be driven to do the linear reciprocating motion, and the linear reciprocating motion is converted into swing motion (i.e., rotating around the Z axis) at the end of the pushing rod 46.

Second, the end of the push rod 46 is articulated to the instrument 42 by means of the gripping head 465, so as to achieve the transformation of the rectilinear reciprocating motion into an oscillating motion (i.e. rotation about the Z axis).

The manner in which instrument 42 oscillates (i.e., rotates about the Z-axis) will now be described:

the inside of the fixed shaft 41 is provided with a push rod 46, and the push rod 46 is movable in the fixed shaft 41 in the axial direction. The pushing rod 46 is connected to the first seat 35 at one end and to the instrument 42 at the other end, and when the first seat 35 moves, the pushing rod 46 is moved, so as to pull or push the instrument 42, and the instrument 42 is swung.

Specifically, as shown in fig. 10 and 11, the fixing shaft 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 connecting 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 push rod 46 is coaxially disposed inside the inner tube 414, and a first end of the push rod 46 is provided with an adapter 461, the adapter 461 being disposed in the inner tube 414.

The end connection of adapter 461 has swinging arms 463, and the other end of swinging arms articulates there is the clamping head 465, and the first end of clamping head 465 is connected with apparatus 42, and the second end of clamping head 465 rotates with rotating head 412 to be connected, consequently receives thrust or tensile effect when swinging arms 463, and clamping head 465 drives apparatus 42 and rotates around its junction with rotating head 412 to it is rotatory around the Z axle to realize apparatus 42.

Specifically, the two sides of the clamping head 465 are respectively provided with a connection plane 464, the upper end of the rotating head 412 is provided with an open slot 417, the end of the clamping head 465 is arranged in the open slot 417, the connection plane 464 is in contact with the inner wall of the open slot 417, and the rotating head 412 is connected with the connection plane 464 through a pin, so that the clamping head 465 can rotate with the axis of the pin as a rotation connection axis.

The second end of the pushing rod 46 passes through the inner tube 414 and the limiting head 413 in sequence, and is connected with the clamping tube 262 outside the limiting head 413. Specifically, the second end of the push rod 46 extends into the bayonet tube 462 to contact a collar inside the bayonet tube 462; the second engaging groove 45 is provided on an outer wall of the engaging tube 462, and engages with the first engaging hole 351 of the first seat 35.

Wherein, the inner diameter of the clamping tube 462 is the same as the outer diameter of the pushing rod 46, so when the first seat 35 moves and pulls the clamping tube 462 to move linearly, the pushing rod 46 also moves linearly, that is, the movement of the first seat 35 makes the pushing rod 46 move along the axis thereof, so that the swinging rod 463 is under the action of pushing force or pulling force, and the clamping head 465 drives the device 42 to rotate.

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 connection of the fourth coupling 54, the fifth coupling 22 and the sixth coupling 37 will be described.

The end of the fourth coupler 54 is provided with a first groove 541, the two ends of the fifth coupler 22 are respectively provided with a second groove 221 and a first clamping strip 222, and the end of the sixth coupler 37 is provided with a second clamping strip 371, wherein the first clamping strip 222 is arranged in the first groove 541, and the second clamping strip 371 is arranged in the second groove 221, so that the fourth coupler 54, the fifth coupler 22 and the sixth coupler 37 are positioned in the radial direction.

The fourth coupling 54, the fifth coupling 22 and the sixth coupling 37 are positioned in the axial direction by the fixed connection between the transmission base 3, the isolation base 2 and the drive base 1.

Further, as shown in fig. 7, in order to improve the ease of assembly between the fourth coupling 54, the fifth coupling 22, and the sixth coupling 37, the second spring 57 is provided between the fourth coupling 54 and the second motor 512, so that when the fourth coupling 54 is connected to the fifth coupling 22, the alignment of the first catch 222 and the first groove 541 is no longer necessary, in other words, the first catch 222 on the end surface of the fifth coupling 22 may be brought into contact with any position of the end surface of the fifth coupling 22, and when the first catch 222 is not inserted into the first groove 541, in this case, the fourth coupling 54 is pushed by the fifth coupling 22, so that the second spring 57 is compressed. When the second motor 512 rotates and drives the fourth coupler 54 to rotate, since the fourth coupler 54 is not positioned in the radial direction with the fifth coupler 22, relative movement is generated between the fourth coupler 54 and the fifth coupler 22, so that the first groove 541 of the fourth coupler 54 rotates to a position matched with the first strip 222 of the fifth coupler 22 and is clamped with the first strip 222 under the pushing of the first spring 56, thereby realizing the radial positioning between the fourth coupler 54 and the fifth coupler 22.

