CN112315584B - Operation robot terminal pitching device and operation robot terminal - Google Patents
Operation robot terminal pitching device and operation robot terminal Download PDFInfo
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- CN112315584B CN112315584B CN202011307967.6A CN202011307967A CN112315584B CN 112315584 B CN112315584 B CN 112315584B CN 202011307967 A CN202011307967 A CN 202011307967A CN 112315584 B CN112315584 B CN 112315584B
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/08—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary motion and oscillating motion
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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 pitching device and a surgical robot tail end. Solves the technical problems of poor control precision and short service life of the minimally invasive surgical instrument in the prior art.
Description
Technical Field
The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end pitching 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 moves for realizing corresponding every single move and rotation, the wire rope traction mode that all adopts, its drawback that brings is also very obvious, wire rope belongs to the flexible coupling and can inevitably 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 displacement of moving of the execution part of steel wire wheel turned angle to control terminal can the deviation appear, 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. In addition, the minimally invasive surgical instrument in the prior art does not have the function of independently rotating the tail end or the tail end cannot be infinitely rotated, which increases the difficulty of surgical operation or the difficulty of designing an auxiliary mechanism.
Disclosure of Invention
In order to solve the technical problems of poor control precision and short service life of a minimally invasive surgical instrument in the prior art, the invention provides a surgical robot tail end pitching device and a surgical robot tail end, and the technical problems are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a surgical robot tail end pitching device, which comprises a base, a driving device and a control device, wherein a swing arm is formed on the base, and teeth are formed on the swing arm; the bearing seat is provided with a hinge arm, and the hinge arm is hinged with the swing arm; the driving module comprises a first driving rod penetrating through the bearing seat, a first driving gear is formed at the end part of the first driving rod, and the first driving gear directly or indirectly drives the teeth to enable the base to deflect in a pitching mode.
Further, bear the seat and rotationally install first drive gear, first drive gear respectively with first driving gear the tooth meshing of swing arm, first driving gear passes through first drive gear drive the base every single move deflection.
Another aspect of the present invention provides a surgical robot tip, which employs the above surgical robot tip pitching apparatus, and further includes a rotation apparatus, where the rotation apparatus includes: the end seat is provided with an execution assembly, the end seat can be rotatably assembled on one side, far away from the bearing seat, of the base, and a second transmission gear can be rotatably installed on one side, close to the bearing seat, of the base and is in rigid connection with the end seat; and the driving unit comprises a second driving rod and a second driving gear which is configured at the end part of the second driving rod, and the second driving gear drives the second transmission gear to drive the execution assembly on the end seat to rotate.
Furthermore, the second transmission gear extends out of the sleeve body towards the base, the base is provided with a through opening, and the outer peripheral surface of the sleeve body is in clearance fit with the inner peripheral surface of the through opening
Furthermore, the second drive rod is rotatably installed on the bearing seat, the articulated arm is rotatably installed with a driven gear, and the driven gear is respectively meshed with the second driving gear and the second transmission gear.
Further, the second driven gear is arranged on a pin shaft at the joint of the swing arm and the hinged arm
Furthermore, the end seat extends out of an annular protrusion towards the sleeve body, and the annular protrusion is sleeved on the inner periphery of the sleeve body and is in interference fit with the sleeve body.
Furthermore, a limiting sleeve is arranged between the base and the end seat, a limiting groove is formed in one side, facing the end seat, of the limiting sleeve, an annular flange is formed on the end seat, and the annular flange is rotatably assembled in the limiting groove.
Furthermore, the first driving rod and the second driving rod are 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 a transmission gear set.
Furthermore, the two power shafts are respectively a first power shaft and a second power shaft, a driven gear I is installed at one end, far away from the base, of the first transmission rod, a main gear I for driving the driven gear I is arranged on the first power shaft, at least one part of the second transmission rod protrudes out of the first transmission rod to form a protruding part, a driven gear II is installed on the protruding part, and a main gear II for driving the driven gear II is arranged on the second power shaft; alternatively, the projection is directly rigidly connected to the second power shaft.
