CN112545612B - Binding clip mechanism of single-hole operation arm - Google Patents

Binding clip mechanism of single-hole operation arm Download PDF

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Publication number
CN112545612B
CN112545612B CN202011406717.8A CN202011406717A CN112545612B CN 112545612 B CN112545612 B CN 112545612B CN 202011406717 A CN202011406717 A CN 202011406717A CN 112545612 B CN112545612 B CN 112545612B
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China
Prior art keywords
jaw
connecting rod
hole
sliding block
spring
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CN202011406717.8A
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CN112545612A (en
Inventor
杜志江
高永卓
王啸龙
王昊东
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Ophthalmology & Optometry (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

The invention discloses a binding clip mechanism of a single-hole operation mechanical arm, which relates to the technical field of medical machinery and comprises the following components: the clamp comprises a driving wire, a clamp head base, a sliding block, a pin, a first connecting rod, a guide wheel, a first clamp, a second clamp, a pin shaft, a second connecting rod and a spring. The slider is arranged in the tong head base, the spring is arranged in the tong head base, one end of the spring abuts against the slider, the driving wire is arranged in the spring, one end of the driving wire is connected with the slider, the slider is rotatably connected with the first connecting rod, the slider is rotatably connected with the second connecting rod, the first tong clamp is rotatably connected with the first connecting rod, the second tong clamp is rotatably connected with the second connecting rod, the guide wheel is arranged between the first tong clamp and the second tong clamp, and the first tong clamp and the second tong clamp are rotatably connected through the guide wheel. According to the invention, through the matching between the single driving wire and the spring, the fact that the single driving wire can control the clamp to open and close is ensured, and the situation that the friction of a plurality of driving wires is increased and the clamping effect is reduced due to overlarge torque is avoided.

