CN112826595A - Surgical robot tail end push broach device and surgical robot tail end mechanism - Google Patents

Abstract

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end push broach device and a surgical robot tail end mechanism. A surgical robotic end pusher device comprising: a push-broach slidably fitted; the push broach driving assembly comprises a push broach driving rod and a push broach linear driving module, and the push broach linear driving module drives the push broach to do linear reciprocating motion through the push broach driving rod. The technical problems of more parts, heavy weight, large volume and poor stability of the tail end mechanism of the surgical robot in the prior art are solved.

Description

Surgical robot tail end push broach device and surgical robot tail end mechanism

Technical Field

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end push broach device and a surgical robot tail end mechanism.

Background

The minimally invasive surgery has the characteristics of small wound, less bleeding, quick recovery and the like, and is widely applied in clinical surgeries, so that the development of a simple and practical surgical instrument with high action precision and low operation difficulty is of great significance for the minimally invasive surgery. The following problems exist with current surgical instruments:

1. the transmission device and the driving device of the instrument are arranged at the same end or the transmission device is arranged close to the execution end, so that the instrument has more parts, heavy weight, large volume and easy coupling, and in addition, the tolerance accumulation of many parts causes the instrument to have poor precision and poor stability.

2. The acting force is manually provided by the doctor to control the execution end to rotate, open and close and push the cutter to act, so that the labor intensity of the doctor in the operation work is high, and the operation precision of the execution end is low.

3. The steel wire rope traction mode that transmission adopted, steel wire rope belong to the flexible coupling, inevitably can appear skidding at steel wire wheel rotation ground in-process, and steel wire rope itself is yielding, and this all makes and utilizes steel wire wheel turned angle to control the turned angle or the removal displacement of execution end and can appear the deviation, can't realize accurate control, and on the other hand, steel wire rope is also easy loss, stability can be poor owing to the nature of itself in long-term traction stretching process.

Disclosure of Invention

In order to solve the technical problems of more parts, heavy weight, large volume and poor stability of the surgical robot tail end mechanism in the prior art, the invention provides a surgical robot tail end push broach device and a surgical robot tail end mechanism, and solves the technical problems. The technical scheme of the invention is as follows:

a surgical robotic end pusher device comprising: a push-broach slidably fitted; the push broach driving assembly comprises a push broach driving rod and a push broach linear driving module, and the push broach linear driving module drives the push broach to do linear reciprocating motion through the push broach driving rod.

According to one embodiment of the present invention, the push broach linear drive module includes: a push-broach drive link, a first end of which is set to be a stressed end; the guide sleeve is fixedly assembled with a first screw rod, and the first screw rod is fixedly connected with the second end of the push broach transmission rod; the nut seat is arranged on the first screw rod, one side of the nut seat is connected with the first end of the push-type broach driving rod, the second end of the push-type broach driving rod penetrates through the guide sleeve to be connected with the push-type broach, and the nut seat is limited in rotation.

According to one embodiment of the invention, the device further comprises a push broach driving shaft, wherein a first end of the push broach driving shaft is connected with a push broach connecting piece, and a second end of the push broach driving shaft is connected with a first end of the push broach transmission rod through a splicing linkage structure.

According to one embodiment of the invention, the plug-in linkage structure comprises a slot and a protrusion extending into the slot for linkage.

The utility model provides a surgical robot end mechanism, adopts foretell push broach device, still includes rotation device, rotation device includes: the actuating assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, a first end of the movable finger is in hinged fit with a fixed end of the fixed finger, and a second end of the movable finger is configured to be a free end; the first end of the sleeve is fixedly connected with the fixed finger, and the push broach is arranged in the sleeve; a cannula drive assembly for driving rotation of the cannula.

According to one embodiment of the invention the casing drive assembly comprises: the first end of the connector is arranged as an inserting end, and the push broach transmission rod is arranged in the connector; the first end of the rotation sleeve is fixedly connected with the second end of the connector, the second end of the rotation sleeve is fixedly connected with the second end of the sleeve by means of the guide sleeve, and the push broach driving rod is arranged in the rotation sleeve.

According to one embodiment of the invention, the self-rotating sleeve is provided with at least one group of rotation stopping mouths, and the nut seat is provided with rotation stopping bulges matched with the rotation stopping mouths so as to limit the rotation of the nut seat.