Based on the structure, the invention can realize the technical effects that:
1. the invention relates to a surgical robot tail end pitching device, wherein a swing arm is formed on a base, teeth are formed on the swing arm, the swing arm is hinged with a hinged arm formed on a bearing seat, a first driving gear on a first driving rod directly or indirectly drives the teeth on the swing arm to deflect the base, the pitching action of the tail end is realized by replacing a wire rope traction mode, the problem that the deviation occurs when a steel wire wheel and the wire rope are matched to control the deflection angle or the movement displacement in the tail end executing process is avoided, the problem that the tail end of the surgical robot in the prior art can not be accurately controlled is solved, in addition, the gear set is more stable in matching, the technical problems of abrasion and poor stability of the steel wire rope in the long-term traction and stretching process are avoided, therefore, the surgical robot tail end pitching device is higher in control precision and better in stability.
2. The end of the surgical robot of the invention is provided with an executing component arranged on an end seat which is rotatably arranged on a base, one side of the base close to a bearing seat is rotatably provided with a second transmission gear which is rigidly connected with the end seat, the second transmission gear is driven by a second driving gear at the end part of a second driving rod, the end seat is driven to rotate on the base after the second transmission gear rotates, so as to realize the function of the rotation of the end, and the second transmission gear can realize infinite rotation without being limited by the length of the steel wire rope under the driving of the second driving rod, therefore, the technical problem that the tail end cannot rotate infinitely is solved, and furthermore, the two sets of transmission assemblies arranged at the tail end of the surgical robot for realizing pitching and opening and closing actions are mutually independent, so that the tail end can independently perform pitching actions and self-rotating actions without mutual interference.
Drawings
Fig. 1 is a schematic view of the entire structure of a surgical robot end tilting device of the present invention;
FIG. 2 is a schematic view of a gear engagement portion of the surgical robotic end tilting device of the present invention;
FIG. 3 is a schematic view of the overall construction of the surgical robot tip of the present invention;
FIG. 4 is a schematic view of a gear engagement portion of the surgical robot tip of the present invention;
FIG. 5 is a cross-sectional view of a surgical robotic tip of the present invention;
FIG. 6 is a schematic view of one embodiment of an actuation device of the surgical robot tip of the present invention;
fig. 7 is a schematic view of another embodiment of an actuating device of a surgical robot tip of the present invention.
Wherein: 1-end seat, 11-second transmission gear, 111-sleeve body, 12-annular protrusion and 13-annular flange; 2-base, 21-swing arm, 211-tooth, 22-through hole, 23-spacing sleeve, 231-spacing groove; 3-bearing seat, 31-articulated arm, 311-driven gear, 32-first transmission gear; 4-a first driving rod, 41-a first driving gear, 42-a driven gear I; 5-second driving rod, 51-second driving gear, 52-projection, 53-driven gear II; 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 … … surface," "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 terminal operation robot among the current minimal access surgery apparatus moves for realizing corresponding every single move and rotation, the wire rope traction mode that all adopts, its drawback that brings is also very obvious, wire rope belongs to the flexible coupling and can inevitably 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 displacement of moving of the execution part of steel wire wheel turned angle to control terminal can the deviation appear, 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. In addition, the minimally invasive surgical instrument in the prior art adopts a steel wire rope structure, one end of the steel wire rope is connected with the steel wire wheel, the other end of the steel wire rope needs to be fixedly connected to the winding wheel, the rotation angle of the steel wire wheel is limited by the length of the steel wire rope, namely, the rotation angle of the tail end is limited by the length of the steel wire rope and cannot rotate infinitely, and therefore the surgical operation difficulty is increased or the design difficulty of an auxiliary mechanism is increased. In order to solve the above problems, the present embodiment provides a surgical robot end mechanism, which includes an end tilting device and an end rotation device, and can implement rigid transmission to ensure the precision of control, and at the same time, the end rotation device can implement infinite rotation.
As shown in fig. 1-2, the present embodiment provides a surgical robot end tilting device, which includes a base 2 and a carrying seat 3, wherein the base 2 is hinged to the carrying seat 3, the base 2 can tilt relative to the carrying seat 3, specifically, an outer edge of the base 2 extends out of a swing arm 21 towards one side of the carrying seat 3, the swing arms 21 are two and symmetrically arranged, further, the carrying seat 3 has a shape identical to that of the base 2, an outer edge of the carrying seat 3 extends out of an articulated arm 31 towards one side of the base 2, the articulated arm 31 is two and symmetrically arranged, and the articulated arm 31 is hinged to the swing arm 21, so as to form a yaw joint between the base 2 and the carrying seat 3. Further, one of the swing arms 21 of the base 2 is formed with a tooth 211, the tooth 211 is formed at one end of the swing arm 21 away from the base 2 and is formed as an arc-shaped rack at the end, the arc-shaped rack is driven by a driving module, specifically, the arc-shaped rack is driven by a first driving gear 41 formed at a driving end of a first driving rod 4 penetrating through the bearing seat 3, and the first driving rod 4 directly or indirectly drives the arc-shaped rack by a gear set to drive the base 2 to pitch.
