CN112057168A - Clamp type surgical instrument for surgical robot - Google Patents
Clamp type surgical instrument for surgical robot Download PDFInfo
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- CN112057168A CN112057168A CN201910497301.2A CN201910497301A CN112057168A CN 112057168 A CN112057168 A CN 112057168A CN 201910497301 A CN201910497301 A CN 201910497301A CN 112057168 A CN112057168 A CN 112057168A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 89
- 210000000707 wrist Anatomy 0.000 claims abstract description 80
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 79
- 238000009434 installation Methods 0.000 claims description 16
- 230000000903 blocking effect Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 210000002421 cell wall Anatomy 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 230000004308 accommodation Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
- A61B17/28—Surgical forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B2017/2808—Clamp, e.g. towel clamp
-
- 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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamp type surgical instrument for a surgical robot.A support sleeve is connected with a bracket, and a wrist rotating shaft is arranged in the support sleeve; the wrist joint part is connected with the wrist rotating shaft part, and the wrist joint transmission rope is sleeved on the wrist rotating shaft part; the left finger piece and the right finger piece are sleeved on the finger supporting shaft piece; the left finger driving rope driving piece comprises a left finger driving input shaft sleeved with two left finger driving parts, and the two left finger driving parts are respectively connected with the first left finger driving rope and the second left finger driving rope; the right finger driving rope driving piece comprises a right finger driving input shaft sleeved with two right finger driving blocks, and the two right finger driving blocks are respectively connected with the rear end of the first right finger driving rope and the rear end of the second right finger driving rope; the wrist transmission line driving piece includes: the wrist driving input shaft is sleeved with two wrist driving blocks, and the two wrist driving blocks are respectively connected with the wrist joint transmission rope. The invention has simple structure and convenient use.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to a clamp type surgical instrument for a surgical robot.
Background
The Chinese invention patent application number of clamp type surgical instrument for abdominal cavity minimally invasive surgery robot: CN201110007611.5 discloses a clamp type surgical instrument, wherein, when the left finger in the end effector needs to rotate clockwise around the finger mounting shaft, the motor on the left finger driving mechanism is started to rotate its output shaft clockwise, the interface clutch disc is rotated by the connecting piece, driving pulley, synchronous belt and driven pulley on the left finger driving mechanism, the left finger clutch disc drives the left finger spindle to rotate clockwise, at this time, the left finger sun wheel does not rotate, three left finger planet wheels are all engaged with the left gear teeth on the left finger spindle, each left finger planet wheel rotates clockwise around its own axis, and drives the left finger rear wheel and the left finger front wheel to rotate clockwise, the left finger front driving steel wire in the front left finger steel wire groove on the left finger front wheel is tensioned, the left finger rear driving steel wire in the rear left finger steel wire groove on the left finger rear wheel is loosened, thereby realize that the front driving steel wire of the left finger drives the left finger to rotate clockwise around the finger installation shaft. The principle that the left finger and the right finger rotate around the finger installation shaft is similar, so that in the clamp type surgical instrument, the structure for driving the left finger and the right finger to rotate around the finger installation shaft is complex, and how to design the clamp type surgical instrument with simple structure and convenient use is the problem to be solved by the technical personnel in the field.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to provide a clamp-type surgical instrument for a surgical robot.
In order to solve the above technical problem, the present invention provides a clamp type surgical instrument for a surgical robot, including: the method comprises the following steps: the wrist joint part is connected with the wrist joint part through a first connecting rod, and the wrist joint part is connected with the wrist joint part through a second connecting rod;
the rear end of the supporting sleeve is connected with the support, the front end of the supporting sleeve is provided with a cylinder accommodating part, a wrist rotating shaft is movably installed in the cylinder accommodating part, and the axial direction of the wrist rotating shaft is vertical to the axial direction of the supporting sleeve;
the back end of the wrist joint piece is fixedly connected with the wrist rotating shaft piece, the front end of the wrist joint piece is provided with a finger piece accommodating part, a finger part supporting shaft piece is fixedly arranged in the finger piece accommodating part, the axial direction of the finger part supporting shaft piece is vertical to the axial direction of the supporting sleeve, and the axial direction of the finger part supporting shaft piece is vertical to the axial direction of the wrist rotating shaft piece;
the wrist joint transmission rope is sleeved on the wrist rotating shaft;
the rear part of the left finger piece and the rear part of the right finger piece are sleeved on the finger part supporting shaft piece, and the left finger piece and the right finger piece can rotate relative to the finger part supporting shaft piece;
the front end of the first left finger transmission rope and the front end of the second left finger transmission rope are oppositely arranged on the left finger piece, and the front end of the first right finger transmission rope and the front end of the second right finger transmission rope are oppositely arranged on the right finger piece;
the left finger drive cord drive includes: the left finger driving input shaft is movably arranged on the bracket, two left finger driving parts are sleeved on the left finger driving input shaft, and the two left finger driving parts are respectively connected with the rear end of the first left finger driving rope and the rear end of the second left finger driving rope;
the right finger drive cord drive includes: the right finger driving input shaft is movably arranged on the bracket, two right finger driving blocks are sleeved on the right finger driving input shaft, and the two right finger driving blocks are respectively connected with the rear end of the first right finger driving rope and the rear end of the second right finger driving rope;
the wrist drive line driver includes: the wrist driving mechanism comprises a wrist driving input shaft movably arranged on the support, wherein two wrist driving blocks are sleeved on the wrist driving input shaft and are respectively connected with two ends of a wrist joint transmission rope.