Similarly, when the sixth coupler 37 is connected to the fifth coupler 22, the alignment of the second locking strip 371 and the second groove 221 is no longer necessary, in other words, the second locking strip 371 on the end surface of the sixth coupler 37 can contact with any position of the end surface of the fifth coupler 22, when the fifth coupler 22 rotates, the second groove 221 of the fifth coupler 22 rotates to the position matching the second locking strip 371 of the sixth coupler 37, and under the pushing of the first spring 56, the second locking strip 371 is engaged, so that the radial positioning between the fifth coupler 22 and the sixth coupler 37 is realized.

In summary, in the present embodiment, the rotational motion of the second motor 512 is transmitted to the first lead screw 354, and the rotational motion of the first lead screw 354 is converted into the linear reciprocating motion of the first seat 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of the instrument 42.

The implementation of the second degree of freedom of the instrument 42 will be explained next. The second degree of freedom of the instrument 42 is capable of performing opening and closing operations (i.e., rotation about the Y axis), and the second degree of freedom of the instrument 42 is capable of simulating the closing and opening actions of human fingers.

A third hole 123 is provided on a side wall of the fixed base 12, the power source 51 includes a third motor 513, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve space utilization, the axial direction of the fixed shaft 41, the axial direction of the third motor 513, and the longitudinal direction of the fixing base 12 are the same.

The transmission base 3 is slidably provided with a second base 36, and the second base 36 is connected with the driving mechanism 5 through a second transmission mechanism.

In one embodiment, the second transmission mechanism is a second lead screw 364.

The third motor 513 is disposed on the side wall of the fixed base 12, and an output shaft thereof passes through the third hole 123 and is fixedly connected to the seventh coupling 55 at an end portion of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with an eighth coupler 23 and a ninth coupler 38, and the eighth coupler 23 is respectively connected with a seventh coupler 55 and the ninth coupler 38.

It should be noted that, in the present embodiment, the connection manner between the seventh coupling 55, the eighth coupling 23 and the ninth coupling 38 is the same as the connection manner between the fourth coupling 54, the fifth coupling 22 and the sixth coupling 37, a second spring 58 is disposed between the seventh coupling 55 and the third motor 513, and the second spring 58 can make the assembly between the three couplings faster.

The ninth coupling 38 is connected to a second threaded shaft 364, wherein the second threaded shaft 364 passes through the second seat 36 and is in threaded connection with the second seat 36. The bottom of the second seat 36 is provided with a second sliding groove 365, and a second sliding rail 366 on the transmission seat 3 is arranged in the second sliding groove 365, so that when the second lead screw 364 rotates, the second seat 36 moves along the axial direction of the second lead screw 364.

Therefore, when the driving plate 52 receives an instruction of opening or closing the apparatus, the driving plate 52 drives the third motor 513 to rotate, and power is transmitted along the output shaft of the third motor 513, the seventh coupling 55, the eighth coupling 23, the ninth coupling 38, the second lead screw 364 and the second seat 36, so that the rotation of the third motor 513 is converted into the linear reciprocating motion of the second seat 36.

Further, the limit position of the rightward movement of the second seat 36 is limited by a second spring limiting body 367, as shown in fig. 8, the second spring limiting body 367 is disposed on the second lead screw 364, and when the second seat 36 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, the second seat 36 cannot move rightward any more, and the spring can prevent the second seat 36 from colliding with the second spring limiting body 367 when moving to the limit position.

The limit position of the leftward movement of the second seat 36 is defined by a circuit board 368, as shown in fig. 8, the circuit board 368 is disposed on the transmission seat 3 and located at the left side of the second seat 36, and when the second seat 36 moves leftward (in the direction away from the instrument 42) to the limit position, the end of the second seat 36 can not move leftward any more after contacting with the end of the rear limit body 357.