The swing arm 21 is formed on the base 2, the teeth 211 are formed on the swing arm 21, the swing arm 21 is hinged to the hinge arm 31 formed on the bearing seat 3, the teeth 211 on the swing arm 21 are directly or indirectly driven by the first driving gear 41 on the first driving rod 4 to deflect the base 2, the pitching motion of the tail end is realized by replacing a steel wire rope traction mode, the problem that the deflection angle or the movement displacement can be deviated in the process of controlling the tail end to execute by matching a steel wire wheel and the steel wire rope is avoided, the problem that the tail end of the surgical robot in the prior art can not be accurately controlled is solved, in addition, the matching of the gear set is more stable, the technical problems of abrasion and poor stability of the steel wire rope in the long-term traction and stretching process are avoided, therefore, the surgical robot tail end pitching device is higher in control precision and better in stability.
Preferably, the bearing seat 3 is rotatably installed with a first transmission gear 32, the first transmission gear 32 is respectively engaged with the first driving gear 41 and the teeth 211 of the swing arm 21, and the first driving gear 41 drives the base 2 to pitch and yaw through the first transmission gear 32. In this embodiment, the first driving gear 41 is a bevel gear, a portion of teeth of the first transmission gear 32 near the swing arm 21 are straight teeth, and a portion of teeth of the first transmission gear 32 near the first driving gear 41 are helical teeth. In the embodiment, the teeth 211 of the swing arm 21 are indirectly driven by the gear set, so that a section of installation space is additionally arranged on the whole operation robot end pitching device to facilitate installation of other components.
As shown in fig. 3-7, the present embodiment further provides a surgical robot tip, which employs the surgical robot tip pitching apparatus described above, and further includes a rotation apparatus, the rotation apparatus includes an end seat 1 configured with an executing component, the end seat 1 is rotatably assembled to a side of the base 2 away from the bearing seat 3, the end seat 1 is rigidly connected with a second transmission gear 11, the second transmission gear 11 is rotatably installed at a side of the base 2 close to the bearing seat 3, the second transmission gear 11 is driven by a driving unit, specifically, the driving unit includes a second driving rod 5 and a second driving gear 51 configured at an end of the second driving rod 5, and the second driving gear 51 drives the second transmission gear 11 to drive the executing component on the end seat 1 to rotate.
In the surgical robot end in this embodiment, the executing component is disposed on the end seat 1, the end seat 1 is rotatably mounted on the base 2, the second transmission gear 11 is rotatably mounted on one side of the base 2 close to the bearing seat 3, the second transmission gear 11 is rigidly connected to the end seat 1, the second transmission gear 11 is driven by the second driving gear 51 at the end of the second driving rod 5, the second transmission gear 11 rotates to drive the end seat 1 to rotate on the base 2, so as to achieve the end rotation function, and the second transmission gear 11 can rotate infinitely under the driving of the second driving rod 5 without being limited by the length of the steel wire rope, thereby solving the technical problem that the end cannot rotate infinitely.
According to an embodiment of the present invention, the end base 1 is configured as a circular base, the second transmission gear 11 rigidly connected to the end base 1 extends out of the sleeve 111 towards the base 2, the end base 1 extends out of the annular protrusion 12 towards the sleeve 111, and the annular protrusion 12 is sleeved on the inner circumference of the sleeve 111 and is in interference fit with the sleeve 111 so that the sleeve 111 and the end base 1 do not move relatively, that is, the transmission gear integrated with the sleeve 111 rotates to drive the end base 1 to rotate together. Meanwhile, the sleeve 111 is disposed in the through opening 22 formed in the base 2, and the outer peripheral surface of the sleeve 111 is in clearance fit with the inner peripheral surface of the through opening 22 so that the transmission gear can rotate in the through opening 22.