Preferably, the wrist joint transmission rope, the first left finger transmission rope and the second left finger transmission rope are rope pieces;
the left finger drive input shaft, the right finger drive input shaft and the wrist drive input shaft have the same structure, are parallel to each other and are operation input shafts;
the left finger driving part, the right finger driving block and the wrist driving block have the same structure and are all block assemblies;
the block assembly comprises a main supporting block and a clamping block, the main supporting block comprises a supporting body, a supporting part through hole for the corresponding operation input shaft to pass through is formed in the supporting body, and the supporting part through hole penetrates through two ends of the supporting body; one end of the support body is provided with a convex part, and the side surface of the convex part is provided with a side surface mounting hole and a side surface groove for the corresponding operation input shaft to pass through; the side surface of the clamping block body is provided with a clamping mounting hole and a clamping groove for the corresponding operation input shaft to pass through; a fastener sequentially penetrates through the clamping mounting hole and the side mounting hole, and when the bulge is fixedly connected with the clamping block body, the side groove and the clamping groove are pressed to be in contact with the operation input shaft; the support body is connected with a corresponding rope member.
Furthermore, the support body is provided with rope body mounting grooves, each rope piece is wound in the corresponding rope body mounting groove, and each rope piece is connected with the rope body mounting groove.
Still further, the clamp-type surgical instrument for a surgical robot further includes: a wrist joint receiving part, a left finger receiving part and a right finger receiving part;
the wrist joint bearing part, the left finger bearing part and the right finger bearing part are all bearing transmission parts;
the bearing transmission part comprises two bearing shafts arranged on the bracket, each bearing shaft is coaxially provided with a bearing disc, the bearing discs can rotate relative to the bearing shafts, and each bearing disc is wound with a corresponding rope piece;
all the bearing shafts are arranged in a staggered mode.
And the rope body mounting groove and the bearing disc, through which the same rope piece is wound, are positioned on the same plane.
Furthermore, a left finger accommodating groove is formed in the left finger piece, the front end of the first left finger transmission rope and the front end of the second left finger transmission rope are knotted to form a left finger rope knot head, the left finger rope knot head is placed in the left finger accommodating groove, two left designated position grooves are formed in the groove wall of the left finger accommodating groove, the notches of the two left designated position grooves are oppositely arranged, a left designated position piece is placed in the two left designated position grooves, and the two left designated position pieces clamp the left finger rope knot head;
the right side indicates to be equipped with the right side on the piece and indicates the holding tank, the front end that the driving rope was indicated on the first right side with the front end that the driving rope was indicated on the second right side is tied a knot, forms the right side and indicates the knot head, the right side indicates the knot head put into indicate in the holding tank on the right side, indicate to be equipped with two right assigned position recesses on the cell wall of holding tank on the right side, two the notch of right assigned position recess sets up relatively, two it has right assigned position piece, two to put into in the assigned position recess on the right side assigned position piece is cliied the knot head is indicated on the right side.
Further, the rear end of wrist joint spare is equipped with the confession the rope body installation department that wrist joint driving rope penetrated, it puts into the groove to be equipped with the wrist rope body on the inner wall of rope body installation department, wrist joint driving rope is around locating the one end of wrist axis of rotation spare is tied a knot, forms wrist joint tie, wrist joint tie card go into in the groove is put into to the wrist rope body.
Further, the clamp-type surgical instrument for a surgical robot further comprises at least one left finger line middle transmission disc arranged on the wrist joint piece and at least one right finger line middle transmission disc arranged on the wrist joint piece;
all of the left inter-phalangeal intermediate transmission discs and all of the right inter-phalangeal intermediate transmission discs are rotatable relative to the wrist joint member, and an axial direction of all of the left inter-phalangeal intermediate transmission discs and an axial direction of all of the right inter-phalangeal intermediate transmission discs are parallel to an axial direction of the wrist rotation member.
Furthermore, the support comprises a support body, a driving connecting part and a sleeve receiving part are arranged on the support body, the sleeve receiving part is positioned at the front part of the support body, and the driving connecting part is positioned behind the sleeve receiving part; all the operation input shafts are movably connected with the driving connecting part; the sleeve bearing part comprises a bearing block, a barrel part bearing hole for the support sleeve to insert is formed in the bearing block, blocking parts are arranged at two ends of the barrel part bearing hole, a protruding part is arranged on the outer peripheral side face of the rear end of the support sleeve, two limiting parts are sleeved on the support sleeve and are respectively located at two ends of the protruding part, and two ends of each limiting part are respectively in contact with the protruding part and one of the blocking parts.