According to an embodiment of the invention, the connector further comprises a rotation driving shaft, a rotation connecting piece is connected to a first end of the rotation driving shaft, a socket matched with the insertion end is formed at a second end of the rotation driving shaft, a pin body is formed at the periphery of the contact end, a channel for the pin body to slide in and a deflection space which can deflect after the pin body slides in are further formed on the rotation driving shaft, a sliding limiting rod is further configured on the rotation driving shaft, the limiting rod is located on one side of the channel, and the limiting rod enters the channel to limit the pin body after the pin body enters the deflection space.

According to an embodiment of the present invention, the rotation driving shaft is formed with a mounting groove for slidably mounting the stopper rod, an elastic member for tightly supporting the stopper rod is further disposed in the mounting groove, a sliding key is formed on an outer circumferential surface of the rotation driving shaft, the sliding key is connected to the stopper rod through a connecting rod, and the sliding key drives the stopper rod to move.

According to one embodiment of the invention, a slide way is formed on the fixed finger, the push broach slides in the slide way, and the movable finger is provided with an avoidance port at a corresponding position.

According to an embodiment of the present invention, further comprising an opening and closing device, the opening and closing device comprising: the opening and closing push rod is arranged in the sleeve and is assembled with the sleeve in a sliding manner; the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod.

According to an embodiment of the present invention, the opening and closing linear driving module includes: the first end of the opening and closing transmission rod is set as a power end, the second end of the opening and closing transmission rod is in threaded connection with the first end of a second screw rod, the second screw rod is arranged in the first screw rod, and the opening and closing transmission rod is arranged in the push broach transmission rod; and the first end of the rotation stopping piece is fixedly connected with the second end of the second screw rod, the second end of the rotation stopping piece penetrates through the guide sleeve and is fixedly connected with the first end of the opening and closing push rod, and the rotation stopping piece is limited by the guide sleeve.

According to one embodiment of the invention, the opening and closing push rod is formed with a push blade groove accommodating the push blade, the push blade being slidably fitted in the push blade groove.

According to an embodiment of the present invention, a second end of the opening and closing push rod is configured with a pin shaft, the fixed finger is formed with a guide opening, the movable finger is correspondingly formed with an oblique opening, and the pin shaft sequentially passes through the oblique opening and the guide opening so as to enable the movable finger to deflect around a hinge point under the action of the opening and closing push rod.

According to one embodiment of the invention, the device further comprises an opening and closing driving shaft, wherein a first end of the opening and closing driving shaft is connected with an opening and closing connecting piece, and a second end of the opening and closing driving shaft is connected with a first end of the opening and closing transmission rod through the inserting linkage structure.

According to one embodiment of the present invention, the first end of the opening and closing driving shaft passes through the first end of the push broach driving shaft, and the first end of the push broach driving shaft passes through the first end of the rotation driving shaft.

Based on the technical scheme, the invention can realize the following technical effects:

1. the push broach driving component of the invention is arranged in the sleeve driving component and the sleeve, the opening and closing push rod and the opening and closing linear driving module are arranged in the push broach driving component, through the arrangement of the mode, the space occupation of the robot tail end mechanism is reduced, the lightening and miniaturization of the robot tail end mechanism are facilitated, in addition, compared with the prior art that the executing part is driven by the gear and the steel wire rope, thereby the part that leads to end equipment of robot is many, and the structure is complicated, and occupation space is big, and the drive shaft and the actuating lever drive end equipment of robot that this application adopted carry out the rotation, open and shut and the broach action, have simplified the structure, spare part is few, small, can really realize the miniaturization, in addition, this application does not set up drive and transmission and is being close to executive component or drive module department, avoids the weight difference at end structure both ends too big, thereby makes end equipment of robot in use stability good.

2. The first end of the push broach driving shaft penetrates through the first end of the rotation driving shaft so as to be connected with the push broach connecting piece, the first end of the opening and closing driving shaft penetrates through the first end of the push broach driving shaft so as to be connected with the opening and closing connecting piece, and the rotation driving shaft, the opening and closing driving shaft and the first end of the push broach driving shaft are distributed in a stepped mode, so that the space can be fully utilized, mutual movement is not interfered, and miniaturization and stability of a robot end mechanism are facilitated.

