CN112294440A - Surgical robot tail end opening and closing device and surgical robot tail end - Google Patents
Surgical robot tail end opening and closing device and surgical robot tail end Download PDFInfo
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- CN112294440A CN112294440A CN202011303325.9A CN202011303325A CN112294440A CN 112294440 A CN112294440 A CN 112294440A CN 202011303325 A CN202011303325 A CN 202011303325A CN 112294440 A CN112294440 A CN 112294440A
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- 238000012546 transfer Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 12
- 229910000831 Steel Inorganic materials 0.000 description 16
- 239000010959 steel Substances 0.000 description 16
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 125000003003 spiro group Chemical group 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
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- 230000007246 mechanism 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
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end opening and closing device and a surgical robot tail end. The invention provides a tail end opening and closing device of a surgical robot, which comprises a tail end opening and closing structure and a driving module, wherein the tail end opening and closing structure comprises a fixed clamp fixed on an end seat and a movable clamp hinged to the fixed clamp, the driving module comprises a transmission rod penetrating through the end seat and a threaded sleeve screwed on the transmission rod, a limiting protrusion for limiting rotation of the threaded sleeve is formed on the end seat, and the threaded sleeve moves linearly under the action of the transmission rod to drive the movable clamp to deflect around a hinged point. The problem of among the prior art surgical robot end can't realize accurate control and easily consume, the technique of stability can't be poor is solved.
Description
Technical Field
The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end opening and closing device and a surgical robot tail end.
Background
Minimally invasive surgery has been more and more widely applied in clinical surgery because of its characteristics of small trauma, less bleeding, fast recovery and the like. Therefore, the development of a simple and practical surgical instrument with high action precision and low operation difficulty is of great significance for minimally invasive surgery.
The terminal operation robot among the current minimal access surgery apparatus is for realizing corresponding opening and shutting and every single move action, the wire rope traction mode that all adopts, its drawback that brings is also very obvious, wire rope belongs to the flexible coupling and inevitably can appear skidding at the steel wire wheel ground in-process of rotating, and wire rope itself is yielding, this all makes and utilizes the rotation angle or the removal displacement of steel wire wheel turned angle to control terminal execution portion to appear the deviation, can't realize accurate control, on the other hand, wire rope is also easy loss, the stability can be poor owing to the nature of itself in long-term traction and stretching in-process.
Disclosure of Invention
In order to solve the technical problems that the tail end of a surgical robot in the prior art cannot be accurately controlled, is easy to wear and has poor stability, the invention provides a tail end opening and closing device of the surgical robot and the tail end of the surgical robot, and solves the technical problems.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a surgical robot tail end opening and closing device, which comprises: the tail end opening and closing structure comprises a fixed clamp fixed on the end seat and a movable clamp hinged to the fixed clamp; the driving module comprises a transmission rod penetrating through the end seat and a threaded sleeve screwed on the transmission rod, a limiting protrusion for limiting rotation of the threaded sleeve is formed on the end seat, and the threaded sleeve moves linearly under the action of the transmission rod to drive the movable clamp to deflect around a hinged point.
Further, a first end of the movable clamp is formed with a hinge portion hinged to the stationary clamp, and a second end of the movable clamp is configured as a free end that deflects about the hinge point.
Further, the first end of moving the clamp still is formed with drive division, form on the drive division the guide way, the first end of moving the clamp still is formed with accommodation space, the swivel nut is arranged in the accommodation space, lug on the swivel nut extends to in the guide way, the linear motion drive of lug decide the clamp deflection.
Furthermore, at least one part of the peripheral surface of the screw sleeve is a rotation limiting plane, a limiting bulge on the end seat is matched with the rotation limiting plane to limit the rotation of the screw sleeve, and the screw sleeve forms linear motion under the action of the transmission rod.
Further, the first end of the transmission rod is in threaded fit with the threaded sleeve, and the second end of the transmission rod penetrates through the end seat and is connected with a driving module of the surgical robot.
Furthermore, at least two clamping blocks are formed on the end seat, and the clamping blocks on two sides are located on two sides of the movable clamp driving portion.