By mechanically limiting the extreme positions of the second seat 36 in both directions, the maximum opening angle of the instrument 42 can be controlled.

Further, the fixing between the push rod 46 and the second seat 36 is as follows:

the second seat 36 is provided with a second locking hole 361 for installing the push rod 46, and the axis of the second locking hole 361 coincides with the axis of the connecting shaft 33. A second elastic catch plate 362 is disposed in the second catch hole 361, and the second elastic catch plate 362 can move along the radial direction of the second catch hole 361, so that the installation diameter of the second catch hole 361 is reduced (i.e. smaller than the actual diameter of the second catch hole 361), or the installation diameter of the second catch hole 361 is increased (i.e. equal to the actual diameter of the second catch hole 361).

As shown in fig. 9, a second pressing part 363 is disposed at an end of the second seat 36, the second pressing part 363 may be a pressing rod, the second pressing part 363 is connected to the second elastic clamping plate 362, and when the second pressing part 363 is pressed, the second elastic clamping plate 362 moves downward, so that the installation diameter of the second clamping hole 361 is increased; when the pressure applied to the second pressing part 363 is removed, the second elastic catch plate 362 bounces upward under the action of the elastic member, so that the installation diameter of the second catch hole 361 is reduced.

A pull rod 47 is coaxially provided in the push rod 46, the pull rod 47 extending beyond an end of the push rod 46, the pull rod 47 being capable of moving in the push rod 46 in an axial direction thereof.

The outer wall of the draw bar 47 is provided with a third catch groove 48, and when the draw bar 47 is inserted into the second catch hole 361, the elastic second catch 362 is engaged with the third catch groove 46, so that the draw bar 47 is fixed in the second catch hole 361, and is fixed with the second seat 36.

When the fixed shaft 41 needs to be removed, the draw bar 47 can be taken out of the second locking hole 361 only by pressing the second pressing part 363 to move the second elastic locking plate 362 along the radial direction of the second locking hole 361, so that the installation diameter of the second locking hole 361 is increased.

The implementation of the opening and closing movement of the instrument 42 will be described below:

as shown in fig. 12, 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 draw bar 47 is provided with a third slot 48, and when the draw bar 47 is inserted into the second seat 36 on the transmission seat 3, the draw bar is engaged with the second seat 36, so as to be fixed with the second 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. 12 and 13, 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. 13, in the 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 a second clamping hole 361 of the second seat 36, so that when the second seat 36 moves, the pulling rod 47 is driven to move along the axial direction of the second seat, the hinge angle between the pushing plate 473 and the left clamping piece 423 and the right clamping closing piece 422 is changed, and the instrument 42 is opened or closed.

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.

In the second embodiment of the present invention, as shown in fig. 14-15, an inclined hole 421 is provided on the sidewall of the instrument 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 instrument 42.

Similarly, the outer wall of the second end of the drawbar 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 second seat 36, so that when the second seat 36 moves, the drawbar 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 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.

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.

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.

It should be noted that the connection manner among the seventh coupling 55, the eighth coupling 23, and the ninth coupling 38 in this embodiment is the same as the connection manner among the fourth coupling 54, the fifth coupling 22, and the sixth coupling 37 in the first embodiment, wherein a third spring 58 is disposed between the seventh coupling 55 and the third motor 513, and similarly, the assembly among the three couplings can be faster by the third spring 58, and therefore, the description thereof is omitted.

In summary, in the present embodiment, the rotary motion of the third motor 513 is transmitted to the second lead screw 364, the rotary motion of the second lead screw 364 is converted into the linear reciprocating motion of the second base 36, and the linear reciprocating motion is converted into the opening and closing motion of the instrument 42.

The connection between the driving seat 1, the isolation seat 2 and the transmission seat 3 will be described in detail.

The transmission seat 3 and the isolation seat 2 are quickly connected through a first quick-release structure 6.

As shown in fig. 3, the first quick release structure 6 includes a first positioning portion 61, where the first positioning portion 61 includes third slide rails 611 disposed on two sides of the transmission seat 3 and third slide grooves 612 disposed on the isolation seat 2, and the two third slide rails 611 are respectively disposed in the corresponding third slide grooves 612, so that the transmission seat 3 can slide along the length direction of the isolation seat 2.