3. The self-rotating sleeve is provided with at least one group of rotation stopping openings, and the nut seat is provided with rotation stopping bulges matched with the rotation stopping openings so as to limit the rotation of the nut seat, so that the push broach driving component drives the push broach to perform linear reciprocating motion; the first end of the rotation stopping piece is fixedly connected with the second end of the second screw rod, the second end of the rotation stopping piece penetrates through the guide sleeve and is fixedly connected with the first end of the opening and closing push rod, and the rotation stopping piece is limited by the guide sleeve so that the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod; this application need not set up stop device and carries on spacingly to nut seat and rotation stopping piece, has simplified the structure of robot end mechanism, is favorable to the terminal mechanism miniaturization of robot and lightness.

4. The autorotation driving shaft and the connector form a detachable connection, the second end of the opening and closing driving shaft is connected with the first end of the opening and closing transmission rod by virtue of the splicing linkage structure, the second end of the push broach driving shaft is connected with the first end of the push broach transmission rod by virtue of the splicing linkage structure, and the opening and closing driving shaft, the opening and closing transmission rod, the push broach driving shaft and the push broach transmission rod can be quickly installed and detached by virtue of the splicing linkage structure, so that the execution assembly can be replaced after being used, and the driving part can be repeatedly used.

Drawings

FIG. 1 is a schematic view of a push broach;

FIG. 2 is a schematic structural view of a push broach drive assembly;

FIG. 3 is a schematic structural view of the guide sleeve;

FIG. 4 is a schematic view of the mating arrangement of the pusher drive shaft and the pusher coupling;

FIG. 5 is an exploded view of the socket linkage structure;

FIG. 6 is a schematic structural view of a rotation device;

FIG. 7 is a schematic diagram of an execution module;

FIG. 8 is a schematic view of the structure of the push-type broach in cooperation with the actuator assembly;

FIG. 9 is a schematic view of the mating structure of the housing and the connector;

fig. 10 is a sectional view of the rotation driving shaft;

fig. 11 is an exploded view of the spinning drive shaft;

FIG. 12 is a schematic view of the structure of the channel and deflection space;

fig. 13 is a partial structural view of the rotation driving shaft;

fig. 14 is a schematic structural view of the engagement of the rotation driving shaft with the rotation coupling member;

FIG. 15 is a schematic view of the engagement of the nut holder and the rotation sleeve;

FIG. 16 is a schematic view of the opening and closing device;

FIG. 17 is a schematic structural view of the opening/closing rod;

FIG. 18 is a schematic view of the opening/closing driving shaft;

FIG. 19 is an exploded view of the mating of the opening and closing drive shaft and the opening and closing drive rod;

FIG. 20 is a cross-sectional view of the mating of the opening and closing drive shaft, the pusher drive shaft and the rotation drive shaft;

FIG. 21 is a schematic view of the configuration of the mating of the base with the opening and closing connection, the push-type broach connection and the rotation connection;

FIG. 22 is a schematic view of the fitting structure of the position-limiting seat and the position-limiting opening;

FIG. 23 is a schematic view of an electrical circuit;

FIG. 24 is a cross-sectional view of the robot tip mechanism;

in the figure: 1-a push broach; 2-a push-broach driving assembly; 21-a push-knife drive rod; 22-a push-broach linear driving module; 221-a push broach transmission rod; 222-a guide sleeve; 2221-square hole; 2222-annular projection, 22221-mounting opening; 223-a first lead screw; 224-nut seat; 2241-rotation stopping protrusions; 3-a push broach driving shaft; 31-a push-broach connection; a 32-U-shaped notch I; 33-a first gear set; 331-a driving gear I; 332-a first driven gear i; 333-a second driven gear; 4-splicing linkage structure; 41-slot; 42-a protrusion; 5-a rotation device; 51-an execution component; 511-designating a finger; 5111-a guide port; 5112-a slide; 512-finger moving; 5121-bevel cut; 5122-avoidance ports; 52-a sleeve; 53-a cannula drive assembly; 531-connecting head; 5311-a pin body; 5312-a limiter; 532-self-rotating sleeve; 5321-rotation stop port; 5322-mounting a projection; 54-a housing; 541-rotation stopping groove; 55-a self-rotating drive shaft; 551-U shaped notch II; 552-channel; 553-a limit lever; 5531-a stop boss; 554-deflection space; 555-sliding key; 5551-connecting rod; 5552-first escape opening; 5553-second escape opening; 556-a resilient member; 557-a limit seat; 558-a mounting groove; 56-self-rotating connection; 561-second gear set; 5611-drive gear II; 5612-first driven gear ii; 6-an opening and closing device; 61-opening and closing push rod; 611-push away the knife groove; 612-pin axis; 613-rotation limiting projection; 62-an opening and closing linear driving module; 621-an opening and closing transmission rod; 622-rotation stop; 623-a second screw rod; 63-opening and closing driving shaft; 631-opening and closing connectors; 7-a base; 71-a limiting port; 81-a first electrode; 82-a second electrode; 83-third electrode, 84-fourth electrode.

