CN112402016A - Terminal rotation device of surgical robot and terminal of surgical robot - Google Patents
Terminal rotation device of surgical robot and terminal of surgical robot Download PDFInfo
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- CN112402016A CN112402016A CN202011303531.XA CN202011303531A CN112402016A CN 112402016 A CN112402016 A CN 112402016A CN 202011303531 A CN202011303531 A CN 202011303531A CN 112402016 A CN112402016 A CN 112402016A
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- 230000005540 biological transmission Effects 0.000 claims description 41
- 230000009471 action Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009987 spinning Methods 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 description 39
- 239000010959 steel Substances 0.000 description 39
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000007774 longterm Effects 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
- 238000001356 surgical procedure Methods 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 rotation device and a surgical robot tail end. The minimally invasive surgical instrument solves the technical problems that in the prior art, the minimally invasive surgical instrument is poor in control precision and short in service life and cannot realize an infinite rotation function.
Description
Technical Field
The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end rotation 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 tail end of a surgical robot in the existing minimally invasive surgical instrument adopts a steel wire rope traction mode for realizing corresponding opening, closing and rotating actions, the defects caused by the steel wire rope traction mode are obvious, the steel wire rope is in flexible connection and inevitably slips in the process of rotating a steel wire wheel, the steel wire rope is easy to deform, the deviation can be caused by the rotation angle or the movement displacement of an execution part which controls the tail end by utilizing the rotation angle of the steel wire wheel, accurate control cannot be realized, on the other hand, the steel wire rope is easy to lose due to the nature of the steel wire rope in the long-term traction and stretching process, the stability is poor, further, the minimally invasive surgical instrument in the prior art does not have the independent rotation function of the tail end or the tail end cannot rotate infinitely, and the design difficulty of a surgical operation or an auxiliary mechanism is increased.
Disclosure of Invention
In order to solve the technical problems that a minimally invasive surgical instrument in the prior art is poor in control precision and short in service life and cannot realize an infinite rotation function, the invention provides a surgical robot tail end rotation 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 tail end rotation device of a surgical robot, which comprises an end seat, a rotation shaft and a rotation shaft, wherein the end seat is provided with an execution assembly; the end seat is rotatably assembled on the first side of the base, a transmission gear is rotatably installed on the second side of the base, and the end seat is rigidly connected with the transmission gear; the driving module comprises a first driving rod and a driving gear arranged at the end part of the first driving rod, and the driving gear drives the transmission gear to drive the execution assembly on the end seat to rotate.
Furthermore, the transmission gear extends out of the sleeve body towards the base, a through opening is formed in the base, and the outer peripheral surface of the sleeve body is in clearance fit with the inner peripheral surface of the through opening.
Furthermore, the end seat extends towards the sleeve body to form an annular protrusion, 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 and fixedly connected with the base, 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.
Further, the outer edge of the second side of the base extends out of an extension arm towards the direction far away from the end seat, a driven gear is rotatably mounted on the extension arm and meshed with the driving gear and the transmission gear respectively, and the driving gear, the driven gear and the transmission gear are all bevel gears.
Another aspect of the present invention provides a surgical robot tip, which includes the above-mentioned surgical robot tip rotation device, and further includes a switching device, where the switching device includes: 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, and the fixed clamp and the movable clamp form the executing assembly; the driving unit comprises a second driving rod penetrating through the end seat and a threaded sleeve screwed with the second driving 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 second driving rod to drive the movable clamp to deflect around a hinge point.
Furthermore, the optical axis part of the second driving rod is rotatably installed in the axial hole of the end seat, two annular limiting bulges are further formed on the second driving rod, and the two annular limiting bulges are limited on two sides of the end seat.
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 the movable clamp is further formed with a driving portion, a guide groove is formed in the driving portion, an accommodating space is further formed in the first end of the movable clamp, the threaded sleeve is arranged in the accommodating space, a protruding block on the threaded sleeve extends into the guide groove, and the fixed clamp is driven to deflect by linear motion of the protruding block.
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 second driving rod.
Further, the first end of the second driving rod is in threaded fit with the threaded sleeve, and the second end of the second driving 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 two clamping blocks are positioned on two sides of the movable clamp driving part.