As described above, the clamp-type surgical instrument for a surgical robot according to the present invention has the following advantageous effects:
in the invention, the right finger driving input shaft is driven to rotate, the right finger driving input shaft drives the two right finger driving blocks to rotate, the two right finger driving blocks respectively drive the first right finger driving rope and the second right finger driving rope to move, and then the first right finger driving rope and the second right finger driving rope drive the right finger piece to rotate; the left finger driving input shaft is driven to rotate, the left finger driving input shaft drives the two left finger driving blocks to rotate, the two left finger driving blocks respectively drive the first left finger driving rope and the second left finger driving rope to move, and then the first left finger driving rope and the second left finger driving rope drive the left finger piece to rotate; the wrist driving input shaft is driven to rotate, the wrist driving input shaft drives the two wrist driving blocks to rotate, the two wrist driving blocks respectively drive two ends of the wrist joint transmission rope to move, then the wrist joint transmission rope drives the wrist rotating shaft to rotate, and the wrist rotating shaft drives the wrist joint to rotate; the principle of driving the wrist joint piece, the left finger piece and the right finger piece to rotate is the same, and the wrist joint piece, the left finger piece and the right finger piece are simple in structure and convenient to use.
Drawings
Fig. 1 is a schematic structural view of a clamp type surgical instrument for a surgical robot according to the present embodiment.
Fig. 2 is a schematic view showing the internal structure of the clamp type surgical instrument for a surgical robot according to the present embodiment without the barrel member.
Fig. 3 is a schematic structural diagram of the left finger driving member of the clamp-type surgical instrument for a surgical robot according to the present embodiment connected to the left finger member via the first left finger driving cable and the second left finger driving cable.
Fig. 4 is an enlarged schematic structural view of the left finger drive cable driver of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 5 is a schematic structural view illustrating the connection between the first left finger drive string and the left finger of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 6 is a schematic structural view showing the connection between the second left finger drive rope and the left finger of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 7 is a schematic structural view illustrating that the right finger drive rope driving member of the clamp type surgical instrument for a surgical robot according to the present embodiment is connected to the right finger member through the first right finger drive rope and the second right finger drive rope.
Fig. 8 is an enlarged schematic view of the right finger drive cable of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 9 is a schematic structural view showing the connection between the first right finger drive string and the right finger of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 10 is a schematic structural view showing the connection between the second right finger drive string and the right finger of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 11 is a side view schematically showing the structure of the left finger of the clamp type surgical instrument for a surgical robot according to the present embodiment.
Fig. 12 is a schematic structural view showing the left finger knot of the clamp type surgical instrument for a surgical robot of the present embodiment in the left finger accommodation groove.
Fig. 13 is a perspective view of the left finger of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 14 is a schematic structural view showing the right finger knot end of the clamp type surgical instrument for a surgical robot of the present embodiment in the right finger receiving groove.
Fig. 15 is a schematic structural view illustrating the wrist joint transmission cable driving unit of the clamp type surgical instrument for a surgical robot according to the present embodiment connected to the wrist joint unit via the wrist joint transmission cable.
Fig. 16 is a schematic structural view showing a main support block of the clamp type surgical instrument for a surgical robot according to the present embodiment.
Fig. 17 is a schematic structural view showing a grip block of the clamp type surgical instrument for a surgical robot according to the present embodiment.
Fig. 18 is a schematic structural view showing a wrist joint member of the clamp type surgical instrument for a surgical robot according to the present embodiment.
Fig. 19 is a schematic structural view of the wrist joint member of the clamping-type surgical instrument for a surgical robot according to the present embodiment, in which a wrist string insertion groove is formed.
Fig. 20 is a schematic structural view illustrating the connection between the support cylinder and the frame body of the clamp-type surgical instrument for a surgical robot according to the present embodiment.
Fig. 21 is a schematic view showing an internal structure of the support cylinder and the frame body of the clamp type surgical instrument for the surgical robot according to the present embodiment.