A/B-electric line

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.

As shown in fig. 1 to 24, the surgical robot end-point push-type broach device of this embodiment includes a push-type broach 1 and a push-type broach driving assembly 2, the push-type broach 1 is assembled in a sliding manner, the push-type broach driving assembly 2 includes a push-type broach driving rod 21 and a push-type broach linear driving module 22, and the push-type broach linear driving module 22 drives the push-type broach to make a linear reciprocating motion through the push-type broach driving rod 21, so that the push-type broach 1 performs a cutting action. In addition, the driving part of the push broach device is arranged along the axial direction to realize the linear motion of the push broach 1, so that the push broach device can be arranged in other parts to reduce the occupation of space, thereby miniaturizing the end mechanism of the robot.

Further, as shown in fig. 2, the push broach linear driving module 22 of the present embodiment pushes the push broach 1 to perform a cutting action under the action of external force, specifically, the push broach linear driving module 22 includes a push broach transmission rod 221, a guide sleeve 222, a first lead screw 223 and a nut seat 224, a first end of the push broach transmission rod 221 is provided with a force-bearing end, the first lead screw 223 is fixedly connected with a second end of the push broach transmission rod 221, the push broach transmission rod 221 rotates under the action of external force, the first lead screw 223 rotates accordingly, the nut seat 224 is disposed on the first lead screw 223, at the same time, the nut seat 224 is limited in rotation, one side of the nut seat 224 is connected with the first end of the push broach driving rod 21, in the present embodiment, the nut seat 224 is in snap fit with the push broach driving rod 21, the guide sleeve 222 is fixedly assembled, a second end of the push broach driving rod 21 passes through the guide sleeve 222 to be connected with the push broach 1, preferably, the push broach driving rod 21 is, in this way, the guide bush 222 guides the push broach 1 to restrict the movement direction of the push broach 1, and thus the push broach 1 is driven by the push broach drive rod 21 to reciprocate linearly by an external force to perform a cutting operation.

Further, in order to ensure the stability of the rotation limitation of the nut seat 224, at least one set of rotation stopping protrusions 2241 extends from the nut seat 224 in the radial direction, in this embodiment, the rotation stopping protrusions 2241 are provided in two sets, and the two sets of rotation stopping protrusions 2241 are symmetrically provided, so that it can be ensured that the nut seat 224 is subjected to a balanced rotation force and cannot shake during the movement.

As shown in fig. 4 and 5, the surgical robot end pushing device of this embodiment further includes a pushing broach driving shaft 3, a first end of the pushing broach driving shaft 3 is connected to a pushing broach connecting member 31, the pushing broach connecting member 31 drives the pushing broach driving rod 221 to rotate through the pushing broach driving shaft 3, specifically, the first end of the pushing broach driving shaft 3 is connected to the pushing broach connecting member 31, the pushing broach connecting member 31 drives the pushing broach driving shaft 3 by means of a first gear set 33, the first end of the pushing broach driving shaft 3 is formed with at least one set of U-shaped notches i 32 along the axial direction, the first gear set 33 includes a driving gear i 331, a first driven gear i 332 and a second driven gear 333, the driving gear i 331 and the first driven gear i 332 are engaged, the first driven gear i 332 and the second driven gear 333 are engaged, a limiting key i corresponding to the U-shaped notch i 32 is formed on the second driven gear 333, the limiting key i extends into the U-shaped notch i 32, therefore, the push broach driving shaft 3 can rotate along with the first gear set 33, the second end of the push broach driving shaft 3 is in inserted fit with the first end of the push broach transmission rod 221, the rotation of the push broach driving shaft 3 drives the push broach transmission rod 221 to rotate, and the free end of the push broach connecting piece 31 can be connected with a power source such as a motor and the like, so that the push broach driving shaft 3 can be driven to rotate.