Furthermore, the optical axis part of the transmission rod is rotatably arranged in the axial hole of the end seat, two annular limiting bulges are further formed on the transmission rod, and the two annular limiting bulges are limited on two sides of the end seat.
The invention also provides a surgical robot tail end, which adopts the surgical robot tail end opening and closing device and also comprises a pitching device, wherein the pitching device comprises a base connected with the end seat, a swinging arm formed on the base and teeth formed on the swinging arm; bear the seat, bear and be formed with the articulated arm on the seat, the articulated arm with the swing arm is articulated, bear the seat and still rotationally install the action bars group, the action bars group includes that first actuating lever and cover establish the outside second actuating lever of first actuating lever, the first end of first actuating lever pass through universal coupling connect in the second end of transfer line, the first end terminal surface of second actuating lever is formed with pitch drive gear, pitch drive gear directly or indirectly drive the swing arm deflects, the deflection joint of swing arm with universal coupling's position is corresponding.
Furthermore, the driving rod group is driven by an actuating device, the actuating device comprises a mounting seat, two power shafts are arranged on the mounting seat, and the two power shafts respectively drive the first driving rod and the second driving rod to rotate through the transmission gear group.
Furthermore, the two power shafts are respectively a first power shaft and a second power shaft, at least one part of the first driving rod protrudes out of the second driving rod to form a protruding part, a driven gear I is installed on the protruding part, a driven gear II is installed at the second end of the second driving rod, a main gear I for driving the driven gear I is arranged on the first power shaft, and a main gear II for driving the driven gear II is arranged on the second power shaft; or the master gear I drives the slave gear I through the speed change gear I, and the master gear II drives the slave gear II through the speed change gear II;
alternatively, the projection is directly rigidly connected to the first power shaft.
Based on the structure, the invention can realize the technical effects that:
1. according to the surgical robot tail end opening and closing device, the movable clamp is driven to deflect around the hinge point through the threaded sleeve which is in threaded connection with the transmission rod, the opening and closing of the fixed clamp and the movable clamp are achieved in a steel wire rope traction mode, the problem that the deviation occurs when the steel wire wheel and the steel wire rope are matched to control the rotation angle or the movement displacement in the tail end execution process is avoided, the problem that the tail end of a surgical robot in the prior art cannot be accurately controlled is solved, in addition, the transmission rod and the threaded sleeve are more stably matched, and the technical problems that the steel wire rope is abraded and poor in stability in the long-term traction and stretching process are avoided, so that the surgical robot tail end opening and closing device is high in control accuracy and good in stability.
2. The swing arm in the tail end of the surgical robot is provided with a universal joint, the universal joint is arranged between the articulated arm and the two swing joints formed by the swing arm, and the universal joint can perform adaptive pitching motion when the swing arm performs pitching motion on the one hand, and can transmit rotary power to the transmission rod when the swing arm performs opening and closing motion on the other hand, so that the pitching motion and the opening and closing motion are realized, the two motions are not interfered with each other, and meanwhile, the universal joint is arranged by utilizing the space between the two swing joints, so that the whole structure is more compact, and the miniaturization design is facilitated.
Drawings
Fig. 1 is a schematic view of the overall structure of a surgical robot tip opening and closing device of the present invention;
FIG. 2 is a schematic view of the surgical robotic end effector of the present invention from another perspective;
FIG. 3 is a schematic view of another perspective of the surgical robotic end effector of the present invention;
FIG. 4 is a cross-sectional view of the surgical robot tip opening and closing device of the present invention;
FIG. 5 is a schematic view of the overall construction of the surgical robot tip of the present invention;
FIG. 6 is a cross-sectional view of a surgical robotic tip of the present invention;
FIG. 7 is a schematic view of one embodiment of an actuation device of the surgical robotic tip of the present invention;
FIG. 8 is a cross-sectional view of another embodiment of a brake of a surgical robot tip of the present invention;
FIG. 9 is a schematic view of a dynamic clamp of the surgical robot tip of the present invention;
fig. 10 is a schematic view of the universal coupling of the surgical robot tip of the present invention.
