CN111166485A - Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method - Google Patents

Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method Download PDF

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Publication number
CN111166485A
CN111166485A CN201811348536.7A CN201811348536A CN111166485A CN 111166485 A CN111166485 A CN 111166485A CN 201811348536 A CN201811348536 A CN 201811348536A CN 111166485 A CN111166485 A CN 111166485A
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CN
China
Prior art keywords
long rod
bearing
sleeve
instrument
flanging
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Granted
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CN201811348536.7A
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Chinese (zh)
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CN111166485B (en
Inventor
王了
胡江
黄宇
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Chongqing Jinshan Medical Robot Co ltd
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Chongqing Jinshan Medical Robot Co ltd
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Priority to CN201811348536.7A priority Critical patent/CN111166485B/en
Publication of CN111166485A publication Critical patent/CN111166485A/en
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Publication of CN111166485B publication Critical patent/CN111166485B/en
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    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a surgical operation auxiliary robot instrument long rod end fixing structure and a fixing method, wherein the fixing structure comprises an instrument seat (1) and a long rod (2); the long rod (2) is arranged in the sleeve (8); the sleeve (8) is mounted in at least one bearing; the sleeve (8) has a stepped structure that prevents axial movement of the sleeve (8) and bearing. The invention has reliable positioning, thereby ensuring the transmission precision of the long rod of the instrument, and has simple structure and convenient production and control.