Description

Binding clip mechanism of single-hole operation arm
Technical Field
The invention relates to the technical field of medical machinery, in particular to a forceps head mechanism of a single-hole surgical manipulator.
Background
As an end effector of a laparoscopic surgical robot, surgical forceps are in direct contact with focal tissues and are direct instruments for completing surgical operations. In a traditional laparoscopic surgery, a surgical clamp is designed into a multi-degree-of-freedom mechanism in order to realize multi-degree-of-freedom motion and enhance flexibility in the surgery, the surgical clamp can usually realize clamping, twisting, deflection and other motions, a clamp head mechanism is usually connected with a longer rigid hollow connecting rod, and a plurality of groups of driving wires for controlling the motion of the clamp head move in the connecting rod.
The single-hole operation is different from the single-hole operation, the operation forceps are connected with a bendable flexible connecting rod, the operation forceps can flexibly move with multiple degrees of freedom through the flexible connecting rod, however, after the flexible connecting rod deforms, serious friction can occur in a tube due to excessive driving wires in the forceps head, the motor torque is increased, the service life of the system is shortened, the movement effect is not good, and good clamping effect is difficult to achieve.
Disclosure of Invention
In view of the above-mentioned problems, an object of the present invention is to provide a jaw mechanism of a single-hole surgical robot arm.
In order to achieve the purpose, the invention adopts the technical scheme that:
a binding clip mechanism of a single-hole surgical mechanical arm, comprising:
binding clip base 2
The sliding block 3 is arranged inside the tong head base 2;
the spring 11 is arranged in the forceps head base 2 and slides along the length direction of the forceps head base; one end of the spring 11 is abutted against the sliding block 3;
a driving wire 1, the driving wire 1 is arranged in the spring 11, the driving wire 1 is provided with one end connected with the sliding block 3
The first connecting rod 5 is rotatably connected with the sliding block 3;
the sliding block 3 is rotatably connected with the second connecting rod 10;
a first jaw 7, said first jaw 7 being rotatably connected to said first link 5;
a second jaw 8, said second jaw 8 being rotatably connected to said second link 10;
and the guide wheel 6 is arranged between the first jaw 7 and the second jaw 8, and the first jaw 7 and the second jaw 8 are rotatably connected through the guide wheel 6.
In the forceps head mechanism of the single-hole surgical manipulator, the forceps head base 2 is cylindrical, and the forceps head base 2 is provided with two first holes, two second holes and two third holes.
The binding clip mechanism of foretell haplopore operation arm wherein, still includes: the pin 4, the slider 3 has one end, slider 3 serves and is equipped with first through-hole, pin 4 with first through-hole phase-match.
In the forceps head mechanism of the single-hole surgical manipulator, one end of the sliding block 3 is arranged between the first connecting rod 5 and the second connecting rod 10, the first connecting rod 5 and the sliding block 3 are rotatably connected through the pin 4, and the second connecting rod 10 and the sliding block 3 are rotatably connected through the pin 4.
In the forceps head mechanism of the single-hole surgical manipulator, the guide wheel 6 is provided with gear teeth, the gear teeth are matched with the first forceps holder 7, and the gear teeth are matched with the second forceps holder 8.
The binding clip mechanism of above-mentioned haplopore operation arm wherein, still includes: and the pin shaft 9 is provided with two ends which are respectively limited in the two second holes.
In the forceps head mechanism of the single-hole surgical manipulator, the guide wheel 6 is provided with a second through hole, the second through hole is matched with the pin shaft 9, and the guide wheel 6 is operably connected around the pin shaft 9 in a rotating manner.
In the forceps head mechanism of the single-hole surgical manipulator, a third through hole is formed in the first forceps holder 7, the third through hole is matched with the pin shaft 9, the first forceps holder 7 is operatively connected to the pin shaft 9 in a rotating manner, and a first plane is formed in the first forceps holder 7.
In the forceps head mechanism of the single-hole surgical manipulator, a fourth through hole is formed in the second forceps holder 8, the fourth through hole is matched with the pin shaft 9, the second forceps holder 8 is operatively connected to the pin shaft 9 in a rotating manner, and a second plane is formed in the second forceps holder 8.
The jaw mechanism of the single-hole surgical robot arm, wherein the first plane of the first jaw 7 is operably abutted against the second plane of the second jaw 8.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
(1) According to the invention, through the matching between the single driving wire and the spring, the fact that the single driving wire can control the jaws to open and close is ensured, and meanwhile, the number of the driving wires is reduced, so that the friction of the driving wires in the tube is reduced, and the moment generated by the driving wires on the motor is reduced;
(2) The guide wheel is adopted for connecting the jaws, the contact surface between the guide wheel and the jaws is small, and the phenomenon of serious abrasion of the two jaws due to overlarge contact area is avoided.
Drawings
Fig. 1 is a schematic structural diagram of the components of the forceps head mechanism of the single-hole surgical manipulator of the invention.
Fig. 2 is a schematic diagram of the overall structure of the forceps head mechanism of the single-hole surgical manipulator of the invention.
FIG. 3 is a schematic structural view of a forceps head base of the forceps head mechanism of the single-hole surgical manipulator of the present invention.
In the drawings: 1. a drive wire; 2. a tong head base; 3. a slider; 4. a pin; 5. a first link; 6. a guide wheel; 7. a first jaw; 8. a second jaw; 9. a pin shaft; 10. a second link; 11. a spring.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 3, a forceps head mechanism of a single-hole surgical robot arm is shown, which includes: the clamp comprises a clamp head base 2, a sliding block 3, a spring 11, a driving wire 1, a first connecting rod 5, a second connecting rod 10, a first jaw 7, a second jaw 8, a guide wheel 6, a pin 4 and a pin shaft 9.
Slider 3 locates the inside of binding clip base 2, the inside of binding clip base 2 is located to spring 11, spring 11 has one end and supports in slider 3, drive silk 1 locates the inside of spring 11, drive silk 1 has one end and is connected with slider 3, slider 3 rotates with first connecting rod 5 to be connected, slider 3 rotates with second connecting rod 10 to be connected, first tong 7 rotates with first connecting rod 5 to be connected, second tong 8 rotates with second connecting rod 10 to be connected, guide pulley 6 locates between first tong 7 and the second tong 8, first tong 7 and second tong 8 rotate through guide pulley 6 to be connected.