In order to facilitate smooth introduction of the third slide rail 611 into the third slide groove 612, a guide slope 613 inclined downward is provided at an end of the third slide rail 611 to reduce resistance when the third slide rail 611 enters the third slide groove 612, thereby improving assembly efficiency.

The driving seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction and the Z-axis direction by the third slide rail 611 and the third slide groove 612.

Further, the first quick release structure 6 further includes a second positioning portion 62, wherein the second positioning portion 62 includes a first accommodating cavity 621 and a first elastic body 622 disposed in the first accommodating cavity 621. A guide part 628 is arranged at the top end of the first elastic body 622, wherein one end of the guide part 628 is a downward inclined plane, and the other end is a stopping part; after the driving seat 3 is mounted on the isolation seat 2, the end of the driving seat 3 contacts with the end (i.e., the stopping portion) of the guiding portion 628, so that the driving seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

The bottom end of the first elastic body 622 is provided with at least two claws 623. For example, fig. 4 shows four claws 623, which are respectively located at four corners of the elastic seat 622 and are integrally formed with the first elastic body 622. The first receiving chamber 621 is provided therein with chucking holes 625, and the jaws 623 are respectively disposed in the corresponding chucking holes 625. The bottom of the claw 623 is provided with a barb 624, and the barb 624 catches on the bottom of the catching hole 625, so as to limit the maximum displacement amount of the first elastic body 622 when moving in a direction away from the first accommodating chamber 621 (i.e., moving upward in the Z-axis direction).

At least one side wall of the first elastic body 622 is provided with an arc-shaped guide groove 626, for example, four arc-shaped guide grooves 626 are shown in fig. 4 and are respectively located on four side walls of the first elastic body 622; a semi-cylindrical guide bar 627 is disposed on an inner wall of the first receiving cavity 621, and the guide bar 627 is disposed in the arc-shaped guide groove 626 for maintaining the linear movement of the first elastic body 622 in the Z-axis direction.

The initial state of the first elastic body 622 is that the end of the first elastic body 622 is flush with the end of the first receiving cavity 621, and the guide 628 at the top end of the first elastic body 622 is higher than the end of the first receiving cavity 621; the claws 623 of the first elastic body 622 are disposed in the chucking holes 625, and the barbs 624 at the bottoms of the claws 623 snap into the bottoms of the chucking holes 625. That is, the first elastic body 622 can move downward only in the Z-axis direction when it is in the initial state.

A spring is disposed between the first elastic body 622 and the first receiving chamber 621, and the spring is used to restore the first elastic body 622 to an original state.

The transmission seat 3 and the isolation seat 2 are installed in the following way:

the bottom surface of the transmission seat 3 is in contact with the upper surface of the isolation seat 2, the transmission seat 3 is pushed along the length direction (i.e. the X-axis direction) of the isolation seat 2, in the moving process of the transmission seat 3, the first end of the transmission seat 3 first contacts with the first elastic body 622, when the transmission seat 3 continues to move, a downward pressure is applied to the first elastic body 622, and the first elastic body 622 is forced to move downward along the Z-axis direction. In this process, the driving seat 3 can be easily moved above the first elastic body 622 by the guide portion 628 at the top end of the first elastic body 622, so that the movement of the driving seat 3 is not hindered.

In the process of continuing to move the transmission seat 3, the third sliding rails 611 on both sides of the transmission seat 3 smoothly enter the third sliding groove 612 through the guiding inclined surface 613, and continue to move along the third sliding groove 612 until the bottom end of the transmission seat 3 completely separates from the first elastic body 622, so that the first elastic body 622 is no longer pressed, and the first elastic body 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the stopping portion of the first elastic body 622 contacts the second end of the transmission seat 3, so that the transmission seat 3 cannot move backward any more.

Thus, the installation of the transmission seat 3 and the isolation seat 2 is completed.

When the transmission seat 3 is detached, the elastic seat 622 is only required to be pressed down, the stopping portion of the first elastic body 622 is not in contact with the end portion of the transmission seat 3, and the transmission seat 3 can be moved in the direction opposite to the above direction, so that the transmission seat 3 is separated from the isolation seat 2.