Description

Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method
Technical Field
The invention relates to a fixing structure and a fixing method, in particular to a fixing structure and a fixing method for the end part of a thin-wall long rod of a surgical operation auxiliary robot instrument.
Background
A medical robot for performing minimally invasive surgery, which performs surgical operations on a patient by means of instruments fixed at the ends of the joints of the robot, such as a laparoscopic surgical robot disclosed in CN 107951565A. Specifically, the operation part of the instrument is a clamp, scissors or other parts, and the parts can be controlled and operated by a steel rope. Due to the specific construction of the robot and the nature of the operation, the manipulator of these instruments is located at the distal end of an elongated shaft, with the cables controlling the manipulator passing through the hollow of the elongated shaft.
During surgery, the front portion of the shaft extends into the patient's abdominal cavity, so precise positioning and control of the shaft is the most important safety feature. However, in the prior art, the elongate shaft is still susceptible to axial and circumferential movement in the operative condition, which greatly increases the risk of surgical accidents.
Those skilled in the art have therefore sought to develop a more reliable structure for the attachment of an elongate shaft of an instrument, which results in more precise control and greater safety of the instrument during operation.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a structure for more reliably securing an elongated shaft of an instrument, thereby allowing the instrument to be more accurately controlled during operation.
In order to achieve the above object, the present invention provides a surgical operation auxiliary robot instrument long rod end fixing structure, comprising an instrument seat and a long rod; the long rod is arranged in the sleeve; the sleeve is arranged in at least one bearing; the sleeve has a stepped structure that prevents axial movement of the sleeve and bearing.
Preferably, the step structure of the sleeve comprises an upper step and a lower step; the upper step is provided with an upper step surface abutting against the upper end surface of the uppermost layer bearing; the lower step is provided with a lower step surface which abuts against the lower end surface of the lowest layer bearing.
To further limit axial and circumferential movement of the long rod, the long rod is interference fit in the sleeve.
In order to further limit the axial movement of the long rod, the middle part of the sleeve is provided with a rebound groove.
Preferably, the sleeve is mounted in a first bearing and a second bearing spaced apart by a bushing; the width of the rebound groove is equal to the length of the bushing.
In order to further limit the long rod to generate axial movement, the upper end of the sleeve is provided with a first flanging, and the first flanging is turned downwards to form the upper step.
In order to further limit the long rod to generate axial and circumferential movement, a second flanging is arranged at the upper end of the long rod and is turned downwards to be tightly attached to the first flanging.
Preferably, a bearing seat is arranged at the lower part of the cavity of the instrument seat for accommodating the long rod, and a bearing cover is arranged at the upper part of the cavity; and a first bearing, a bearing bush and a second bearing are sequentially arranged between the bearing cover and the bearing seat.
To further limit the circumferential movement of the long rod, the upper end of the long rod is inserted into the inner hole of the driving wheel.
Preferably, the driving wheel is provided with a positioning groove along the axial direction; the upper end of the long rod is matched with the positioning groove.
To further limit circumferential movement of the long rod, the sleeve is in interference fit with the bearing.
The long rod is prevented from being pulled out, the driving wheel is also prevented from falling off, and the upper part of the driving wheel is provided with a buckling step; the upper part of the long rod is provided with a buckling surface corresponding to the buckling step. The invention also provides a surgical operation auxiliary robot instrument which comprises the long rod end fixing structure.
The invention also provides a method for fixing the end part of the long rod of the surgical auxiliary robot instrument, which comprises the following steps:
1) selecting a sleeve matched with the long rod, and arranging a rebound groove along the circumferential direction of an inner hole in the middle of the sleeve; the long rod is in interference fit in the sleeve;
2) arranging a first flanging at the upper end of the sleeve, and turning the first flanging downwards to form a step structure; the lower end of the sleeve is provided with a step structure;
a second flanging is arranged at the upper end of the long rod, so that the second flanging is turned downwards and is tightly attached to the upper surface of the first flanging;
3) a first bearing and a second bearing are arranged in the instrument at intervals through a bushing; abutting the first flange against the upper end face of the first bearing; the step at the lower end of the sleeve abuts against the lower end face of the second bearing.
Preferably, in step 1), the width of the rebound groove is equal to the length of the bushing.
The invention has the beneficial effects that: the invention has reliable positioning, thereby ensuring the transmission precision of the long rod of the instrument, and has higher safety, simple structure and convenient production and control.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
3 FIG. 3 2 3 is 3 a 3 schematic 3 sectional 3 view 3 A 3- 3 A 3 of 3 FIG. 3 1 3. 3
Fig. 3 is an enlarged view at I in fig. 2.
Fig. 4 is a schematic sectional structure view of B-B of fig. 1.
Fig. 5 is a schematic view showing a connection structure of a driving wheel and an upper portion of a long pole according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of an apparatus to which an embodiment of the present invention is applied.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 to 5, a surgical operation auxiliary robot instrument long rod end fixing structure comprises an instrument seat 1 and a long rod 2, wherein the long rod 2 is in interference fit in a sleeve 8.
The upper portion of the instrument seat 1 can be fixed with a wheel seat 4, as shown in fig. 6, the lower portion of the cavity 1a of the instrument seat 1 for accommodating the long rod 2 is provided with a bearing seat 1b, the upper portion is provided with a bearing cover 3, and the upper end face of the bearing cover 3 is abutted against the lower end face of the wheel seat. A first bearing 5, a bearing bush 6 and a second bearing 7 are sequentially arranged between the bearing cover 3 and the bearing seat 1 b.
The sleeve 8 is interference fitted within the first and second bearings 5, 7.
The sleeve 8 has a stepped configuration which prevents axial movement of the sleeve 8 with the bearing. Specifically, the stepped structure of the sleeve 8 includes an upper step 81 and a lower step 82, the upper step 81 having an upper step surface 81a abutting against the upper end surface of the first bearing 5; the lower step 82 has a lower step surface 82a abutting against the lower end surface of the second-most bearing 7.
The middle of the sleeve 8 is provided with a rebound groove 83, and the width of the rebound groove 83 is equal to the length of the bush 6.
The upper end of the sleeve 8 is provided with a first flange which is turned down to form an upper step 81. The upper end of the long rod 2 is provided with a second flanging 2a, and the second flanging 2a is turned downwards and is tightly attached to the first flanging. The first flanging and the second flanging have the same width.