Further, the second end of the push broach driving shaft 3 of the present embodiment is inserted and matched with the first end of the push broach transmission rod 221 by means of the insertion linkage structure 4, specifically, the insertion linkage structure 4 includes a protrusion 42 formed on the outer peripheral surface of the second end of the push broach driving shaft 3 and a slot 41 formed on the inner peripheral surface of the first end of the push broach transmission rod 221, and the protrusion 42 extends into the slot 41, so that the push broach driving shaft 3 and the push broach transmission rod 221 form linkage, that is, the push broach transmission rod 221 can rotate along with the push broach driving shaft 3, and meanwhile, the push broach transmission rod 221 and the push broach driving shaft 3 form detachable connection.

As shown in fig. 6 to 15, this embodiment further provides a surgical robot tip mechanism, which employs the surgical robot tip push-type broach device described above, and further includes a rotation device 5, where the rotation device 5 includes an actuating component 51, a sleeve 52 and a sleeve driving component 53, the actuating component 51 includes a fixed finger 511 and a movable finger 512, the fixed finger 511 is configured to be fixedly assembled, a first end of the movable finger 512 is in hinged fit with a fixed end of the fixed finger 511, and a second end of the movable finger 512 is configured to be a free end; the first end and the fixed finger 511 fixed connection of sleeve 52, the built-in broach 1 of sleeve 52, sleeve drive assembly 53 are used for driving sleeve 52 rotatory, and then make the rotation of sleeve 52 drive fixed finger 511 and move the finger 512 rotatory, and this embodiment sets up the partial structure of rotation device into the pipe fitting to can embed other parts, with the occupation of reduction space, be favorable to the miniaturization and the lightness of robot end mechanism.

Further, as shown in fig. 3 and 6, the actuating assembly 51 is driven to rotate by the casing driving assembly 53 of this embodiment, specifically, the casing driving assembly 53 includes a connector 531 and a rotation sleeve 532, a first end of the connector 531 is configured as an insertion end, a first end of the connector 531 extends out of the pin 5311 along a radial direction, the push-type broach transmission rod 221 is embedded in the connector 531, a first end of the rotation sleeve 532 is fixedly connected to a second end of the connector 531, a second end of the rotation sleeve 532 is fixedly connected to a first end of the guide sleeve 222, a second end of the casing 52 is fixedly connected to a second end of the guide sleeve 222, and the connector 531 drives the actuating assembly 51 to rotate through the casing 52 under the action of an external force.

As shown in fig. 6 and 9, the connector 531 of the embodiment can be driven by the housing 54 to move, at least one set of limiting members 5312 is formed at the second end of the connector 531 along the radial direction, in the embodiment, the limiting members 5312 are two sets of limiting keys, the two sets of limiting keys are symmetrically arranged, the housing 54 is formed with a rotation stopping groove 541 corresponding to the position of the limiting key, and the limiting key partially extends into the rotation stopping groove 541, so that the housing 54 can drive the connector 531 to move.

Further, as shown in fig. 3, 6 and 15, the rotation sleeve 532 of the present embodiment is formed with at least one set of rotation stoppers 5321, which are provided in two sets in the present embodiment, the two sets of rotation stoppers 5321 are symmetrically provided, and the rotation stopper protrusion 2241 protrudes into the rotation stopper 5321 to allow the nut holder 224 to be restricted in rotation by the rotation sleeve 532, so that the nut holder 224 can move linearly only with respect to the first lead screw 223.

Preferably, the rotation sleeve 532 of this example is coupled with the guide sleeve 222, and specifically, the second end of the rotation sleeve 532 is formed with at least one set of mounting protrusions 5322 along the axial direction, in this embodiment, two sets of mounting protrusions 5322 are symmetrically arranged, the first end of the guide sleeve 222 is formed with an annular protrusion 2222 along the radial direction, the annular protrusion 2222 is formed with a mounting opening 22221 matched with the mounting protrusions 5322, the second end of the rotation sleeve 532 abuts against the annular protrusion 2222, and the mounting protrusion 5322 extends into the mounting opening 22221, so that the guide sleeve 222 and the rotation sleeve 532 are coupled.