Because the transmission seat 3 is provided with the apparatus connecting mechanism 4, the transmission seat 3 and the apparatus connecting mechanism 4 can be conveniently and quickly detached from the isolation seat 2 through the quick-detaching structure between the transmission seat 3 and the isolation seat 2, so that the apparatus can be more conveniently replaced in the operation.

The isolation seat 3 is in quick connection with the driving seat 1 through a second quick-release structure 7.

As shown in fig. 5 and 6, the second quick release structure 7 includes a third positioning portion 71, wherein the third positioning portion 71 includes a fourth sliding slot 711 disposed at the bottom of the isolation seat 3 and a sliding block 712 disposed on the driving seat 1, and the sliding block 712 is disposed in the fourth sliding slot 711, so that the isolation seat 2 can slide along the length direction of the driving seat 1. The transmission seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction by the sliding block 712 and the fourth sliding groove 711.

Further, the second quick release structure 7 includes a fourth positioning portion 72, where the fourth positioning portion 72 includes a fastening block 721 disposed at a first end of the isolation seat 3 and a slot 722 disposed at a second end of the isolation seat 3, the slot 722 extends along a length direction of the isolation seat 3, a long hole 723 is disposed on the driving seat 1, after the isolation seat 3 is mounted on the driving seat 1, the fastening block 721 is inserted into the long hole 723, and meanwhile, a rear end of the driving seat 1 is fastened with the slot 722, so that the driving seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

In addition, the front end of the latch 721 is provided with a downward inclined surface to facilitate insertion of the latch 721 into the long hole 723.

Further, the second quick release structure 7 includes a fifth positioning portion 73, the fifth positioning portion 73 includes a pressing piece 731 disposed on the isolation seat 3 and a second elastic body 732 disposed on the driving seat 1, and the second elastic body 732 is disposed in a stepped hole 733 on the isolation seat 3. Specifically, the pressing piece 731 is disposed in a hole with a larger diameter in the stepped hole 733, and the second elastic body 732 is inserted into the hole with a smaller diameter in the stepped hole 733 from the bottom of the stepped hole 733 and then contacts with the bottom of the pressing piece 731, so that the top end of the pressing piece 731 is kept flush with the upper surface of the isolation seat 3, and the transmission seat 3 and the isolation seat 2 are completely positioned in the Z-axis direction.

The pressing piece 731 is a silicone membrane and has a certain elastic deformation capability.

When the pressing piece 731 is pressed, the second elastic body 732 is moved downward in the Z-axis direction, and the second elastic body 732 is separated from the stepped hole 733, thereby releasing the restraint of the spacer 3 and the driver 1 in the Z-axis direction.

In order to improve the response sensitivity of the second elastic body 732, a slope inclined downward is provided on an upper end surface of the second elastic body 732, so that the volume of the second elastic body 732 extending into the stepped hole 733 is reduced, and when the pressing piece 731 presses the second elastic body 732 downward, the elastic body 732 can be rapidly separated from the stepped hole 733.

The driving seat 1 is provided with a mounting hole 734, the mounting hole 734 is provided with a fixing plate 735, and the bottom of the fixing plate 735 is in contact with the bottom end of the driving seat 1. Ear 736 is arranged at the bottom of the driving seat 1, a notch 737 for accommodating the ear 736 is arranged on the fixed tray 735, and a cover body 738 at the bottom end of the fixed tray 735 is fixedly connected with the ear 736, so that the fixed tray 735 is fixed with the driving seat 1.

The second elastic body 732 is disposed in the fixed tray 735, and a spring is disposed between the second elastic body 732 and the cover 738 to restore the second elastic body 732 to an original state.

In the initial state of the second elastic body 732, the top end of the second elastic body 732 protrudes outside the fixed plate 735, that is, the top end of the second elastic body 732 is higher than the upper surface of the driving socket 1.