According to one embodiment of the invention, a limiting sleeve 23 is arranged between the base 2 and the end seat 1, a limiting groove 231 is formed on one side of the limiting sleeve 23 facing the end seat 1, the end seat 1 is formed with an annular flange 13, and the annular flange 13 is assembled in the limiting groove 231 and can rotate, namely, the limiting groove 231 and the annular flange 13 limit each other.
According to an embodiment of the present invention, the second driving rod 5 is rotatably mounted on the carrying seat 3, specifically, the second driving rod 5 is sleeved in the first driving rod 4 and coaxially disposed, the second driving rod 5 at least partially protrudes from the first driving rod 4, the end of the protruding portion 52 is provided with a second driving gear 51, and the second driving gear 51 is disposed on the platform of the carrying seat 3 close to the base 2.
According to an embodiment of the present invention, a driven gear 311 is rotatably mounted on the hinge arm 31, and the driven gear 311 is engaged with the second driving gear 51 and the second transmission gear 11 to leave an accommodating space between the hinge arms 31 for mounting other components. In this embodiment, the second driving gear 51, the driven gear 311, and the second transmission gear 11 are all bevel gears.
Preferably, the driven gear 311 is disposed on the pin at the joint of the swing arm 21 and the hinge arm 31 to prevent the driven gear 311 from moving away from or close to the second driving gear 51 and the second transmission gear 11 during the pitching motion.
According to an embodiment of the present invention, the first driving rod 4 and the second driving rod 5 are driven by an 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 end of each power shaft protrudes 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 4 and the second driving rod 5 to rotate through a transmission gear set.
Further, the two powered shafts are respectively a first powered shaft 611 and a second powered shaft 612, one end of the first driving rod 4 far away from the base 2 is provided with a driven gear i 42, the first powered shaft 611 is provided with a main gear i 6111 for driving the driven gear i 42, preferably, the main gear i 6111 drives the driven gear i 42 through a speed change gear, at least one part of the second driving rod 5 protrudes out of the first driving rod 4 to form a protruding part 52, the protruding part 52 is provided with a driven gear ii 53, the second powered shaft 612 is provided with a main gear ii 6121 for driving the driven gear ii 53, preferably, the main gear ii 6121 drives the driven gear ii 53 through a speed change gear,
of course, as shown in fig. 7, the second driving rod 5 of the present embodiment may also be directly driven by the second power shaft 612, that is, the second driving rod 5 is directly and rigidly connected to the second power shaft 612.
Based on the above structure, when the surgical robot end of this embodiment is in pitching motion, the first driving rod 4 rotates, the first driving gear 41 rotates, the swing arm 21 is indirectly or directly driven to deflect, the deflection of the base 2 is realized, and finally the pitching motion of the surgical robot end is realized, when the surgical robot end of this embodiment is in autorotation motion, the second driving rod 5 rotates, the second driving gear 51 rotates, the end base 1 is indirectly or directly driven to autorotate, and finally the autorotation motion of the surgical robot end is realized, wherein the second driving rod 5 is arranged in the first driving rod 4 and protrudes out of the first driving rod 4 so that the motions of the two driving rods do not interfere with each other, so that the pitching or autorotation motions and the noninterference motions can be independently realized. It should be noted that: when the tail end of the surgical robot is actually used, the tail end of the surgical robot is usually moved in a single degree of freedom, namely, when one degree of freedom works, other degrees of freedom are kept still. In the present embodiment, the rotation motion is an independent motion achieved by the rotation of the second drive lever 5, and the pitching motion is achieved by the driving motor requiring the rotation motion being rotated in accordance with 1:1 rotation to release the interference of the rotation driven gear 311, without the need for the cooperation of other degrees of freedom. Therefore, each degree of freedom on the sense of an operator can independently act without mutual influence through the decoupling relation between the driving motors with the two degrees of freedom.