As shown in fig. 7 and 8, the fixed finger 511 of the present embodiment can guide the movement of the push broach 1, and specifically, a slideway 5112 is formed on the fixed finger 511, the push broach driving rod 21 drives the push broach 1 to slide in the slideway 5112, so that the push broach 1 is guided, and the movable finger 512 is provided with an avoidance opening 5122 at a corresponding position to avoid interference with the movement of the push broach 1.

As shown in fig. 14, the surgical robot end mechanism of this embodiment further includes an autorotation driving shaft 55, a autorotation connector 56 is connected to a first end of the autorotation driving shaft 55, the autorotation connector 56 drives the connector 531 to rotate through the autorotation driving shaft 55, specifically, the autorotation connector 56 drives the autorotation driving shaft 55 by means of a second gear set 561, the first end of the autorotation driving shaft 55 is formed with at least one set of U-shaped notches ii 551 along the axial direction, the second gear set 561 includes a driving gear ii 5611 and a first driven gear ii 5612, the first driven gear ii 5612 is formed with a limit key ii corresponding to the U-shaped notches ii 551, the limit key ii extends into the U-shaped notches ii, through driving gear II 5611 and the mutual meshing of first driven gear II 5612, rotation drive shaft 55 can rotate along with second gear train 561, is connected with connector 531 because of the second end of rotation drive shaft 55, and rotation drive shaft 55's rotation drives connector 531 and follows the rotation. The free end of the rotation connecting member 56 may be connected to a power source such as a motor, and may drive the rotation driving shaft 55 to rotate.

Further, as shown in fig. 10 to 13, a socket matching with the plug end is formed at the second end of the rotation driving shaft 55 of the present embodiment, a pin body 5311 is formed on the outer peripheral surface of the plug end of the connection head 531, a channel 552 into which the pin body 5311 slides and a deflection space 554 into which the pin body 5311 can deflect after sliding are further formed at the second end of the rotation driving shaft 55, the rotation driving shaft 55 is further provided with a sliding stopper 553, the stopper 553 is located at one end of the channel 552, and the stopper 553 enters the channel 552 to stop the pin body 5311 after the pin body 5311 enters the deflection space 554. Preferably, in the present embodiment, the joint 531 is deflected and moved inside the rotation drive shaft 55 by driving the housing 54.

As shown in fig. 10, the rotation drive shaft 55 of the present embodiment is formed with a mounting groove 558, the sliding of the stopper rod 553 is restricted in the mounting groove 558, and specifically, the rotation drive shaft 55 is provided with the mounting groove 558 in the axial direction, the mounting groove 558 communicates with the passage 552, one end of the stopper rod 553 is formed with a ring-shaped boss formed at a corresponding position of the mounting groove 558, and abuts against the boss by a restricting protrusion 5531 to restrict the moving position of the stopper rod 553 in the mounting groove 558.

Further, one end of the mounting groove 558 of this embodiment is provided with a limiting seat 557, the limiting seat 557 is fixedly connected to the mounting groove 558, and the mounting groove 558 is further provided with an elastic member 556 for tightly pushing the limiting rod 553.

Preferably, in order to facilitate the pushing of the limiting rod 553 to move in the mounting groove 558, as shown in fig. 13, a sliding key 555 is formed on an outer circumferential surface of the rotation driving shaft 55 of the present embodiment, and the limiting rod 553 is driven to move by pushing the sliding key 555, specifically, a first avoidance opening 5552 is formed on the outer circumference of the rotation driving shaft 55, the first avoidance opening 5552 is communicated with the channel 552, a connecting rod 5551 is disposed on one side of the sliding key 555, and the other end of the connecting rod 5551 extends into the first avoidance opening 5552 and is fixedly connected with a free end of the limiting rod 553, in addition, at least one second avoidance opening 5553 is formed on the rotation driving shaft 55, a buckle is formed on the corresponding position of the sliding key 555, the buckle extends into the second avoidance opening 5553 and is hung on a side wall of the second avoidance opening 5553, so that the sliding key 555 is prevented from being disengaged from.