Wherein: 1-end seat, 11-fixed clamp, 12-movable clamp, 121-hinged part, 122-free end, 123-driving part, 1231-guide groove, 124-extension arm, 13-limit bulge and 14-clamping block; 2-transmission rod, 21-annular limiting bulge, 3-thread sleeve and 31-lug; 4-base, 41-swing arm, 411-tooth, 412-drive gear; 5-a bearing seat, 51-an articulated arm, 52-a first driving rod, 521-a slave gear I, 53-a second driving rod, 531-a pitch driving gear, 532-a slave gear II, 54-a universal coupling, 541-a connecting piece and 542-a connecting block; 6-actuating means, 61-mounting, 611-first powered axle, 6111-main gear I, 612-second powered axle, 6121-main gear ii.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The tail end of the surgical robot in the existing minimally invasive surgical instrument does not realize corresponding opening and closing and pitching actions, and the tail end of the surgical robot adopts a steel wire rope traction mode, so that the defects caused by the steel wire rope are obvious, the steel wire rope belongs to flexible connection, the steel wire rope inevitably slips in the rotating process of a steel wire wheel, the steel wire rope is easy to deform, the deviation can be caused by the rotating angle or the moving displacement of an executing part which controls the tail end by utilizing the rotating angle of the steel wire wheel, the transmission return difference of the steel wire rope is large, the tail end of the existing surgical robot cannot be accurately controlled, on the other hand, the steel wire rope is easy to lose and has poor stability in the long-term traction and stretching process due to the self property, and in order to solve the problems, the embodiment provides a surgical robot tail end mechanism which comprises a tail end opening and closing device and a tail end pitching device, rigid transmission can be realized to ensure the control precision.
As shown in fig. 1-4, the present embodiment provides a surgical robot terminal opening and closing device, including terminal opening and closing structure and drive module, terminal opening and closing structure is including being fixed in the deciding of end seat 1 press from both sides 11 and articulating in the moving of deciding of pressing from both sides 11 and press from both sides 12, and drive module is including the transfer line 2 that runs through end seat 1 and the swivel nut 3 of spiro union in transfer line 2, is formed with the spacing arch 13 to the swivel nut 3 limited rotation on end seat 1, and swivel nut 3 rectilinear movement drives and moves and press from both sides 12 around the pin joint deflection under the effect of transfer line 2.
The terminal device that opens and shuts of surgical robot of this embodiment, it drives to move through spiro union in the swivel nut 3 of transfer line 2 and presss from both sides 12 around the pin joint deflection, replaced wire rope tractive's mode to realize deciding and press from both sides 11 and move opening and shutting of pressing from both sides 12, avoid steel wire wheel and wire rope cooperation to control terminal execution in-process turned angle or remove the problem that the deviation can appear in the displacement, the terminal unable accurate control that realizes of surgical robot among the prior art has been solved, in addition, transfer line 2 is more stable with the cooperation of swivel nut 3, wire rope has been avoided in the long-term technical problem that the wearing and tearing and the poor stability of drawing tensile in-process, it is thus visible, the terminal device control accuracy that opens and shuts of surgical robot of this embodiment is higher and.
According to an embodiment of the present invention, the fixing clip 11 is fixed opposite to the end seat 1, and the fixing clip 11 may be integrally formed with the end seat 1, or may be fixedly connected to the end seat 1 by a fastener, in this embodiment, the end seat 1 is configured as a circular seat body, and an outer edge of one side of the circular seat body extends out of the fixing clip 11.
Further, as shown in fig. 9, the fixed clip 11 is hinged to the movable clip 12, specifically, the first end of the movable clip 12 is formed with a hinge portion 121, the hinge portion 121 is located at the lower portion of the first end of the movable clip 12, the hinge portion 121 is hinged to the fixed clip 11, the second end of the movable clip 12 is configured as a free end 122, the free end 122 is deflected around the hinge point to form an opening and closing action, preferably, the first end of the movable clip 12 is formed as two extension arms 124, the lower portions of the two extension arms 124 are formed with hinge holes, the fixed clip 11 is also formed with hinge holes, and the lower portions of the two extension arms 124 are hinged to the fixed clip 11 through the hinge shafts and the hinge holes, so that a receiving space is formed between the two extension arms 124, and the receiving space can be used for receiving the transmission rod 2 and the screw sleeve 3 for driving the movable clip.