Further, in a preferred embodiment, the binding clip base 2 is cylindrical, and two first holes, two second holes and two third holes are formed on the binding clip base 2.
Further, in a preferred embodiment, the sliding block 3 has one end, the one end of the sliding block 3 is provided with a first through hole, and the pin 4 is matched with the first through hole.
Further, in a preferred embodiment, one end of the slider 3 is disposed between the first link 5 and the second link 10, the first link 5 and the slider 3 are rotatably connected by the pin 4, and the second link 10 and the slider 3 are rotatably connected by the pin 4.
Further, in a preferred embodiment, the guide wheel 6 is provided with gear teeth, which are adapted to the first jaw 7 and which are adapted to the second jaw 8.
Further, in a preferred embodiment, the pin 9 has two ends respectively limited in the two second holes.
Further, in a preferred embodiment, the guide wheel 6 is provided with a second through hole, the second through hole is matched with the pin shaft 9, and the guide wheel 6 is operatively connected around the pin shaft 9 in a rotating way.
Further, in a preferred embodiment, the first jaw 7 is provided with a third through hole, the third through hole is matched with the pin 9, the first jaw 7 is operatively connected to rotate around the pin 9, and the first jaw 7 has a first plane.
Further, in a preferred embodiment, the second jaw 8 is provided with a fourth through hole, the fourth through hole is matched with the pin 9, the second jaw 8 is operatively connected to rotate around the pin 9, and the second jaw 8 has a second plane.
Further, in a preferred embodiment, a first plane of the first jaw 7 is operatively against a second plane of the second jaw 8.
The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The present invention also has the following embodiments in addition to the above:
in a further embodiment of the present invention, the base 2 is tubular, and the first hole, the second hole and the third hole are respectively disposed along the axial direction of the base 2, the two first holes are disposed along the radial direction of the base 2, the two second holes are disposed along the radial direction of the base 2, and the two third holes are disposed along the radial direction of the base 2.
In a further embodiment of the present invention, the forceps head base 2 includes: the two first parts, the second part and the third part are connected in sequence.
In a further embodiment of the present invention, the outer diameter of the third portion is smaller than the outer diameter of the second portion, two third holes are radially formed in the third portion, and the binding clip base 2 is connected to the flexible connecting rod through the third portion.
In a further embodiment of the present invention, one end of each first portion is connected to the second portion, the other end of each first portion is provided with a second hole, and the middle of each first portion is provided with a first hole.
In a further embodiment of the invention, the pin 4 is operable to move in a vertical direction.
In a further embodiment of the invention, the forceps head only retains 1 clamping degree of freedom without affecting the operation, and in order to minimize the adverse effects of excessive drive wires 1, the forceps head mechanism only retains a single clamping degree of freedom.
In a further embodiment of the present invention, the clamping degree of freedom is realized by a pair of crank-slider 3 mechanisms sharing the same slider 3, the first crank-slider 3 mechanism is composed of the slider 3, the first connecting rod 5 and the first jaw 7, the second crank-slider 3 mechanism is composed of the slider 3, the second connecting rod 10 and the second jaw 8, when the slider 3 translates rightward, the first jaw 7 rotates clockwise, the second jaw 8 rotates counterclockwise, the clamping angle increases, when the slider 3 translates leftward, the first jaw 7 rotates counterclockwise, the second jaw 8 rotates clockwise, and the clamping angle decreases.
In a further embodiment of the invention, the clamping movement is realized by the combined control of the driving wire 1 and the spring 11, in an initial state, the clamping angle is 0 degrees, the spring 11 is subjected to small pre-pressure and keeps a compression deformation state, one end of the driving wire 1 is connected with the sliding block 3, the other end of the driving wire 1 is connected with the driving device, when the driving device receives the wire, the sliding block 3 moves rightwards, the pressure applied to the spring 11 is increased, the deformation amount of the spring 11 is increased, the clamping angle is increased, when the driving device releases the wire, the sliding block 3 moves leftwards under the elastic force of the spring 11, the deformation amount of the spring 11 is decreased, and the clamping angle is decreased until the initial position is recovered.
In a further embodiment of the invention, the guide wheel 6 is provided with small bosses at both sides, which are respectively contacted with the first jaw 7 and the second jaw 8, and because the contact surface is small, the abrasion of parts is small in the movement process, and the service life is prolonged.
In a further embodiment of the present invention, in order to ensure the normal assembly of the pin 4 with the first link 5 and the second link 10, a first hole is reserved on the base 2 of the binding clip for the installation thereof.
In a further embodiment of the invention, the first link 5 and the second link 10 cannot be separated from the pin 4 in movement under the restriction of the binding clip base 2.
In a further embodiment of the present invention, in order to prevent the sliding block 3 from being jammed during the movement process, the contact surface between the sliding block 3 and the binding clip base 2 is a cylindrical surface.
In a further embodiment of the invention, the maximum clamping angle of the structure can reach 90 degrees, and the surgical requirements are met.
In a further embodiment of the present invention, in a single-hole operation, since the flexibility requirement is met by the flexible connecting rod, the forceps head does not need to reduce the system performance for increasing the flexibility characteristic, the degree of freedom of the forceps head should be reduced by a proper amount, otherwise the system performance is greatly influenced.
In a further embodiment of the invention, the clamping function required in the operation can be still better realized after the flexible connecting rod is deformed.
In a further embodiment of the invention, the forceps head only retains 1 degree of freedom, and can realize the clamping movement required in the operation.
In a further embodiment of the present invention, the driving mode is changed from the conventional control of a pair of driving wires 1 to the combined control of the driving wires 1 and the springs 11.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (5)