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 mounted at one end, far away from the base, of the first driving rod, a main gear I for driving the driven gear I is arranged on the first power shaft, and the second driving rod
At least one part of the first driving rod protrudes out of the first driving 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 tail end autorotation device of a surgical robot, which arranges an executing component on an end seat, the end seat is rotatablely arranged on a base, a transmission gear is rotatablely arranged on the second side of the base and is rigidly connected with the end seat, the transmission gear is driven by a driving gear at the end part of a first driving rod, the transmission gear drives the end seat to autorotate on the base after rotating, thus realizing the autorotation of the executing component, all transmission members involved in the transmission process are connected by rigid gears, the autorotation of the tail end is realized by replacing a steel wire rope traction mode, the problem that the deviation can occur when a steel wire wheel and the steel wire rope are matched to control the rotating angle or the moving 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 realize accurate control is solved, in addition, the, the technical problems of abrasion and poor stability of the steel wire rope in a long-term traction and stretching process are solved, so that the control precision of the tail end autorotation device of the surgical robot is higher, the stability is better, and further, the transmission gear can realize infinite rotation under the driving of the first driving rod, so that the technical problem that the tail end cannot rotate infinitely is solved;
2. the surgical robot tail end of the invention drives the movable clamp to deflect around the hinge point through the threaded sleeve which is in threaded connection with the second driving rod, replaces the method of steel wire rope traction to realize the opening and closing of the fixed clamp and the movable clamp, avoids the problem that the rotating angle or the moving displacement can generate deviation when the steel wire wheel is matched with the steel wire rope to control the tail end to execute, solves the technical problems that the tail end of the surgical robot in the prior art can not realize accurate control, in addition, the second driving rod is more stably matched with the threaded sleeve, and avoids the abrasion and poor stability of the steel wire rope in the long-term traction and stretching process, thereby showing that the opening and closing device at the tail end of the surgical robot has higher control precision and better stability, further, the opening and closing of the executing component are driven through the second driving rod, the self-rotating device is driven through the first driving rod is sleeved on the second driving rod, therefore, it can be seen that the opening and closing operation and the rotation operation of the surgical robot according to the present invention do not interfere with each other.
Drawings
Fig. 1 is an overall structural view of a surgical robot terminal rotation device of the present invention;
fig. 2 is a sectional view of the surgical robot tip spinning 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 another perspective of the opening and closing device of the surgical robot tip of the present invention;
FIG. 5 is a schematic view of yet another perspective of the opening and closing device of the surgical robot tip of the present invention;
FIG. 6 is a cross-sectional view of the opening and closing device of the surgical robot tip of the present invention;
FIG. 7 is a schematic view of a dynamic clamp of the surgical robot tip of the present invention;
FIG. 8 is one embodiment of an actuation device for a surgical robotic tip of the present invention;
fig. 9 is another embodiment of an actuating device of a surgical robot tip of the present invention.
Wherein: 1-end seat, 11-transmission gear, 111-sleeve body, 12-annular protrusion, 13-annular flange, 14-fixed clamp, 15-movable clamp, 151-hinged part, 152-free end, 153-driving part, 1531-guide groove, 154-extending arm, 16-limit bump and 17-clamping block; 2-a base, 21-a through hole, 22-an extension arm, 221-a driven gear, 3-a first driving rod, 31-a driving gear and 32-a driven gear I; 4-a limiting sleeve, 41-a limiting groove; 5-a second driving rod, 51-a thread sleeve, 511-a bump, 52-an annular limiting bulge, 53-a protruding part, and 54-a 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 … …," "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 a surgical robot in the existing minimally invasive surgical instrument adopts a steel wire rope traction mode for realizing corresponding opening, closing and rotating actions, the defects brought by the steel wire rope traction mode are obvious, the steel wire rope is flexibly connected with a steel wire wheel and inevitably slips in the rotating process, and the steel wire rope is easy to deform, so that the deviation of the rotating angle or the moving displacement of an executing part at the tail end controlled by the rotating angle of the steel wire wheel can not be realized, accurate control can not be realized, on the other hand, the steel wire rope is easy to lose and poor in stability in the long-term traction and stretching process due to the self property of the steel wire rope, furthermore, 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 is fixedly connected with a winding wheel, the rotating angle of the steel wire wheel is limited by the length of the steel, this will increase the difficulty of the surgical operation or the design of the auxiliary mechanism. In order to solve the above problems, the present embodiment provides a surgical robot tip mechanism, which includes a tip rotation device and a tip opening and closing device, and can implement rigid transmission to ensure the control precision, and at the same time, the tip rotation device can implement infinite rotation.