The movable clamp 12 in this embodiment is driven by a structure in which the transmission rod 2 and the threaded sleeve 3 are matched to perform an opening and closing action, specifically, the end seat 1 in this embodiment is formed with an axial hole, an optical axis portion of the transmission rod 2 is rotatably installed in the axial hole of the end seat 1, a first end of the transmission rod 2 is in threaded fit with the threaded sleeve 3, a second end of the transmission rod 2 passes through the axial hole and is connected with a driving module of the surgical robot, the transmission rod 2 is driven by the driving module to rotate, in order to prevent the threaded sleeve 3 from following and forming a linear movement, a limiting protrusion 13 for limiting the rotation of the threaded sleeve 3 is formed on the end seat 1 in this embodiment, at least a portion of the outer peripheral surface of the threaded sleeve 3 is a rotation limiting plane, the limiting protrusion 13 on the end seat 1 is matched with the rotation limiting plane to limit the rotation of the threaded sleeve 3, so that the threaded sleeve 3 forms a linear movement under the action of the transmission, one face of the cube is configured as a rotation limiting plane to match with the limiting protrusion 13, but the screw sleeve 3 may also be configured as a sphere or a cylinder, and the rotation limiting plane is milled on the face of the sphere or the cylinder near the limiting protrusion 13.
Further, utilize the linear motion of swivel nut 3 to promote to drive and move clamp 12 and deflect around the pin joint, specifically, be formed with lug 31 on the swivel nut 3, the first end of moving clamp 12 is formed with drive portion 123, drive portion 123 is located the upper portion of moving clamp 12 first end, be equipped with on the drive portion 123 with lug 31 complex guide way 1231, lug 31 of swivel nut 3 extends to in the guide way 1231, can drive when swivel nut 3 linear motion moves and move clamp 12 and deflect in order to realize the opening and shutting action of terminal structure that opens and shuts.
It should be noted that the driving structure of the screw sleeve 3 of the present embodiment may be modified in various ways, for example, the protrusion 31 is disposed on the driving portion 123, the sliding groove is disposed on the screw sleeve 3, and the driving of the fixing clip 11 may also be realized, that is, the driving structure of the screw sleeve 3 of the present embodiment is not limited to a specific form as long as the driving of the fixing clip 11 can be realized.
Preferably, two annular limiting protrusions 21 are further formed on the transmission rod 2, the two annular limiting protrusions 21 are limited on two sides of the end seat 1, and the annular limiting protrusions 21 can prevent the transmission rod 2 from being displaced relative to the end seat 1 in the axial direction in the working process, so that the working stability is ensured.
Preferably, at least two clamping blocks 14 are further formed on the end seat 1, and the two clamping blocks 14 are located at two sides of the driving portion 123 of the movable clamp 12 to limit and fix the movable clamp 12.
As shown in fig. 5-10, the present invention further provides a surgical robot end, comprising the above-mentioned surgical robot end opening and closing device, and further comprising a pitching device, wherein the pitching device comprises a base 4 and a carrying seat 5 connected to the end seat 1, the base 4 is hinged to the carrying seat 5, the base 4 can perform pitching motion relative to the carrying seat 5, thereby drive the fixed clamp 11 and the movable clamp 12 on the end seat 1 and do the pitch action, specifically, the shape of base 4 is unanimous with end seat 1, the swing arm 41 is extended towards the one side of keeping away from end seat 1 to the outer fringe of base 4, swing arm 41 is two and symmetrical arrangement, furthermore, the shape of bearing seat 5 is unanimous with base 4, the outer fringe of bearing seat 5 extends articulated arm 51 towards one side of end seat 1, articulated arm 51 is two and symmetrical arrangement, articulated arm 51 is articulated with swing arm 41, thereby form base 4 and the deflection joint who bears seat 5.
Furthermore, one of the swing arms 41 of the base 4 is formed with a tooth 411, the tooth 411 is formed at one end of the swing arm 41 away from the base 4 and is formed as an arc-shaped rack at the end, the arc-shaped rack is driven by a driving rod set mounted on the bearing seat 5, and the driving rod set directly or indirectly drives the arc-shaped rack by using a gear set to drive the base 4 to pitch.