1. A binding clip mechanism of single-hole surgical mechanical arm, characterized by comprising:
a tong head base (2);
the sliding block (3) is arranged in the tong head base (2) and slides along the length direction of the tong head base;
the spring (11) is arranged inside the tong head base (2), and one end of the spring (11) is abutted against the sliding block (3);
the driving wire (1) is arranged inside the spring (11), and one end of the driving wire (1) is connected with the sliding block (3);
the first connecting rod (5), the slide block (3) is rotatably connected with the first connecting rod (5);
the sliding block (3) is rotationally connected with the second connecting rod (10);
a first jaw (7), said first jaw (7) being rotatably connected to said first link (5);
a second jaw (8), said second jaw (8) being rotatably connected to said second link (10);
a guide wheel (6), wherein the guide wheel (6) is arranged between the first jaw (7) and the second jaw (8), and the first jaw (7) and the second jaw (8) are rotatably connected through the guide wheel (6);
one end of the sliding block (3) is arranged between the first connecting rod (5) and the second connecting rod (10), the first connecting rod (5) is rotatably connected with the sliding block (3) through a pin (4), and the second connecting rod (10) is rotatably connected with the sliding block (3) through the pin (4);
gear teeth are arranged on the guide wheel (6), the gear teeth are matched with the first clamp (7), and the gear teeth are matched with the second clamp (8);
the contact surface between the sliding block (3) and the tong head base (2) is a cylindrical surface;
the clamping freedom degree is realized by a pair of crank slider mechanisms sharing the same slider (3), the first crank slider mechanism consists of the slider (3), a first connecting rod (5) and a first jaw (7), the second crank slider mechanism consists of the slider (3), a second connecting rod (10) and a second jaw (8), when the slider (3) translates rightwards, the first jaw (7) rotates clockwise, the second jaw (8) rotates anticlockwise, the clamping angle is increased, when the slider (3) translates leftwards, the first jaw (7) rotates anticlockwise, the second jaw (8) rotates clockwise, and the clamping angle is decreased;
the clamping movement is realized by utilizing the combined control of the driving wire (1) and the spring (11), in an initial state, a clamping angle is 0 degrees, the spring (11) is subjected to smaller pre-pressure and keeps a compression deformation state, one end of the driving wire (1) is connected with the sliding block (3), the other end of the driving wire is connected with the driving device, when the driving device receives wires, the sliding block (3) moves rightwards, the pressure applied to the spring (11) is increased, the deformation of the spring (11) is increased, the clamping angle is increased, when the driving device releases the wires, the sliding block (3) moves leftwards under the elastic force action of the spring (11), the deformation of the spring (11) is reduced, and the clamping angle is reduced until the initial position is recovered;
the clamp head base (2) is cylindrical, and two first holes, two second holes and two third holes are formed in the clamp head base (2);
the pin shaft (9), the said pin shaft (9) has both ends limited in two said second holes separately;
the guide wheel (6) is provided with a second through hole, the second through hole is matched with the pin shaft (9), and the guide wheel (6) can be connected in a rotating mode around the pin shaft (9).
2. The forceps head mechanism of the single-hole surgical mechanical arm according to claim 1, wherein the sliding block (3) is provided with one end, a first through hole is formed in one end of the sliding block (3), and the pin (4) is matched with the first through hole.
3. The forceps head mechanism of the single-hole surgical mechanical arm according to claim 1, wherein a third through hole is formed in the first jaw (7), the third through hole is matched with the pin shaft (9), the first jaw (7) is operatively connected in a rotating mode around the pin shaft (9), and a first plane is formed in the first jaw (7).
4. The jaw mechanism of a single-hole surgical robotic arm according to claim 3, wherein said second jaw (8) is provided with a fourth through hole, said fourth through hole is matched with said pin (9), said second jaw (8) is operatively connected in a rotation manner around said pin (9), and said second jaw (8) has a second plane thereon.
5. The jaw mechanism of a single-aperture surgical robotic arm according to claim 4, wherein a first plane of said first jaw (7) is operatively opposed to a second plane of said second jaw (8).
CN202011406717.8A 2020-12-04 2020-12-04 Binding clip mechanism of single-hole operation arm Active CN112545612B (en)

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Publication number Priority date Publication date Assignee Title
CN113616278B (en) * 2021-07-30 2022-08-30 中南大学湘雅三医院 Endoscope clamp capable of being bent
CN114469291B (en) * 2022-02-14 2023-08-08 郑州大学 Negative pressure tracheal foreign body extraction forceps and use method thereof
CN114748167A (en) * 2022-04-01 2022-07-15 天津大学 Flexible endoscope minimally invasive surgery instrument arm
CN115477025B (en) * 2022-10-31 2023-05-26 哈尔滨工业大学 Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard

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KR100911248B1 (en) * 2007-10-17 2009-08-07 국립암센터 Small caliber laparoscope surgical apparatus
CN201949091U (en) * 2010-12-29 2011-08-31 申屠作本 Single-orifice bent surgical clamp
CN202604951U (en) * 2012-03-31 2012-12-19 杭州汇大医疗器械有限公司 Electrocoagulation gripping forceps
CN102846365A (en) * 2012-09-07 2013-01-02 北京航空航天大学 Wrist type end effector driven by four shape memory alloy wires
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