Description of the reference numerals
100 support
110 support sleeve
111 cylindrical body accommodating part
112 wrist rotation axis
113 raised part
114 position limiting element
115 cylinder body
116 barrel head
120 frame body
130 drive connection
131 drive connection board
132 axle body mounting panel
140 socket receiving part
141 receiving block
142 barrel receiving hole
143 stop
210 wrist joint component
211 finger receiving portion
212 finger support shaft
213 rope body mounting part
214 wrist rope is put into groove
220 left finger piece
221 left finger clamping part
222 left finger accommodation groove
223 left designated bit groove
224 left designated bit
230 right finger
231 right finger clamping part
232 right finger holding groove
233 right designated bit groove
234 right designated bit
310 wrist joint transmission rope
320 first left finger driving rope
321 left finger rope knot
330 second left finger driving rope
340 first right finger drive rope
341 right finger knot
350 second right finger driving rope
410 left finger driving rope driving piece
411 left finger drive input shaft
412 left finger driving part
420 right finger drive rope driving member
421 right finger drive input shaft
422 right finger driving block
430 wrist driving rope driving piece
431 wrist drive input shaft
432 wrist drive block
440 main support block
441 support body
442 support part through hole
443 rope body installation groove
450 clamping block
451 clamping and mounting hole
452 clamping groove
460 bulge
461 side mounting hole
462 side groove
510 wrist joint receiving part
520 left finger receiving part
530 Right finger receiving part
541 bearing shaft
542 receiving tray
610 left finger line intermediate transmission disc
620 right finger line middle driving disc
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to the attached drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 1 to 21, the clamp-type surgical instrument for a surgical robot of the present embodiment includes: the support 100, the support sleeve 110, the wrist joint element 210, the wrist joint transmission rope 310, the left finger element 220, the right finger element 230, the first left finger transmission rope 320, the second left finger transmission rope 330, the first right finger transmission rope 340, the second right finger transmission rope 350, the left finger transmission rope driver 410, the right finger transmission rope driver 420 and the wrist transmission rope driver 430;
the rear end of the supporting sleeve 110 is connected with the bracket 100, the front end of the supporting sleeve 110 is provided with a cylinder accommodating part 111, a wrist rotating shaft 112 is movably installed in the cylinder accommodating part 111, and the axial direction of the wrist rotating shaft 112 is vertical to the axial direction of the supporting sleeve 110;
the back end of the wrist joint element 210 is fixedly connected with the wrist rotating shaft element 112, the front end of the wrist joint element 210 is provided with a finger element accommodating part 211, a finger supporting shaft element 212 is fixedly arranged in the finger element accommodating part 211, the axial direction of the finger supporting shaft element 212 is vertical to the axial direction of the supporting sleeve 110, and the axial direction of the finger supporting shaft element 212 is vertical to the axial direction of the wrist rotating shaft element 112;
the wrist joint transmission rope 310 is sleeved on the wrist rotating shaft 112;
the rear part of the left finger 220 and the rear part of the right finger 230 are sleeved on the finger supporting shaft 212, and the left finger 220 and the right finger 230 can rotate relative to the finger supporting shaft 212;
the front end of the first left finger driving string 320 and the front end of the second left finger driving string 330 are oppositely arranged on the left finger piece 220, and the front end of the first right finger driving string 340 and the front end of the second right finger driving string 350 are oppositely arranged on the right finger piece 230;
the left finger drive cord drive 410 includes: a left finger driving input shaft 411 movably mounted on the bracket 100, wherein two left finger driving parts 412 are sleeved on the left finger driving input shaft 411, and the two left finger driving parts 412 are respectively connected with the rear end of the first left finger driving rope 320 and the rear end of the second left finger driving rope 330;
the right finger drive cord drive 420 includes: a right finger driving input shaft 421 movably mounted on the bracket 100, wherein two right finger driving blocks 422 are sleeved on the right finger driving input shaft 421, and the two right finger driving blocks 422 are respectively connected with the rear end of the first right finger driving rope 340 and the rear end of the second right finger driving rope 350;
wrist drive cord drive 430 includes: the wrist driving input shaft 431 is movably installed on the bracket 100, two wrist driving blocks 432 are sleeved on the wrist driving input shaft 431, and the two wrist driving blocks 432 are respectively connected with two ends of the wrist joint transmission rope 310.
In the invention, the right finger driving input shaft 421 is driven to rotate, the right finger driving input shaft 421 drives the two right finger driving blocks 422 to rotate, the two right finger driving blocks 422 respectively drive the first right finger driving rope 340 and the second right finger driving rope 350 to move, and then the first right finger driving rope 340 and the second right finger driving rope 350 drive the right finger piece 230 to rotate; the left finger driving input shaft 411 is driven to rotate, the left finger driving input shaft 411 drives the two left finger driving blocks to rotate, the two left finger driving blocks drive the first left finger driving rope 320 and the second left finger driving rope 330 to move respectively, and then the first left finger driving rope 320 and the second left finger driving rope 330 drive the left finger element 220 to rotate; the wrist driving input shaft 431 is driven to rotate, the wrist driving input shaft 431 drives the two wrist driving blocks 432 to rotate, the two wrist driving blocks 432 respectively drive the two ends of the wrist driving rope 310 to move, then the wrist driving rope 310 drives the wrist rotating shaft piece 112 to rotate, and the wrist rotating shaft piece 112 drives the wrist joint piece 210 to rotate; the principle of driving the wrist joint element 210, the left finger element 220 and the right finger element 230 to rotate is the same, and the wrist joint element has a simple structure and is convenient to use.