In this embodiment, the driving rod set can realize two motions of pitching of the driving base 4 and opening and closing of the end opening and closing structure without interfering with each other.
Specifically, the actuating lever group is rotationally installed in the through hole of bearing seat 5, and the actuating lever group includes first actuating lever 52 and the second actuating lever 53 of cover establishing in first actuating lever 52 outside, and first actuating lever 52 and second actuating lever 53 are coaxial to be arranged, and the first end of first actuating lever 52 passes through universal joint 54 to be connected in the second end of transfer line 2, and first actuating lever 52 passes through universal joint 54 and drives transfer line 2 rotatory, and rethread swivel nut 3 drives and moves clamp 12 and do the action of opening and shutting.
Further, a pitch driving gear 531 is formed on the end surface of the first end of the second driving rod 53, the pitch driving gear 531 is a bevel gear, the pitch driving gear 531 directly or indirectly drives the swing arm 41 to deflect, that is, the pitch driving gear 531 may directly engage with the teeth 411 on the swing arm 41, or the swing arm 41 may be driven to deflect through a transmission gear 412 installed on the bearing seat 5, that is, the transmission gear 412 simultaneously engages with the pitch driving gear 531 and the teeth 411 on the swing arm 41, that is, a part of the teeth of the transmission gear 412 near the swing arm 41 are straight teeth, and a part of the teeth of the transmission gear 412 near the pitch driving gear 531 are oblique teeth.
Further, in the present embodiment, the yaw joints of the swing arm 41 correspond to the positions of the universal joints 54, and specifically, the universal joints 54 are disposed between the two yaw joints formed by the articulated arm 51 and the swing arm 41, on one hand, when the swing arm 41 performs the pitching motion, the universal joints 54 can perform the adaptive pitching motion, on the other hand, when the swing arm 41 performs the opening and closing motion, the universal joints 54 can also transmit the rotation power to the transmission rod 2, so as to ensure the realization of the pitching motion and the opening and closing motion without interference between the two motions, and meanwhile, the universal joints 54 are installed by using the space between the two yaw joints, so that the overall structure is more compact, and the design is advantageous for miniaturization.
Further, in order to allow the first driving rod 52 to protrude from the second driving rod 53 and to be connected to the universal joint 5, a through hole is formed in the pitch driving gear 531, and the first driving rod 52 is connected to the universal joint 5 through the through hole.
Further, as shown in fig. 10, the universal coupling 54 of the present embodiment includes two connecting pieces 541 and a connecting block 542, one end of the connecting piece 541 is formed as a sleeve that can be sleeved on the first driving rod 52 and the driving rod 2, one side of the outer edge of the connecting piece 541 facing away from the sleeve extends out of a pair of connecting arms hinged on the connecting block 542, a pin shaft for hinging the connecting arms is formed on the side wall of the connecting block 542, and the connecting block 542 can be in any shape as long as the two connecting pieces 541 can be effectively hinged at both ends.
According to an embodiment of the present invention, the driving rod set is driven by the actuating device 6, specifically, the actuating device 6 includes a mounting seat 61, the mounting seat 61 includes two first mounting plates and two second mounting plates arranged in parallel, the first mounting plates and the second mounting plates are respectively provided with a bearing seat, the two power shafts are connected between the first mounting plates and the second mounting plates through the bearing seats, one ends of the two power shafts protrude out of the second mounting plates to form a connection end with the driving module, and the two power shafts respectively drive the first driving rod 52 and the second driving rod 53 to rotate through the transmission gear set.
Further, the two power shafts are respectively a first power shaft 611 and a second power shaft 612, the first driving rod 52 at least partially protrudes out of the second driving rod 53 to form a protrusion 522, the protrusion 522 is provided with a slave gear I521, the first power shaft 611 is provided with a master gear I6111 for driving the slave gear I521, the master gear I6111 directly or indirectly drives the slave gear I521, and preferably, the master gear I6111 drives the slave gear I521 through a speed change gear.
Of course, as shown in fig. 8, first driving rod 52 of the present embodiment may also be directly driven by first power shaft 611, i.e. first driving rod 52 is directly and rigidly connected to first power shaft 611.