As shown in fig. 1-2, the present embodiment provides a terminal rotation device, including an end seat 1, a base 2 and a driving module, where the end seat 1 is configured with an executing component, the executing component can be freely configured according to requirements, the end seat 1 is rotatably assembled on a first side of the base 2, a transmission gear 11 is rotatably installed on a second side of the base 2, the end seat 1 is rigidly connected to the transmission gear 11, the rigid connection mode can be selected as integral molding or welding, the driving module includes a first driving rod 3 and a driving gear 31 configured at an end of the first driving rod 3, and the driving gear 31 drives the transmission gear 11 to drive the executing component on the end seat 1 to rotate.
The surgical robot tail end rotation device of the embodiment arranges the executing component on the end seat 1, the end seat 1 is rotatably arranged on the base 2, the second side of the base 2 is rotatably provided with the transmission gear 11, the transmission gear 11 is rigidly connected with the end seat 1, the transmission gear 11 is driven by the driving gear 31 at the end part of the first driving rod 3, the transmission gear 11 drives the end seat 1 to rotate on the base 2 after rotating, namely, the execution component rotates, all the transmission components involved in the transmission process are connected through the rigid gear instead of a steel wire rope traction mode, the problem that the rotation angle or the movement displacement can generate deviation in the process of controlling the tail end executing by matching the 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 realize accurate control is solved, in addition, the matching between the gear and the gear 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, so that the control precision of the self-rotating device at the tail end of the surgical robot is higher, the stability is better, further, the transmission gear 11 can realize infinite rotation under the driving of the first driving rod 3 without being limited by the length of the steel wire rope, and the technical problem that the tail end cannot rotate infinitely is solved.
According to an embodiment of the present invention, the end base 1 is configured as a circular base, the 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 periphery 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 11 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 21 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 21 so that the transmission gear 11 can rotate in the through opening 21.
According to one embodiment of the invention, a limiting sleeve 4 is arranged between the base 2 and the end seat 1, a limiting groove 41 is formed on one side of the limiting sleeve 4 facing the end seat 1, the end seat 1 is provided with an annular flange 13, and the annular flange 13 is assembled in the limiting groove 41 and can rotate, namely, the limiting groove 41 and the annular flange 13 limit each other.
Preferably, the outer edge of the second side of the base 2 extends out of the extension arm 22 towards the direction away from the end seat 1, the extension arms 22 are two and symmetrically arranged, one of the extension arms 22 is rotatably provided with a driven gear 221, the driven gear 221 is respectively engaged with the driving gear 31 and the transmission gear 11, and the driving gear 31, the driven gear 221 and the transmission gear 11 are all bevel gears. In the present embodiment, a receiving space is formed between the two extending arms 22, and the receiving space can be provided with other transmission members for controlling the executing components. It should be noted that the extension arms 22 may be formed on other bodies connected to the base 2 as long as a receiving space is formed between the extension arms 22.
As shown in fig. 2 to 9, the present embodiment further provides a surgical robot end, which includes the above-mentioned surgical robot end rotation device, and further includes an opening and closing device, the opening and closing device includes an end opening and closing structure and a driving unit, the end opening and closing structure includes a fixed clamp 14 fixed on the end base 1 and a movable clamp 15 hinged to the fixed clamp 14, the fixed clamp 14 and the movable clamp 15 form an execution assembly, the driving unit includes a second driving rod 5 penetrating through the end base 1 and a threaded sleeve 51 screwed to the second driving rod 5, a limiting protrusion 16 for limiting rotation of the threaded sleeve 51 is formed on the end base 1, and the threaded sleeve 51 moves linearly under the action of the second driving rod 5 to drive the movable clamp 15 to deflect around the hinge point.