In this embodiment, the front portion of the left finger 220 is a left finger clamping portion 221, the front portion of the right finger 230 is a right finger clamping portion 231, and the left finger clamping portion 221 and the right finger clamping portion 231 are disposed opposite to each other; this structure facilitates the effect of gripping an article when the left finger grip portion 221 and the right finger grip portion 231 are moved toward each other.
The rear end of first left finger driving rope 320 and the rear end of second left finger driving rope 330 set up relatively, the rear end of first right finger driving rope 340 and the rear end of second right finger driving rope 350 set up relatively, the both ends of wrist joint driving rope 310 set up relatively, and this structure can be convenient for make wrist joint driving rope 310, first left finger driving rope 320, second left finger driving rope 330, first right finger driving rope 340 and the tensioning of second right finger driving rope 350.
In this embodiment, the support sleeve 110 includes a barrel member 115 and a barrel head 116 connected to a front end of the barrel member 115, and the barrel housing portion 111 is provided to a front end of the barrel head 116.
The wrist joint transmission rope 310, the first left finger transmission rope 320 and the second left finger transmission rope 330 are rope pieces;
the left finger drive input shaft 411, the right finger drive input shaft 421 and the wrist drive input shaft 431 have the same structure, are parallel to each other and are all operation input shafts;
the left finger driving part 412, the right finger driving block 422 and the wrist driving block 432 have the same structure and are all block assemblies;
the same acting parts in the left finger drive cord drive 410, the right finger drive cord drive 420 and the wrist drive cord drive 430 are identical in structure, which facilitates processing and control.
The block assembly comprises a main support block 440 and a clamping block 450, the main support block 440 comprises a support body 441, the support body 441 is provided with a support through hole 442 for a corresponding operation input shaft to pass through, and the support through hole 442 penetrates to two ends of the support body 441; one end of the supporting body 441 is provided with a protrusion 460, and the side surface of the protrusion 460 is provided with a side surface mounting hole 461 and a side surface groove 462 for a corresponding operation input shaft to pass through; the side surface of the clamping block body 450 is provided with a clamping mounting hole 451 and a clamping groove 452 for the corresponding operation input shaft to pass through; the fastener passes through the clamping mounting hole 451 and the side mounting hole 461 in sequence, and when the protrusion 460 is fixedly connected with the clamping block 450, the side groove 462 and the clamping groove 452 are pressed against the operation input shaft to be contacted; the support body 441 is connected with a corresponding cord piece.
In the structure of the block assembly, after the main support block 440 and the clamping block 450 can be connected by the fastener, the main support block 440 and the clamping block 450 clamp the corresponding operation input shaft, so that the operation input shaft can stably drive the block assembly to rotate; in addition, since the main support block 440 and the clamping block 450 are detachably connected, the position of each block assembly in the length direction of the operation input shaft can be adjusted, which can facilitate the setting of the positions of the wrist joint transmission rope 310, the first left finger transmission rope 320, the second left finger transmission rope 330, the first right finger transmission rope 340 and the second right finger transmission rope 350, so that the wrist joint transmission rope 310, the first left finger transmission rope 320, the second left finger transmission rope 330, the first right finger transmission rope 340 and the second right finger transmission rope 350 do not interfere with each other.
The support body 441 is provided with rope body installation grooves 443, each rope member is wound in the corresponding rope body installation groove 443, and each rope member is connected with the rope body installation groove 443. The structure realizes the limitation of the rope piece, and can stabilize the position of the rope piece in the transmission process.
A clamp-type surgical instrument for a surgical robot, further comprising: a wrist joint receiver 510, a left finger receiver 520, and a right finger receiver 530; the wrist joint receiving portion 510, the left finger receiving portion 520 and the right finger receiving portion 530 are all receiving transmission portions;
the bearing transmission part comprises two bearing shafts 541 which are arranged on the bracket 100, each bearing shaft 541 is coaxially provided with a bearing disc 542, the bearing discs 542 can rotate relative to the bearing shafts 541, and each bearing disc 542 is wound with a corresponding rope piece; all the bearing shafts 541 are arranged alternately.
The tension of the rope piece can be improved by arranging the bearing transmission part; all the receiving shafts 541 are arranged in a staggered manner, which enables a more compact construction of the clamp-type surgical instrument for a surgical robot.
The rope body installation groove 443 and the receiving disc 542 through which the same rope member is wound are on the same plane. This construction makes the cable member more stable during movement.