Further, a second end of the second driving rod 53 is provided with a secondary gear ii 532, the secondary shaft 612 is provided with a primary gear ii 6121 for driving the secondary gear ii 532, specifically, the driving module drives the secondary shaft 612 to rotate, the secondary shaft 612 rotates, the primary gear ii 6121 arranged on the secondary shaft 612 rotates so as to indirectly or directly drive the secondary gear ii 532 to rotate, preferably, the primary gear ii 6121 indirectly drives the secondary gear ii 532 to rotate after the speed change of the speed change gear, and the secondary shaft ii 532 rotates so as to drive the pitch driving gear 531 to rotate and finally realize the pitch action of the tail end of the surgical robot.
Based on the above structure, when the end of the surgical robot of the present invention performs the opening and closing operation, the first driving rod 52 rotates to drive the universal coupling 54 to rotate so as to drive the driving rod 2 to perform the transmission to realize the linear motion of the threaded sleeve 3, the protrusion 31 on the threaded sleeve 3 pushes the movable clamp 12 through the guiding groove 1231 to finally perform the opening and closing operation, and particularly, when the end of the surgical robot is in the pitch and yaw state, specifically, the pitch and yaw is formed at the universal coupling 54, and the universal coupling 54 can still perform the rotation in the pitch and yaw state, so that the opening and closing operation can still be realized and the interference with the pitch and yaw operation is avoided when the end of the surgical robot is in the pitch and yaw state. When the tail end of the surgical robot of the invention performs pitching motion, the second driving rod 53 rotates, the pitching driving gear 531 rotates to indirectly or directly drive the swing arm 41 to deflect, so as to realize the deflection of the base 4 and finally realize the pitching motion of the tail end of the surgical robot, and the driving components are independent from each other for opening and closing motion, particularly, the position opposite to the deflection joint of the swing arm 41 is formed at the universal coupling 54 connected with the first driving rod 52 and the driving rod 2, so that the problem of interference between the two motions is solved.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. A surgical robot end opening and closing device, comprising:
the tail end opening and closing structure comprises a fixed clamp (11) fixed on the end seat (1) and a movable clamp (12) hinged to the fixed clamp (11);
the driving module comprises a transmission rod (2) penetrating through an end seat (1) and a threaded sleeve (3) screwed to the transmission rod (2), a limiting protrusion (13) limiting rotation of the threaded sleeve (3) is formed on the end seat (1), and the threaded sleeve (3) moves linearly under the action of the transmission rod (2) to drive the movable clamp (12) to deflect around a hinged point.
2. The surgical robot tip opening and closing device according to claim 1, characterized in that a first end of the movable clamp (12) is formed with a hinge portion (121), the hinge portion (121) is hinged to the stationary clamp (11), a second end of the movable clamp (12) is configured as a free end (122), the free end (122) is deflected around the hinge point.
3. The surgical robot tip opening and closing device according to claim 1, wherein a driving portion (123) is further formed at the first end of the movable clamp (12), a guide groove (1231) is formed in the driving portion (123), an accommodating space is further formed at the first end of the movable clamp (12), the threaded sleeve (3) is disposed in the accommodating space, a projection (31) on the threaded sleeve (3) extends into the guide groove (1231), and the linear motion of the projection (31) drives the fixed clamp (11) to deflect.
4. The surgical robot tail end opening and closing device according to claim 1, wherein at least one part of the peripheral surface of the screw sleeve (3) is a rotation limiting plane, a limiting protrusion (13) on the end seat (1) is matched with the rotation limiting plane to limit the rotation of the screw sleeve (3), and the screw sleeve (3) forms linear motion under the action of the transmission rod (2).
5. The surgical robot tip opening and closing device according to claim 1, characterized in that a first end of the transmission rod (2) is in threaded fit with the threaded sleeve (3), and a second end of the transmission rod (2) passes through the tip seat (1) and is connected with a drive module of a surgical robot.
6. The surgical robot tail end opening and closing device according to claim 1, characterized in that at least two clamping blocks (14) are formed on the end seat (1), and the two clamping blocks (14) are positioned at two sides of the driving part (123) of the movable clamp (12).