The surgical robot end of the embodiment drives the movable clamp 15 to deflect around the hinge point through the threaded sleeve 51 which is in threaded connection with the second driving rod 5, so that the opening and closing of the fixed clamp 14 and the movable clamp 15 are realized in a steel wire rope traction mode, the problem that the deviation occurs when a steel wire wheel and a steel wire rope are matched to control the rotation angle or the movement displacement in the end executing process is avoided, the problem that the surgical robot end in the prior art cannot realize accurate control is solved, in addition, the second driving rod 5 is more stably matched with the threaded sleeve 51, the technical problems of abrasion and poor stability of the steel wire rope in the long-term traction and stretching process are avoided, and therefore, the surgical robot end opening and closing device has higher control precision and better stability, further, the opening and closing of the executing assembly are driven through the second driving rod 5, and the rotation device is driven through the first driving rod 3, the first driving rod 3 is sleeved on the second driving rod 5, so that the opening and closing action and the rotation action of the end of the surgical robot of the embodiment are mutually interfered.
According to an embodiment of the present invention, the fixing clip 14 is fixed relative to the end seat 1, and the fixing clip 14 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 14.
Further, the fixed clamp 14 is hinged with the movable clamp 15, specifically, the first end of the movable clamp 15 is formed with a hinged part 151, the hinged part 151 is located at the lower part of the first end of the movable clamp 15, the hinged part 151 is hinged with the fixed clamp 14, the second end of the movable clamp 15 is configured as a free end 152, the free end 152 deflects around the hinged point to form an opening and closing action, preferably, the first end of the movable clamp 15 is formed as two extending arms 154, the lower parts of the two extending arms 154 are formed with hinged holes, the fixed clamp 14 is also formed with hinged holes, the lower parts of the two extending arms 154 are hinged with the fixed clamp 14 through the hinged shafts and the hinged holes, so that a containing space is formed between the two extending arms 154, and the containing space can be used for containing the transmission rod and the screw sleeve 51 for driving the movable clamp 15 to deflect, and the whole.
In the present embodiment, the movable clamp 15 is driven by a structure in which the second driving rod 5 and the threaded sleeve 51 are matched to perform an opening and closing action, specifically, the end seat 1 of the present embodiment is formed with an axial hole, an optical axis portion of the second driving rod 5 is rotatably installed in the axial hole of the end seat 1, a first end of the second driving rod 5 is in threaded fit with the threaded sleeve 51, a second end of the second driving rod 5 passes through the axial hole and is connected with a driving module of the surgical robot, the second driving rod 5 is driven by the driving module to rotate, in order to make the threaded sleeve 51 not follow-up rotation and form a linear movement, the end seat 1 of the present embodiment is formed with a limiting protrusion 16 for limiting rotation of the threaded sleeve 51, at least a portion of an outer circumferential surface of the threaded sleeve 51 is a rotation limiting plane, the limiting protrusion 16 on the end seat 1 is matched with the rotation limiting plane to limit rotation of the threaded sleeve 51, so that the threaded sleeve 51 forms a linear movement, the screw sleeve 51 is configured as a cube, one face of which is configured as a rotation limiting plane to be matched with the limiting protrusion 16, but the screw sleeve 51 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 16.
Further, the movable clamp 15 is driven to deflect around the hinge point by the linear motion of the threaded sleeve 51, specifically, a protruding block 511 is formed on the threaded sleeve 51, a driving portion 153 is formed at the first end of the movable clamp 15, the driving portion 153 is located at the upper portion of the first end of the movable clamp 15, a guide groove 1531 matched with the protruding block 511 is formed in the driving portion 153, and the protruding block 511 of the threaded sleeve 51 extends into the guide groove 1531, so that the movable clamp 15 can be driven to deflect to realize the opening and closing actions of the terminal opening and closing structure when the threaded sleeve 51 moves linearly.
It should be noted that the driving structure of the screw sleeve 51 of the present embodiment may be modified in various ways, for example, the protrusion 511 is disposed on the driving portion 153, the sliding groove is disposed on the screw sleeve 51, and the driving of the fixing clip 14 may also be realized, that is, the driving structure of the screw sleeve 51 of the present embodiment is not limited to a specific form as long as the driving of the fixing clip 14 can be realized.