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 (5)
1. A surgical robotic end pitch device, comprising:
the device comprises a base (2), wherein a swing arm (21) is formed on the base (2), and teeth (211) are formed on the swing arm (21);
a bearing seat (3), wherein an articulated arm (31) is formed on the bearing seat (3), and the articulated arm (31) is articulated with the swing arm (21);
the driving module comprises a first driving rod (4) penetrating through the bearing seat (3), a first driving gear (41) is formed at the end part of the first driving rod (4), and the first driving gear (41) directly or indirectly drives the teeth (211) to enable the base (2) to pitch and deflect;
a first transmission gear (32) is rotatably mounted on the bearing seat (3), the first transmission gear (32) is respectively meshed with the first driving gear (41) and the teeth of the swing arm (21), and the first driving gear (41) drives the base (2) to pitch and deflect through the first transmission gear (32);
wherein, still include rotation device, rotation device includes:
an end seat (1), an execution component is configured on the end seat (1), the end seat (1) is rotatably assembled on one side of the base (2) far away from the bearing seat (3),
the second transmission gear (11), the second transmission gear (11) is rotatably arranged on one side of the base (2) close to the bearing seat (3), the second transmission gear (11) is rigidly connected with the end seat (1),
the driving unit comprises a second driving rod (5) and a second driving gear (51) arranged at the end part of the second driving rod (5), and the second driving gear (51) drives the second transmission gear (11) to drive an executing assembly on the end seat (1) to rotate;
the second transmission gear (11) extends out of the sleeve body (111) towards the base (2), the base (2) is provided with a through opening (22), and the outer peripheral surface of the sleeve body (111) is in clearance fit with the inner peripheral surface of the through opening (22);
the end seat (1) extends out of an annular protrusion (12) towards the sleeve body (111), and the annular protrusion (12) is sleeved on the inner periphery of the sleeve body (111) and is in interference fit with the sleeve body (111);
wherein, be equipped with stop collar (23) between base (2) and end seat (1), stop collar (23) are towards one side of end seat (1) is formed with spacing groove (231), end seat (1) is formed with annular flange (13), annular flange (13) rotationally assemble in spacing groove (231).
2. Surgical robot end tilting device according to claim 1, characterized in that the second transmission rod is rotatably mounted on a carrying seat (3), the articulated arm (31) is rotatably mounted with a driven gear (311), the driven gear (311) is engaged with the second driving gear (51) and the second transmission gear (11), respectively.
3. Surgical robot end pitch device according to claim 2, characterized in that the driven gear (311) is arranged on a pin at the articulation of the swing arm (21) with the articulated arm (31).
4. The surgical robot end pitching device according to claim 1, wherein the first driving rod (4) and the second driving rod (5) are 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 (4) and the second driving rod (5) to rotate through a transmission gear set.
5. The surgical robot end tilting device according to claim 4, wherein the two power shafts are respectively a first power shaft (611) and a second power shaft (612), one end of the first transmission rod, which is far away from the base (2), is provided with a driven gear I (42), the first power shaft (611) is provided with a main gear I (6111) for driving the driven gear I (42), at least a part of the second transmission rod protrudes out of the first transmission rod to form a protrusion (52), the protrusion (52) is provided with a driven gear II (53), and the second power shaft (612) is provided with a main gear II (6121) for driving the driven gear II (53);
alternatively, the projection (52) is rigidly connected directly to the second power shaft (612).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011307967.6A CN112315584B (en) | 2020-11-19 | 2020-11-19 | Operation robot terminal pitching device and operation robot terminal |
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|---|---|---|---|
| CN202011307967.6A CN112315584B (en) | 2020-11-19 | 2020-11-19 | Operation robot terminal pitching device and operation robot terminal |
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| CN112315584A CN112315584A (en) | 2021-02-05 |
| CN112315584B true CN112315584B (en) | 2022-07-08 |
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| CN103101052A (en) * | 2013-02-26 | 2013-05-15 | 奇瑞汽车股份有限公司 | Wrist of robot |
| CN103552088B (en) * | 2013-10-12 | 2016-06-22 | 杨兆奎 | A kind of wrist |
| CN104523309B (en) * | 2015-01-23 | 2017-01-18 | 哈尔滨工业大学 | Intraperitoneal traction surgical robot for minimally invasive surgery |
| GB2552383B (en) * | 2016-07-22 | 2022-08-24 | Cmr Surgical Ltd | Gear packaging for robotic joints |
| CN110882017B (en) * | 2019-12-05 | 2021-04-02 | 天津大学 | Bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission |
| CN211381751U (en) * | 2019-12-24 | 2020-09-01 | 锐志微创医疗科技（常州）有限公司 | Rotation mechanism and surgical robot |
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