The upper end of the long rod 2 is inserted into the inner hole of the driving wheel 9. The driving wheel 9 is provided with a positioning groove 9a along the axial direction, and the upper end of the long rod 2 is matched with the positioning groove 9 a.
Obviously, in the above structure, the first bearing 5 and the second bearing 7 do not move axially due to the function of the bearing bush 6, the bearing seat 1b, the bearing cover 3 and the wheel bearing 4. The sleeve 8 does not move axially due to the lower step 82 of the sleeve 8 and the upper step 81 formed by the first flange. Since the second flange 2a is tightly attached to the first flange and the sleeve 8 is in interference fit with the long rod 2, the axial movement of the long rod 2 is also restricted. Such a configuration is sufficient to allow the long rod 2 to be well fixed relative to the instrument holder 1, especially in view of the direction and magnitude of the forces normally applied during operation of the instrument.
Further, owing to the setting of resilience groove 83, stock 2 and 8 interference fit backs of sleeve pipe, will form the step effect in resilience groove 83 department to further restrict the axial motion of stock 2.
On the other hand, due to the effect of the first flanging and the second flanging, the long rod 2 is in interference fit with the sleeve 8, the sleeve 8 is in interference fit with the first bearing 5 and the second bearing 7, and the upper end of the long rod 2 is matched with the positioning groove 9a, so that the rotating angular speeds of the long rod 2 and the sleeve 8 and the driving wheel 9 are consistent.
The upper part of the driving wheel 9 is provided with a buckling step 9b, and the upper part of the long rod 2 is provided with a buckling surface 2b corresponding to the buckling step 9 a. Therefore, the buckling step inside the driving wheel 9 is buckled with the reverse step at the upper part of the long rod, so that the driving wheel is prevented from being separated, and the long rod is prevented from being pulled out.
The surgical auxiliary robot instrument long rod end fixing structure can be applied to surgical auxiliary robot instruments.
Correspondingly, the invention also provides a method for fixing the end part of the long rod of the surgical auxiliary robot instrument, which comprises the following steps:
1) selecting a sleeve matched with the long rod, and arranging a rebound groove along the circumferential direction of an inner hole in the middle of the sleeve; the long rod is in interference fit in the sleeve;
2) arranging a first flanging at the upper end of the sleeve, and turning the first flanging downwards to form a step structure; the lower end of the sleeve is provided with a step structure;
a second flanging is arranged at the upper end of the long rod, so that the second flanging is turned downwards and is tightly attached to the upper surface of the first flanging;
3) a first bearing and a second bearing are arranged in the instrument at intervals through a bushing; abutting the first flange against the upper end face of the first bearing; the step at the lower end of the sleeve abuts against the lower end face of the second bearing.
Preferably, in step 1), the width of the rebound groove is equal to the length of the bush.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. A surgery auxiliary robot apparatus stock end fixing structure comprises an apparatus seat (1) and a stock (2); the method is characterized in that: the long rod (2) is arranged in the sleeve (8); the sleeve (8) is mounted in at least one bearing; the sleeve (8) has a stepped structure that prevents axial movement of the sleeve (8) and bearing.
2. The surgical assistant robot instrument long rod end fixing structure of claim 1, wherein: the step structure of the sleeve (8) comprises an upper step (81) and a lower step (82); the upper step (81) is provided with an upper step surface (81 a) abutting against the upper end surface of the uppermost layer bearing; the lower step (82) has a lower step surface (82 a) abutting against the lower end surface of the lowermost bearing.
3. The surgical auxiliary robot instrument long rod end fixing structure of claim 1 or 2, wherein: the long rod (2) is in interference fit in the sleeve (8).
4. The surgical assistant robot instrument long rod end fixing structure of claim 3, wherein: a rebound groove (83) is formed in the middle of the sleeve (8);
the sleeve (8) is arranged in a first bearing (5) and a second bearing (7) which are arranged at intervals through a bushing (6); the width of the rebound groove (83) is equal to the length of the bushing (6).
5. The surgical assistant robot instrument long rod end fixing structure of claim 2, wherein: the upper end of the sleeve (8) is provided with a first flanging, and the first flanging is turned downwards to form the upper step (81);
the upper end of the long rod (2) is provided with a second flanging (2 a), and the second flanging (2 a) is turned downwards and is tightly attached to the first flanging.
6. The surgical assistant robot instrument long rod end fixing structure of claim 2, wherein: a bearing seat (1 b) is arranged at the lower part of a cavity (1 a) of the instrument seat (1) for accommodating the long rod (2), and a bearing cover (3) is arranged at the upper part of the cavity; a first bearing (5), a bearing bush (6) and a second bearing (7) are sequentially arranged between the bearing cover (3) and the bearing seat (1 b).
7. The surgical assistant robot instrument long rod end fixing structure of claim 2, wherein: the upper end of the long rod (2) is inserted into an inner hole of the driving wheel (9);
the driving wheel (9) is provided with a positioning groove (9 a) along the axial direction; the upper end of the long rod (2) is matched with the positioning groove (9 a);
the sleeve (8) is in interference fit with the bearing;
the upper part of the driving wheel (9) is provided with a buckling step (9 b); the upper part of the long rod (2) is provided with a buckling surface (2 b) corresponding to the buckling step (9 a).
8. A surgical auxiliary robot instrument is characterized in that: comprising the long-rod end fixing structure of any one of claims 1 to 7.
9. A method for fixing the end part of a long rod of an instrument of an operation auxiliary robot is characterized by comprising the following steps:
1) selecting a sleeve matched with the long rod, and arranging a rebound groove along the circumferential direction of an inner hole in the middle of the sleeve; the long rod is in interference fit in the sleeve;
2) arranging a first flanging at the upper end of the sleeve, and turning the first flanging downwards to form a step structure; the lower end of the sleeve is provided with a step structure;
a second flanging is arranged at the upper end of the long rod, so that the second flanging is turned downwards and is tightly attached to the upper surface of the first flanging;
3) a first bearing and a second bearing are arranged in the instrument at intervals through a bushing; abutting the first flange against the upper end face of the first bearing; the step at the lower end of the sleeve abuts against the lower end face of the second bearing.
10. The surgical assistant robot instrument long rod end fixing method as claimed in claim 9, wherein: in the step 1), the width of the rebound groove is equal to the length of the bush.
CN201811348536.7A 2018-11-13 2018-11-13 Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method Active CN111166485B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811348536.7A CN111166485B (en) 2018-11-13 2018-11-13 Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method