Preferably, two annular limiting protrusions 5216 are further formed on the second driving rod 5, the two annular limiting protrusions 5216 are limited at two sides of the end seat 1, and the annular limiting protrusions 5216 can prevent the second driving rod 5 from being displaced relative to the end seat 1 in the axial direction during the working process, so that the working stability is ensured.
Preferably, at least two clamping blocks 17 are further formed on the end seat 1, and the two clamping blocks 17 are located at two sides of the driving portion 153 of the movable clamp 15 to limit and fix the movable clamp 15.
According to an embodiment of the present invention, the first driving rod 3 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 3 and the second driving rod 5 to rotate through a transmission gear set.
Further, the two power shafts are respectively a first power shaft 611 and a second power shaft 612, one end of the first driving rod 3 far away from the base 2 is provided with a driven gear I32, the first power shaft 611 is provided with a main gear I6111 for driving the driven gear I32, preferably, the main gear I6111 drives the driven gear I32 through a speed change gear, at least one part of the second driving rod 5 protrudes out of the first driving rod 3 to form a protruding part 53, the protruding part 53 is provided with a driven gear II 54, the second power shaft 612 is provided with a main gear II 6121 for driving the driven gear II 54, preferably, the main gear II 6121 drives the driven gear II 54 through the speed change gear,
of course, as shown in fig. 9, 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, the distal end of the surgical robot of the present embodiment is driven by the structure of the first driving rod 3 and the transmission gear 11 to perform an infinite rotation motion, and is driven by the structure of the second driving rod 5 and the threaded sleeve 51 to perform an opening and closing motion, and the two sets of driving structures do not interfere with each other. Since the driving gear 31 drives the transmission gear 11 rigidly connected with the end base 1 through the driven gear 221 installed on the extension arm 22, a space enough for installing the second driving rod 5 is left between the extension arms 22, so that two sets of actions are realized at the end of the same surgical robot. 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 this embodiment, the opening and closing actions are independent actions realized by the rotation of the second driving rod 5, and other degrees of freedom are not needed to cooperate, while the rotation actions are realized by the cooperation of the driving motors of the opening and closing actions, that is, the second driving rod 5 rotates along with the rotation to prevent the false triggering of the opening and closing actions during the rotation. 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 (14)
1. A surgical robot terminal rotation device, comprising:
the end seat (1), the end seat (1) is provided with an execution assembly;
the end seat (1) is rotatably assembled on the first side of the base (2), the transmission gear (11) is rotatably installed on the second side of the base (2), and the end seat (1) is rigidly connected with the transmission gear (11);
the driving module comprises a first driving rod (3) and a driving gear (31) arranged at the end part of the first driving rod (3), wherein the driving gear (31) drives the transmission gear (11) to drive an execution assembly on the end seat (1) to rotate.
2. The surgical robot tail end rotation device according to claim 1, wherein the transmission gear (11) extends out of a sleeve body (111) towards the base (2), the base (2) is formed with a through opening (21), and an outer circumferential surface of the sleeve body (111) is in clearance fit with an inner circumferential surface of the through opening (21).
3. The surgical robot tail end rotation device according to claim 2, wherein the end base (1) extends out of an annular protrusion (12) towards the sleeve body (111), and the annular protrusion (12) is sleeved on the inner circumference of the sleeve body (111) and is in interference fit with the sleeve body (111).
4. The surgical robot terminal rotation device according to claim 3, wherein a position limiting sleeve (4) is provided between the base (2) and the end seat (1), a position limiting groove (41) is formed on a side of the position limiting sleeve (4) facing the end seat (1), an annular flange (13) is formed on the end seat (1), and the annular flange (13) is rotatably fitted in the position limiting groove (41).
5. The surgical robot tail end rotation device according to claim 3, wherein an extension arm (22) extends from the outer edge of the second side of the base (2) in a direction away from the end seat (1), a driven gear (221) is rotatably mounted on the extension arm (22), the driven gear (221) is respectively engaged with the driving gear (31) and the transmission gear (11), and the driving gear (31), the driven gear (221) and the transmission gear (11) are all bevel gears.
