CN111166485B - 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
CN111166485B
CN111166485B CN201811348536.7A CN201811348536A CN111166485B CN 111166485 B CN111166485 B CN 111166485B CN 201811348536 A CN201811348536 A CN 201811348536A CN 111166485 B CN111166485 B CN 111166485B
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CN
China
Prior art keywords
long rod
sleeve
bearing
instrument
flanging
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CN201811348536.7A
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Chinese (zh)
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CN111166485A (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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    • 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 long rod end fixing structure and a fixing method of a surgical auxiliary robot instrument, 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 arranged in at least one bearing; the sleeve (8) has a stepped structure preventing 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 auxiliary robot instrument.
Background
Medical robots for performing minimally invasive surgery perform surgical procedures on patients with instruments fixed at the ends of the robot joints, such as laparoscopic surgical robots disclosed in CN 107951565A. Specifically, the operating portion of the instrument is a member such as a clamp or a scissors, and the member can be operated by a wire rope control. Due to the specific construction of the robot and the nature of the surgery, the operating portion of these instruments is disposed at the end of an elongated rod through which the steel cord that controls the operating portion passes.
During surgery, the front portion of the wand is deep into the abdominal cavity of a patient, so accurate positioning and accurate control of the wand is the most important safety feature. However, in the prior art, the elongate rod 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 securing the elongate shaft of the instrument, which results in a more precise and safe control of the instrument during operation.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a structure for fixing an elongated rod of an instrument with a more reliable structure, so that the instrument can be controlled more precisely during operation.
In order to achieve the above object, the present invention provides a surgical 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 which abuts against the upper end surface of the uppermost bearing; the lower step has a lower step surface abutting against a lower end surface of the lowermost bearing.
To further limit axial and circumferential movement of the elongate rod, the elongate rod is interference fit within the sleeve.
To further limit the axial movement of the long rod, a rebound groove is provided in the middle of the sleeve.
Preferably, the sleeve is mounted in a first bearing and a second bearing which are arranged at intervals through a bushing; the width of the rebound groove is equal to the length of the bushing.
In order to further limit the axial movement of the long rod, the upper end of the sleeve is provided with a first flanging which is downwards folded to form the upper step.
In order to further limit the long rod to generate axial and circumferential movement, the upper end of the long rod is provided with a second flanging which is downwards folded and clung to the first flanging.
Preferably, a bearing seat is arranged at the lower part of the cavity for accommodating the long rod of the instrument seat, and a bearing cover is arranged at the upper part of the cavity; and a first bearing, a bearing bushing 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 the circumferential movement of the long rod, the sleeve is an interference fit with the bearing.
The long rod is prevented from being pulled out, the driving wheel is also prevented from falling off, and a buckling step is arranged at the upper part of the driving wheel; the upper part of the long rod is provided with a buckling surface corresponding to the buckling step. The invention also provides a surgical auxiliary robot instrument comprising the long rod end fixing structure.
The invention also provides a method for fixing the end 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 circumference of an inner hole in the middle of the sleeve; the long rod is in interference fit in the sleeve;
2) A first flanging is arranged at the upper end of the sleeve, and the first flanging is downwards turned to form a step structure; a step structure is arranged at the lower end of the sleeve;
a second flanging is arranged at the upper end of the long rod, and the second flanging is downwards turned and clung 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; the first flanging is abutted against the upper end face of the first bearing; the step at the lower end of the sleeve is abutted 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 beneficial effects of the invention are as follows: 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 view of an embodiment of the present invention.
FIG. 2 is a schematic view of the cross-sectional structure A-A of FIG. 1.
Fig. 3 is an enlarged view at I in fig. 2.
Fig. 4 is a schematic view of the sectional B-B structure of fig. 1.
Fig. 5 is a schematic view showing a connection structure between a driving wheel and an upper portion of a long bar in an embodiment of the present invention.
Fig. 6 is a schematic view of the structure of an instrument 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, an end fixing structure of a long rod of a surgical auxiliary robot instrument includes an instrument holder 1 and a long rod 2, and the long rod 2 is interference fit in a sleeve 8.
The upper part of the instrument seat 1 can be fixed with a leaning wheel seat 4, as shown in fig. 6, the lower part of a cavity 1a of the instrument seat 1 for accommodating the long rod 2 is provided with a bearing seat 1b, the upper part is provided with a bearing cover 3, and the upper end surface of the bearing cover 3 butts against the lower end surface of the leaning wheel seat. A first bearing 5, a bearing bush 6 and a second bearing 7 are arranged between the bearing cover 3 and the bearing seat 1b in sequence.
The sleeve 8 is interference fit within the first bearing 5 and the second bearing 7.
The sleeve 8 has a stepped structure that prevents axial movement of the sleeve 8 and the bearing. Specifically, the step 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 part 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 bushing 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 downwards folded to be clung to the first flanging. The first flange and the second flange have equal widths.
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 generate axial movement due to the effects of the bearing bush 6, the bearing housing 1b, the bearing cover 3 and the wheel rest 4. The sleeve 8 does not move axially due to the lower step 82 of the sleeve 8 and the upper step 81 of the first flange. Since the second flange 2a is in close contact with the first flange and the sleeve 8 is in an interference fit with the elongate rod 2, axial movement of the elongate rod 2 is also restricted. In particular, this arrangement is sufficient to allow a good fixation of the elongate rod 2 relative to the instrument holder 1, taking into account the usual direction and magnitude of the forces applied during operation of the instrument.
Further, due to the arrangement of the rebound groove 83, after the long rod 2 is in interference fit with the sleeve 8, the long rod 2 rebounds at the rebound groove 83 to form a step effect, so that the axial movement of the long rod 2 is further limited.
On the other hand, due to the action of the first flange and the second flange, the long rod 2 is interference-fitted with the sleeve 8, the sleeve 8 is interference-fitted with the first bearing 5 and the second bearing 7, and the upper end of the long rod 2 is fitted with the positioning groove 9a, so that the rotational angular speeds of the long rod 2 and the sleeve 8 and the driving wheel 9 are identical.
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 b. Therefore, the buckling step in the driving wheel 9 is buckled with the upper reverse step of the long rod, preventing the driving wheel from falling off and also preventing the long rod from being pulled out.
The end fixing structure of the long rod of the surgical auxiliary robot instrument can be applied to the surgical auxiliary robot instrument.
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 circumference of an inner hole in the middle of the sleeve; the long rod is in interference fit in the sleeve;
2) A first flanging is arranged at the upper end of the sleeve, and the first flanging is downwards turned to form a step structure; a step structure is arranged at the lower end of the sleeve;
a second flanging is arranged at the upper end of the long rod, and the second flanging is downwards turned and clung 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; the first flanging is abutted against the upper end face of the first bearing; the step at the lower end of the sleeve is abutted against the lower end face of the second bearing.
In a preferred embodiment, in step 1), the width of the rebound groove is equal to the length of the bushing.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (8)