The left finger piece 220 is provided with a right finger accommodating groove 232, the front end of the first left finger transmission rope 320 and the front end of the second left finger transmission rope 330 are knotted to form a left finger rope knot 321, the left finger rope knot 321 is placed in the right finger accommodating groove 232, the groove wall of the right finger accommodating groove 232 is provided with two left designated position grooves 223, the notches of the two left designated position grooves 223 are oppositely arranged, the left designated position pieces 224 are placed in the two left designated position grooves 223, and the left finger rope knot 321 is clamped by the two left designated position pieces 224;
the right finger piece 230 is provided with a right finger accommodating groove 232, the front end of the first right finger transmission rope 340 and the front end of the second right finger transmission rope 350 are knotted to form a right finger rope knot 341, the right finger rope knot 341 is placed in the right finger accommodating groove 232, the groove wall of the right finger accommodating groove 232 is provided with two right designated position grooves 233, the notches of the two right designated position grooves 233 are oppositely arranged, the right designated position piece 234 is placed in the two right designated position grooves 233, and the right finger rope knot 341 is clamped by the two right designated position pieces 234.
The two left positioning members 224 clamp the left finger knot 321 in the right finger accommodation groove 232, so that the position of the left finger knot 321 is stable, and the two right positioning members 234 clamp the right finger knot 341 in the right finger accommodation groove 232, so that the position of the right finger knot 341 is stable. This ensures stable control of the left finger 220 and the right finger 230 by fixing the positions of the front end of the first left finger string 320 and the front end of the second left finger string 330 and the positions of the front end of the first right finger string 340 and the front end of the second right finger string 350 with a simple structure.
The wrist joint member 210 has a rope mounting portion 213 at the rear end thereof for the wrist joint transmission rope 310 to penetrate therethrough, a wrist rope insertion groove 214 is formed in the inner wall of the rope mounting portion 213, the wrist joint transmission rope 310 is knotted around one end of the wrist rotation shaft member 112 to form a wrist joint knot, and the wrist joint knot is inserted into the wrist rope insertion groove 214. This structure can stabilize the position of the wrist joint around the end of the wrist rotation shaft 112, and facilitate the control of the wrist joint 210.
A clamp-type surgical instrument for a surgical robot, further comprising at least one middle transmission disc 610 for a left finger line mounted on the wrist joint member 210 and at least one middle transmission disc 620 for a right finger line mounted on the wrist joint member 210; all of the left inter-digital transmission discs 610 and all of the right inter-digital transmission discs 620 are rotatable with respect to the wrist joint member 210, and the axial direction of all of the left inter-digital transmission discs 610 and the axial direction of all of the right inter-digital transmission discs 620 are parallel to the axial direction of the wrist rotating shaft 112. The tension of the rope piece can be improved by arranging the middle transmission disc 610 of the left finger line and the middle transmission disc 620 of the right finger line, and transmission is facilitated.
The bracket 100 includes a bracket body 120, a driving connection part 130 and a sleeve receiving part 140 are provided on the bracket body 120, the sleeve receiving part 140 is located at the front part of the bracket body 120, and the driving connection part 130 is located at the rear part of the sleeve receiving part 140; all the operation input shafts are movably connected with the driving connecting part 130; the sleeve receiving portion 140 includes a receiving block 141, a sleeve receiving hole 142 for the support sleeve 110 to be inserted into is disposed on the receiving block 141, stoppers 143 are disposed at two ends of the sleeve receiving hole 142, a protruding portion 113 is disposed on an outer peripheral side surface of a rear end of the support sleeve 110, two limiting members 114 are sleeved on the support sleeve 110, the two limiting members 114 are respectively disposed at two ends of the protruding portion 113, and two ends of the protruding portion 113 are respectively contacted with the limiting members 114 and one of the stoppers 143.
The stoppers 143 and the protrusions 113 of the cylinder receiving hole 142 can limit the positions of the corresponding stoppers 114, and the two stoppers 114 limit the positions of both ends of the protrusion 113, so that the support sleeve 110 can be stably disposed in the sleeve receiving portion 140 of the bracket 100.