As shown in fig. 16-20, the surgical robot end mechanism of the present embodiment further includes an opening and closing device 6, the opening and closing device 6 includes an opening and closing push rod 61 and an opening and closing linear driving module 62, the opening and closing push rod 61 is disposed in the sleeve 52, and the opening and closing push rod 61 is assembled with the sleeve 52 in a sliding manner; the opening and closing linear driving module 62 drives the movable finger 512 to deflect through the opening and closing push rod 61, so that the driving part of the opening and closing device 6 is arranged along the axial direction, and the driving and transmission part of the opening and closing device 6 can be arranged in the push broach device, so that the occupied space is reduced, and the tail end mechanism of the robot is miniaturized.

Further, the opening and closing linear driving module 62 of the present embodiment pushes the movable finger 512 to perform an opening and closing action under an external force, specifically, the opening and closing linear driving module 62 includes an opening and closing transmission rod 621 and a rotation stopping member 622, a first end of the opening and closing transmission rod 621 is set as a power end, a second end of the opening and closing transmission rod 621 is in threaded connection with a first end of a second lead screw 623, preferably, the second lead screw 623 is embedded in the first lead screw 223, and the opening and closing transmission rod 621 is embedded in the push broach transmission rod 221; the first end of the rotation stopping member 622 is fixedly connected with the second end of the second screw 623, the second end of the rotation stopping member 622 passes through the guide sleeve 222 to be fixedly connected with the first end of the opening and closing push rod 61, and the rotation stopping member 622 is limited by the guide sleeve 222.

Preferably, as shown in fig. 3 and 16, the rotation stopping member 622 of the present embodiment is limited in the movement direction by the guide sleeve 222, and specifically, the rotation stopping member 622 is configured as a square member, a square hole 2221 is formed on the guide sleeve 222 in the axial direction, the square hole 2221 is configured to correspond to the square member, and the square member passes through the square hole 2221 and is fixedly connected with the opening and closing push rod 61, so that the rotation stopping member 622 converts the rotation of the second screw 623 into a linear movement by the rotation limiting property of the square member and the square hole, so that the opening and closing push rod 61 can only perform the linear movement.

The first ends of the rotation stopping part 622 and the opening and closing push rod 61 of the embodiment are both formed with process holes, the guide sleeve 222 is formed with notches at corresponding positions, when the rotation stopping part 622 and the first end of the opening and closing push rod 61 are installed, the rotation stopping part 622 and the opening and closing push rod 61 are positioned by sequentially inserting a bolt into the notches and the process holes, and then the rotation stopping part 622 and the opening and closing push rod 61 are welded, so that the precision of the tail end mechanism of the robot can be ensured.

As shown in fig. 16 and 17, the pushing finger 512 of the opening and closing push rod 61 of the present embodiment deflects around the fixed end of the fixed finger 511, specifically, the second end of the opening and closing push rod 61 is configured with a pin shaft 612, the fixed finger 511 is formed with a guide opening 5111, the moving finger 512 is formed with an inclined opening 5121 corresponding to the guide opening 5111, the pin shaft 612 sequentially passes through the inclined opening 5121 and the guide opening 5111, the opening and closing push rod 61 is pushed to reciprocate linearly under the action of an external force, the movement of the opening and closing push rod 61 drives the pin shaft 612 to move along with the movement, and the movement of the pin shaft 612 applies a force to the inclined opening 5121, so that the moving finger 512 deflects around the.

Preferably, the opening and closing push rod 61 of the present embodiment is configured to have a U-shaped cross section to form a push blade groove 611, the push blade 1 is slidably fitted in the push blade groove 611, the push blade groove 611 plays a role of guiding the movement of the push blade 1, and furthermore, the opening and closing push rod 61 extends in a radial direction to form a rotation limiting protrusion 613 so as to prevent the opening and closing push rod 61 from rotating freely.

As shown in fig. 18 and 19, the surgical robot end opening and closing device 6 of the present embodiment further includes an opening and closing driving shaft 63, a first end of the opening and closing driving shaft 63 is connected to an opening and closing connector 631, the opening and closing connector 631 drives the opening and closing transmission rod 621 to rotate through the opening and closing driving shaft 63, specifically, a first end of the opening and closing driving shaft 63 is formed with an insertion hole i penetrating in a radial direction, a driving end of the opening and closing connector 631 is formed with an insertion hole ii at a corresponding position, when a latch is inserted into the insertion hole i and the insertion hole ii, the opening and closing driving shaft 63 rotates along with the driving end of the opening and closing connector 631, because a second end of the opening and closing driving shaft 63 is fixedly connected to the first end of the opening and closing transmission rod 621, the opening and closing transmission rod 621 rotates along with.