1. An end fixing structure of a long rod of an operation auxiliary robot instrument comprises an instrument seat (1) and a long rod (2); the method is characterized in that: the long rod (2) is arranged in the sleeve (8); the sleeve (8) is arranged in at least one bearing; the sleeve (8) is integrally formed with a step structure for preventing the sleeve (8) and the bearing from generating axial movement;
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) which abuts against the upper end surface of the uppermost bearing; the lower step (82) is provided with a lower step surface (82 a) which is abutted against the lower end surface of the lowest bearing;
the upper end of the sleeve (8) is provided with a first flanging which is downwards turned 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 downwards folded and clung to the first flanging.
2. The surgical auxiliary robot instrument long rod end fixing structure according to claim 1, characterized in that: the long rod (2) is in interference fit in the sleeve (8).
3. The surgical auxiliary robot instrument long rod end fixing structure according to claim 2, characterized in that: 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 the bushing (6); the width of the rebound groove (83) is equal to the length of the bushing (6).
4. The surgical auxiliary robot instrument long rod end fixing structure according to claim 1, characterized in that: the lower part of the cavity (1 a) of the instrument seat (1) for accommodating the long rod (2) is provided with a bearing seat (1 b), and the upper part is provided with a bearing cover (3); a first bearing (5), a bearing bushing (6) and a second bearing (7) are sequentially arranged between the bearing cover (3) and the bearing seat (1 b).
5. The surgical auxiliary robot instrument long rod end fixing structure according to claim 1, characterized in that: 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 b).
6. An operation auxiliary robot apparatus, which is characterized in that: comprising the long rod end fixing structure according to any one of claims 1 to 5.
7. The method for fixing the end of the long rod of the surgical auxiliary robot instrument is characterized by comprising the following steps of:
1) Selecting a sleeve matched with the long rod, and arranging a rebound groove along the circumference of an inner hole in the middle of the sleeve; the long rod is in interference fit in the sleeve;
2) A first flanging is arranged at the upper end of the sleeve, and the first flanging is turned down to form an upper step; a lower step is arranged at the lower end of the sleeve; the upper step and the lower step together form a step structure which is integrally formed on the sleeve and is used for preventing the sleeve and the bearing from generating axial movement;
a second flanging is arranged at the upper end of the long rod, and the second flanging is downwards turned and clung 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; the first flanging is abutted against the upper end face of the first bearing; the step at the lower end of the sleeve is abutted against the lower end face of the second bearing.
8. The surgical assistant robot instrument long rod end fixing method according to claim 7, wherein: in step 1), the width of the rebound groove is made equal to the length of the bushing.
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

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

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Citations (12)

* 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
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
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

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8523873B2 (en) * 2010-04-08 2013-09-03 Warsaw Orthopedic, Inc. Neural-monitoring enabled sleeves for surgical instruments
DE102013004459A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Holding and positioning device of a surgical instrument and / or an endoscope for minimally invasive surgery and a robotic surgical system

Patent Citations (12)

* 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
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