7. The surgical robot tail end opening and closing device according to claim 1, wherein the optical axis part of the transmission rod (2) is rotatably installed in the shaft hole of the end seat (1), two annular limiting protrusions (21) are further formed on the transmission rod (2), and the two annular limiting protrusions (21) are limited on two sides of the end seat (1).
8. A surgical robot tip, using the surgical robot tip opening and closing device according to any one of claims 1 to 7, further comprising a tilting device, the tilting device comprising:
the base (4) is connected to the end seat (1), a swing arm (41) is formed on the base (4), and teeth (411) are formed on the swing arm (41);
bear seat (5), bear and be formed with articulated arm (51) on seat (5), articulated arm (51) with swing arm (41) are articulated, bear seat (5) still rotationally install the actuating lever group, the actuating lever group includes first actuating lever (52) and cover and establishes second actuating lever (53) outside first actuating lever (52), first actuating lever (52) first end pass through universal joint (54) connect in the second end of transfer line (2), the first end terminal surface of second actuating lever (53) is formed with pitch drive gear (531), pitch drive gear (531) direct or indirect drive swing arm (41) deflect, the deflection joint of swing arm (41) with the position of universal joint (54) is corresponding.
9. The surgical robot tip according to claim 8, characterized in that the driving rod set is driven by an actuating device (6), the actuating device (6) comprises a mounting seat (61), two power shafts are arranged on the mounting seat (61), and the two power shafts respectively drive the first driving rod (52) and the second driving rod (53) to rotate through a transmission gear set.
10. The surgical robot tip according to claim 9, wherein the two powered shafts are a first powered shaft (611) and a second powered shaft (612), at least a portion of the first driving rod (52) protrudes from the second driving rod (53) to form a protrusion (522), a driven gear I (521) is mounted on the protrusion (522), a main gear I (6111) for driving the driven gear I (521) is disposed on the first powered shaft (611), a driven gear ii (532) is mounted at a second end of the second driving rod (53), and a main gear ii (6121) for driving the driven gear ii (532) is disposed on the second powered shaft (612);
alternatively, said protrusion (522) is directly rigidly connected to said first power shaft (611).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011303325.9A CN112294440A (en) | 2020-11-19 | 2020-11-19 | Surgical robot tail end opening and closing device and surgical robot tail end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011303325.9A CN112294440A (en) | 2020-11-19 | 2020-11-19 | Surgical robot tail end opening and closing device and surgical robot tail end |
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| Publication Number | Publication Date |
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| CN112294440A true CN112294440A (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011303325.9A Pending CN112294440A (en) | 2020-11-19 | 2020-11-19 | Surgical robot tail end opening and closing device and surgical robot tail end |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116492021A (en) * | 2023-06-29 | 2023-07-28 | 生一科技(北京)有限公司 | Surgical instrument head |
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| CN103327922A (en) * | 2011-02-18 | 2013-09-25 | 直观外科手术操作公司 | Fusing and cutting surgical instrument and related methods |
| CN109310418A (en) * | 2016-04-01 | 2019-02-05 | 伊西康有限责任公司 | Surgical instruments handle assembly with reconfigurable retained part |
| CN110811841A (en) * | 2019-12-01 | 2020-02-21 | 杨锐 | Rotary piece of tumor surgical robot |
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| CN103209657A (en) * | 2010-11-15 | 2013-07-17 | 直观外科手术操作公司 | Decoupling instrument shaft roll and end effector actuation in a surgical instrument |
| CN103327922A (en) * | 2011-02-18 | 2013-09-25 | 直观外科手术操作公司 | Fusing and cutting surgical instrument and related methods |
| CN109310418A (en) * | 2016-04-01 | 2019-02-05 | 伊西康有限责任公司 | Surgical instruments handle assembly with reconfigurable retained part |
| CN110811841A (en) * | 2019-12-01 | 2020-02-21 | 杨锐 | Rotary piece of tumor surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116492021A (en) * | 2023-06-29 | 2023-07-28 | 生一科技(北京)有限公司 | Surgical instrument head |
| CN116492021B (en) * | 2023-06-29 | 2023-09-19 | 生一科技(北京)有限公司 | Surgical instrument head |
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Application publication date: 20210202 |