In this embodiment, the driving connection portion 130 includes a driving connection plate 131 and a shaft body mounting plate 132 mounted on the driving connection plate 131, and all the receiving shafts 541 are mounted on the shaft body mounting plate 132.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. A clamp-type surgical instrument for a surgical robot, comprising: the wrist joint comprises a support (100), a support sleeve (110), a wrist joint piece (210), a wrist joint transmission rope (310), a left finger piece (220), a right finger piece (230), a first left finger transmission rope (320), a second left finger transmission rope (330), a first right finger transmission rope (340), a second right finger transmission rope (350), a left finger transmission rope driving piece (410), a right finger transmission rope driving piece (420) and a wrist transmission rope driving piece (430);
the rear end of the supporting sleeve (110) is connected with the support (100), the front end of the supporting sleeve (110) is provided with a cylinder accommodating part (111), a wrist rotating shaft (112) is movably installed in the cylinder accommodating part (111), and the axial direction of the wrist rotating shaft (112) is perpendicular to the axial direction of the supporting sleeve (110);
the rear end of the wrist joint piece (210) is fixedly connected with the wrist rotating shaft piece (112), the front end of the wrist joint piece (210) is provided with a finger piece accommodating part (211), a finger supporting shaft piece (212) is fixedly arranged in the finger piece accommodating part (211), the axial direction of the finger supporting shaft piece (212) is vertical to the axial direction of the supporting sleeve (110), and the axial direction of the finger supporting shaft piece (212) is vertical to the axial direction of the wrist rotating shaft piece (112);
the wrist joint transmission rope (310) is sleeved on the wrist rotating shaft piece (112);
the rear part of the left finger piece (220) and the rear part of the right finger piece (230) are sleeved on the finger supporting shaft piece (212), and the left finger piece (220) and the right finger piece (230) can rotate relative to the finger supporting shaft piece (212);
the front end of the first left finger driving rope (320) and the front end of the second left finger driving rope (330) are oppositely arranged on the left finger piece (220), and the front end of the first right finger driving rope (340) and the front end of the second right finger driving rope (350) are oppositely arranged on the right finger piece (230);
the left finger cord drive (410) comprises: the left finger driving input shaft (411) is movably mounted on the bracket (100), two left finger driving parts (412) are sleeved on the left finger driving input shaft (411), and the two left finger driving parts (412) are respectively connected with the rear end of the first left finger driving rope (320) and the rear end of the second left finger driving rope (330);
the right finger cord drive (420) comprises: a right finger driving input shaft (421) movably mounted on the bracket (100), wherein two right finger driving blocks (422) are sleeved on the right finger driving input shaft (421), and the two right finger driving blocks (422) are respectively connected with the rear end of the first right finger driving rope (340) and the rear end of the second right finger driving rope (350);
the wrist drive cord drive (430) includes: the wrist driving device is characterized in that a wrist driving input shaft (431) is movably mounted on the support (100), two wrist driving blocks (432) are sleeved on the wrist driving input shaft (431), and the two wrist driving blocks (432) are respectively connected with two ends of the wrist joint transmission rope (310).
2. A clamp-type surgical instrument for a surgical robot according to claim 1, wherein:
the wrist joint transmission rope (310), the first left finger transmission rope (320) and the second left finger transmission rope (330) are rope pieces;
the left finger drive input shaft (411), the right finger drive input shaft (421) and the wrist drive input shaft (431) have the same structure, are parallel to each other and are operation input shafts;
the left finger driving part (412), the right finger driving block (422) and the wrist driving block (432) have the same structure and are all block assemblies;
the block assembly comprises a main support block (440) and a clamping block (450), the main support block (440) comprises a support body (441), a support through hole (442) for the corresponding operation input shaft to pass through is arranged on the support body (441), and the support through hole (442) penetrates through to two ends of the support body (441); one end of the supporting body (441) is provided with a protruding part (460), and the side surface of the protruding part (460) is provided with a side surface mounting hole (461) and a side surface groove (462) for the corresponding operation input shaft to pass through; a clamping mounting hole (451) and a clamping groove (452) for the corresponding operation input shaft to pass through are formed in the side surface of the clamping block body (450); the fastener passes through the clamping mounting hole (451) and the side mounting hole (461) in sequence, and when the bulge (460) is fixedly connected with the clamping block body (450), the side groove (462) and the clamping groove (452) are pressed into contact with the operation input shaft; the support body (441) is connected with a respective rope member.
3. A clamp-type surgical instrument for a surgical robot according to claim 2, wherein: the supporting body (441) is provided with rope body installation grooves (443), each rope piece is wound in the corresponding rope body installation groove (443), and each rope piece is connected with the rope body installation groove (443).
4. A clamp-type surgical instrument for a surgical robot according to claim 3, wherein:
further comprising: a wrist joint receiving part (510), a left finger receiving part (520), and a right finger receiving part (530);
the wrist joint receiving part (510), the left finger receiving part (520) and the right finger receiving part (530) are all receiving transmission parts;
the bearing transmission part comprises two bearing shafts (541) arranged on the bracket (100), each bearing shaft (541) is coaxially provided with a bearing disc (542), each bearing disc (542) can rotate relative to the bearing shaft (541), and each bearing disc (542) is wound with a corresponding rope piece;
all the bearing shafts (541) are arranged in a staggered mode.
5. A clamp-type surgical instrument for a surgical robot according to claim 4, wherein: the rope body installation groove (443) through which the rope piece is wound and the bearing disc (542) are positioned on the same plane.
6. A clamp-type surgical instrument for a surgical robot according to claim 2, wherein:
a left finger accommodating groove (222) is formed in the left finger piece (220), the front end of the first left finger transmission rope (320) and the front end of the second left finger transmission rope (330) are knotted to form a left finger rope knot head (321), the left finger rope knot head (321) is placed in the left finger accommodating groove (222), two left designated position grooves (223) are formed in the groove wall of the left finger accommodating groove (222), notches of the two left designated position grooves (223) are oppositely arranged, a left designated position piece (224) is placed in the two left designated position grooves (223), and the left finger rope knot head (321) is clamped by the two left designated position pieces (224); be equipped with right finger holding tank (232) on the right finger spare (230), the front end of first right finger driving rope (340) with the front end of second right finger driving rope (350) is knoed, forms right finger rope knot head (341), right finger rope knot head (341) put into in right finger holding tank (232), be equipped with two right assigned position recess (233) on the cell wall of right finger holding tank (232), two the notch of right assigned position recess (233) sets up relatively, two put into right assigned position spare (234) in right assigned position recess (233), two right assigned position spare (234) are cliied the right finger rope knot head (341).