6. A surgical robot tip using the surgical robot tip spinning device according to any one of claims 1 to 5, further comprising an opening and closing device, the opening and closing device comprising:
the tail end opening and closing structure comprises a fixed clamp (14) fixed on the end seat (1) and a movable clamp (15) hinged to the fixed clamp (14), and the fixed clamp (14) and the movable clamp (15) form the execution assembly;
the driving unit comprises a second driving rod (5) penetrating through the end seat (1) and a threaded sleeve (51) screwed with the second driving rod (5), a limiting protrusion (16) limiting rotation of the threaded sleeve (51) is formed on the end seat (1), and the threaded sleeve (51) is driven to move linearly under the action of the second driving rod (5) to drive the movable clamp (15) to deflect around a hinged point.
7. The surgical robot tip according to claim 6, characterized in that the optical axis portion of the second driving rod (5) is rotatably installed in the shaft hole of the end seat (1), and two annular limiting protrusions (52) (16) are further formed on the second driving rod (5), and the two annular limiting protrusions (52) (16) are limited on two sides of the end seat (1).
8. The surgical robot tip according to claim 6, characterized in that a first end of the movable clamp (15) is formed with a hinge (151), the hinge (151) being hinged to the stationary clamp (14), a second end of the movable clamp (15) being configured as a free end (152), the free end (152) being deflected around the hinge point.
9. The surgical robot tip according to claim 6, wherein the first end of the movable clamp (15) is further formed with a driving portion (153), the driving portion (153) is formed with a guiding groove (1531), the first end of the movable clamp (15) is further formed with a receiving space, the screw sleeve (51) is disposed in the receiving space, the protrusion (511) on the screw sleeve (51) extends into the guiding groove (1531), and the linear motion of the protrusion (511) drives the fixed clamp (14) to deflect.
10. The surgical robot tip according to claim 6, wherein at least a portion of the outer peripheral surface of the screw sleeve (51) is a rotation limiting plane, the rotation limiting protrusion (16) on the tip seat (1) cooperates with the rotation limiting plane to limit the rotation of the screw sleeve (51), and the screw sleeve (51) moves linearly under the action of the second driving rod (5).
11. The surgical robot tip according to claim 6, characterized in that the first end of the second driving rod (5) is screw-fitted with the threaded sleeve (51), and the second end of the second driving rod (5) passes through the end seat (1) and is connected with the driving module of the surgical robot.
12. The surgical robot tip according to claim 6, characterized in that the end seat (1) is further formed with at least two clamping blocks (17), the two clamping blocks (17) being located on both sides of the driving portion (153) of the movable clamp (15).
13. The surgical robot tip according to claim 6, characterized in that the first driving rod (3) and the second driving rod (5) are driven by an actuating device (6), the actuating device (6) comprises a mounting base (61), two power shafts are arranged on the mounting base (61), and the two power shafts respectively drive the first driving rod (3) and the second driving rod (5) to rotate through a transmission gear set.
14. The surgical robot tip according to claim 13, wherein the two power shafts are a first power shaft (611) and a second power shaft (612), the first driving rod (3) is provided with a driven gear i (32) at an end away from the base (2), the first power shaft (611) is provided with a main gear i (6111) for driving the driven gear i (32), at least a part of the second driving rod (5) protrudes out of the first driving rod (3) to form a protruding part (53), the protruding part (53) is provided with a driven gear ii (54), and the second power shaft (612) is provided with a main gear ii (6121) for driving the driven gear ii (54);
alternatively, the projection (53) is directly rigidly connected to the second power shaft (612).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011303531.XA CN112402016B (en) | 2020-11-19 | 2020-11-19 | Surgical robot terminal autorotation device and surgical robot terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011303531.XA CN112402016B (en) | 2020-11-19 | 2020-11-19 | Surgical robot terminal autorotation device and surgical robot terminal |
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| CN112402016A true CN112402016A (en) | 2021-02-26 |
| CN112402016B CN112402016B (en) | 2024-04-05 |
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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 |
| CN103101052A (en) * | 2013-02-26 | 2013-05-15 | 奇瑞汽车股份有限公司 | Wrist of robot |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
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| CN112402016B (en) | 2024-04-05 |
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