The installation mode of the isolation seat 2 and the driving seat 1 is as follows:

the bottom surface of the isolation seat 2 is in contact with the upper surface of the driving seat 1, the isolation seat 2 is pushed along the length direction (i.e. the X-axis direction) of the driving seat 1, and the fourth sliding groove 711 at the bottom end of the isolation seat 2 is matched with the sliding block 712 in the moving process of the isolation seat 2, so as to guide the movement of the isolation seat 2.

When the isolation seat 2 continues to move, the first end of the isolation seat 2 contacts the second elastic body 732, and when the isolation seat 2 continues to move, downward pressure is applied to the second elastic body 732, and the second elastic body 732 is forced to move downwards along the Z-axis direction. In this process, the isolation seat 2 can be easily moved above the second elastic body 732 by the slope of the top end of the second elastic body 732, so that the movement of the isolation seat 2 is not hindered.

Subsequently, the stepped hole 733 at the bottom end of the isolation seat 2 moves to above the second elastic body 732, and at this time, the second elastic body 732 is not pressed any more, and the second elastic body 732 moves upward in the Z-axis direction under the action of the spring to be inserted into the stepped hole 733 and returns to the original state. At this time, the second elastic body 732 and the stepped hole 733 are engaged with each other, so that the spacer 2 cannot move any more.

Thus, the installation of the isolation seat 2 and the driving seat 1 is completed.

When detaching the isolation seat 2, the pressing piece 731 is simply pressed down to separate the second elastic body 732 from the step hole 733, so that the isolation seat 2 is moved in the direction opposite to the above direction, and the isolation seat 2 is separated from the driving seat 1.

In the above embodiment, in order to reduce the weight and cost of the entire apparatus, the isolation seat 2 may be made of plastic.

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 (10)

1. The utility model provides an apparatus fixing device for laparoscopic surgery robot, its characterized in that is in including drive seat, setting transmission on the drive seat and setting are in apparatus coupling mechanism on the transmission, apparatus coupling mechanism includes the fixed axle, sets up swing mechanism and setting in the fixed axle are in opening and shutting mechanism among the swing mechanism, swing mechanism's tip respectively with the fixed axle with it is articulated to open and shut the mechanism, the tip of opening and shutting mechanism is provided with the apparatus.

2. The instrument fixing device for a laparoscopic surgical robot according to claim 1, wherein said swing mechanism and said opening and closing mechanism are slidably connected to said driving base, respectively.

3. The instrument fixing device for a laparoscopic surgical robot according to claim 2, wherein said swing mechanism comprises a push rod coaxially disposed in said fixed shaft, one end of said push rod being connected to a first seat slidably disposed on the driving seat, and the other end being hinged to said fixed shaft through a clamping head.

4. The instrument fixing device for the laparoscopic surgical robot according to claim 3, wherein a first end of the push rod is provided with an adapter, the adapter is disposed in the fixed shaft, an end of the adapter is connected with a swing rod, the swing rod is hinged to a side portion of the clamping head, and the instrument is connected to an end of the clamping head; the second end of the push rod is connected with the clamping pipe; and a second clamping groove connected with the first seat in a clamping manner is arranged on the outer wall of the clamping pipe.

5. The instrument fixing device for a laparoscopic surgical robot according to claim 4, wherein an end of the fixing shaft is provided with a rotating head, the rotating head is provided with an open slot therein, and an end of the clamping head, which is far from the instrument, is disposed in the open slot.

6. The instrument fixing device for the laparoscopic surgical robot according to claim 5, wherein the opening and closing mechanism includes a draw bar coaxially disposed in the push rod, a first end of the draw bar is disposed in the gripping head after passing through the swivel head, and a second end of the draw bar is provided with a third catching groove snap-coupled with the second socket.

7. The instrument fixing device for a laparoscopic surgical robot according to claim 6, wherein said first mount is connected to said driving mechanism through a first transmission mechanism, and said second mount is connected to said driving mechanism through a second transmission mechanism.

8. The instrument fixing device for a laparoscopic surgical robot according to any one of claims 1 to 7, further comprising an isolation seat disposed between said driving seat and said driving seat.

9. The instrument fixing device for a laparoscopic surgical robot according to claim 8, wherein said driving base is connected to said isolating base by a first quick release structure.

10. The instrument fixing device for a laparoscopic surgical robot according to claim 8, wherein said separation base is connected to said driving base by a second quick release structure.

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