7. A clamp-type surgical instrument for a surgical robot according to claim 2, wherein:
the rear end of wrist joint spare (210) is equipped with the confession rope body installation department (213) that wrist joint driving rope (310) penetrated, it puts into groove (214) to be equipped with the wrist rope body on the inner wall of rope body installation department (213), wrist joint driving rope (310) are around locating the one end of wrist axis of rotation spare (112) is knoed, forms the wrist joint tieing, the wrist joint tieing card go into in the groove (214) is put into to the wrist rope body.
8. A clamp-type surgical instrument for a surgical robot according to claim 2, wherein:
further comprising at least one left middle finger transmission disc (610) mounted on said wrist joint member (210) and at least one right middle finger transmission disc (620) mounted on said wrist joint member (210);
all of the left inter-phalangeal transfer discs (610) and all of the right inter-phalangeal transfer discs (620) are rotatable relative to the wrist joint member (210), and an axial direction of all of the left inter-phalangeal transfer discs (610) and an axial direction of all of the right inter-phalangeal transfer discs (620) are parallel to an axial direction of the wrist rotational axis member (112).
9. A clamp-type surgical instrument for a surgical robot according to claim 2, wherein:
the support (100) comprises a support body (120), a driving connecting part (130) and a sleeve receiving part (140) are arranged on the support body (120), the sleeve receiving part (140) is positioned at the front part of the support body (120), and the driving connecting part (130) is positioned behind the sleeve receiving part (140);
all the operation input shafts are movably connected with the driving connecting part (130);
the sleeve bearing part (140) comprises a bearing block (141), a barrel bearing hole (142) for inserting the supporting sleeve (110) is formed in the bearing block (141), blocking pieces (143) are arranged at two ends of the barrel bearing hole (142), a protruding portion (113) is arranged on the outer peripheral side face of the rear end of the supporting sleeve (110), two limiting pieces (114) are sleeved on the supporting sleeve (110), the two limiting pieces (114) are respectively arranged at two ends of the protruding portion (113), and two ends of each limiting piece (114) are respectively in contact with the protruding portion (113) and one of the blocking pieces (143).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910497301.2A CN112057168A (en) | 2019-06-10 | 2019-06-10 | Clamp type surgical instrument for surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910497301.2A CN112057168A (en) | 2019-06-10 | 2019-06-10 | Clamp type surgical instrument for surgical robot |
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| CN112057168A true CN112057168A (en) | 2020-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910497301.2A Pending CN112057168A (en) | 2019-06-10 | 2019-06-10 | Clamp type surgical instrument for surgical robot |
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| CN (1) | CN112057168A (en) |
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| CN112617968A (en) * | 2020-12-31 | 2021-04-09 | 杭州康基医疗器械有限公司 | Surgical forceps head structure capable of rotating in multiple directions |
| CN112716564A (en) * | 2020-12-31 | 2021-04-30 | 杭州康基医疗器械有限公司 | Large-swing-angle single-joint surgical instrument |
| CN112842535A (en) * | 2020-12-31 | 2021-05-28 | 杭州康基医疗器械有限公司 | Linear manipulator comprising planetary row transmission structure |
| CN112842526A (en) * | 2020-12-31 | 2021-05-28 | 杭州康基医疗器械有限公司 | Be applied to difference compensation mechanism of manipulator |
| CN114081633A (en) * | 2022-01-11 | 2022-02-25 | 极限人工智能有限公司 | Driving device layout structure, operation power device and split type operation device |
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| CN112617968A (en) * | 2020-12-31 | 2021-04-09 | 杭州康基医疗器械有限公司 | Surgical forceps head structure capable of rotating in multiple directions |
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| CN112842535A (en) * | 2020-12-31 | 2021-05-28 | 杭州康基医疗器械有限公司 | Linear manipulator comprising planetary row transmission structure |
| CN112842526A (en) * | 2020-12-31 | 2021-05-28 | 杭州康基医疗器械有限公司 | Be applied to difference compensation mechanism of manipulator |
| CN112842526B (en) * | 2020-12-31 | 2022-06-03 | 杭州康基医疗器械有限公司 | Be applied to difference compensation mechanism of manipulator |
| CN114081633A (en) * | 2022-01-11 | 2022-02-25 | 极限人工智能有限公司 | Driving device layout structure, operation power device and split type operation device |
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