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Application Number Priority Date Filing Date Title
CN201811348536.7A CN111166485B (en) 2018-11-13 2018-11-13 Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method

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CN111166485A true CN111166485A (en) 2020-05-19
CN111166485B CN111166485B (en) 2024-04-30

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Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2336177Y (en) * 1998-10-14 1999-09-01 李纲 Connecting casing
DE10024541A1 (en) * 2000-05-18 2002-01-03 Torrington Nadellager Gmbh Bearing arrangement for radial piston pump with components contained in single sleeve as modular unit held with press fit in pump block
CN1862069A (en) * 2006-05-17 2006-11-15 杨得来 Pipejoint
CN101396298A (en) * 2008-10-31 2009-04-01 天津大学 Robot system with endoscope for assisting micro-wound surgical operation
CN201390092Y (en) * 2009-04-28 2010-01-27 韶关东南轴承有限公司 Wheel hub component adopting shaft riveting technology for integration
CN201537927U (en) * 2009-11-03 2010-08-04 昆山市工业技术研究院有限责任公司 Electric locking rotation joint for auxiliary arm in surgery operation
US20110251597A1 (en) * 2010-04-08 2011-10-13 Warsaw Orthopedic, Inc. Neural-monitoring enabled sleeves for surgical instruments
CN103340687A (en) * 2013-07-29 2013-10-09 吉林大学 Decoupled quick change surgical device for robot assisted minimally invasive surgery
US20140180309A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Mounting and positioning device of a surgical instrument and.or an endoscope for minimally invasive surgery and asurgical robot system
CN105508442A (en) * 2016-01-29 2016-04-20 西门子爱克斯射线真空技术(无锡)有限公司 Bearing assembly of X-ray tube and X-ray tube with bearing assembly
CN105997254A (en) * 2016-07-08 2016-10-12 天津大学 Quick changing device for minimally invasive surgery instruments
CN205664023U (en) * 2016-05-13 2016-10-26 浙江固的管业有限公司 Turn -ups pipe
CN206072600U (en) * 2016-07-21 2017-04-05 北京美联桥科技发展有限公司 A kind of pipe joint sealing structure with flange
CN209548084U (en) * 2018-11-13 2019-10-29 重庆金山医疗机器人有限公司 A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2336177Y (en) * 1998-10-14 1999-09-01 李纲 Connecting casing
DE10024541A1 (en) * 2000-05-18 2002-01-03 Torrington Nadellager Gmbh Bearing arrangement for radial piston pump with components contained in single sleeve as modular unit held with press fit in pump block
CN1862069A (en) * 2006-05-17 2006-11-15 杨得来 Pipejoint
CN101396298A (en) * 2008-10-31 2009-04-01 天津大学 Robot system with endoscope for assisting micro-wound surgical operation
CN201390092Y (en) * 2009-04-28 2010-01-27 韶关东南轴承有限公司 Wheel hub component adopting shaft riveting technology for integration
CN201537927U (en) * 2009-11-03 2010-08-04 昆山市工业技术研究院有限责任公司 Electric locking rotation joint for auxiliary arm in surgery operation
US20110251597A1 (en) * 2010-04-08 2011-10-13 Warsaw Orthopedic, Inc. Neural-monitoring enabled sleeves for surgical instruments
US20140180309A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Mounting and positioning device of a surgical instrument and.or an endoscope for minimally invasive surgery and asurgical robot system
CN103340687A (en) * 2013-07-29 2013-10-09 吉林大学 Decoupled quick change surgical device for robot assisted minimally invasive surgery
CN105508442A (en) * 2016-01-29 2016-04-20 西门子爱克斯射线真空技术(无锡)有限公司 Bearing assembly of X-ray tube and X-ray tube with bearing assembly
CN205664023U (en) * 2016-05-13 2016-10-26 浙江固的管业有限公司 Turn -ups pipe
CN105997254A (en) * 2016-07-08 2016-10-12 天津大学 Quick changing device for minimally invasive surgery instruments
CN206072600U (en) * 2016-07-21 2017-04-05 北京美联桥科技发展有限公司 A kind of pipe joint sealing structure with flange
CN209548084U (en) * 2018-11-13 2019-10-29 重庆金山医疗机器人有限公司 A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument

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Denomination of invention: Surgical assisted robot instruments - Long rod end fixing structure, instruments, and fixing method

Granted publication date: 20240430

Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd.

Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd.

Registration number: Y2024500000040