Preferably, the second end of the opening and closing driving shaft 63 of the present embodiment is connected to the first end of the opening and closing transmission rod 621 by means of the insertion linkage structure 4, specifically, the insertion linkage structure 4 includes a slot 41 located on the inner circumferential surface of the opening and closing driving shaft 63 and a protrusion 42 located on the outer circumferential surface of the opening and closing transmission rod 621, and the protrusion 42 extends into the slot 41, so that the opening and closing transmission rod 621 can rotate along with the opening and closing driving shaft 63 and can also be detachably connected to the opening and closing transmission shaft.

Further, in order to miniaturize the surgical robot tip mechanism and reduce the size, as shown in fig. 20, the first end of the opening and closing drive shaft 63 passes through the first end of the pusher drive shaft 3, and the first end of the pusher drive shaft 3 passes through the first end of the rotation drive shaft 55, so that the rotation drive shaft 55, the opening and closing drive shaft 63, and the first end of the pusher drive shaft 3 are arranged in a stepwise manner.

As shown in fig. 21 and 22, the rotation connector 56, the opening and closing connector 631, and the push-type broach connector 31 of the present embodiment are integrally installed on the base 7, so that the occupied space can be reduced, and the robot end mechanism can be miniaturized, and preferably, a limit opening 71 is formed on the base 7 of the present embodiment, one end of the limit seat 557 extends into the limit opening 71, and the rotation driving shaft 55 drives the limit seat 557 to rotate along the limit opening 71 to a limit position to be limited, and then stops rotating, so as to prevent the rotation angle from exceeding a set angle.

Further, as shown in fig. 23, two sets of first electrodes 81 are disposed on the susceptor 7 of the present embodiment, two sets of second electrodes 82 are disposed at the second end of the rotation driving shaft 55, a third electrode 83 is disposed on the housing 54, and a fourth electrode 83 is disposed on the fixed finger 511 and the movable finger 512, so that a line a can be formed from the fourth electrode 83 on the fixed finger 511 to the third electrode 83 and then to the second electrode 82, and finally a line B can be formed from the fourth electrode 83 on the movable finger 512 to the third electrode 83 and then to the second electrode 82, and finally to the first electrode 81, and the lines are actually routed from the inside of the shaft rod. Finally, the two first electrodes 81 are connected with the robot to complete the electrocoagulation signal and energy transmission.

Based on the above structure, as shown in fig. 24, the distal end of the surgical robot of the present embodiment drives the movable finger 512 to perform the opening and closing actions by the structure of the opening and closing connector 631, the opening and closing linear driving module 62, and the opening and closing push rod 61, and drives the push broach 1 to perform the cutting or pushing actions by the structure of the push broach connector 31, the push broach linear driving module 22, and the push broach driving rod 21, and the two sets of driving structures do not interfere with each other. In the embodiment, the rotation connecting piece 56, the sleeve 52 and the sleeve driving component 53 are matched to drive the fixed finger 511 and the movable finger 512 to rotate, meanwhile, the opening and closing connecting piece 631 is required to drive the opening and closing push rod 61 to make a linear motion, and the push knife connecting piece 31 drives the push knife 1 to make a linear motion, so that the rotation, opening and closing and pushing actions of the robot end mechanism are realized through the above manner.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (16)

1. A surgical robotic end pusher device, comprising:

a push broach (1), said push broach (1) being slidably fitted;

the push broach driving component (2), push broach driving component (2) include push broach actuating lever (21) and push broach linear drive module (22), push broach linear drive module (22) pass through push broach actuating lever (21) drive push broach (1) are straight reciprocating motion.

2. The surgical robotic end pusher device according to, wherein the pusher linear drive module (22) comprises:

a push-broach drive rod (221), a first end of the push-broach drive rod (221) being set as a force-bearing end;

a guide sleeve (222), the guide sleeve (222) being fixedly fitted;

the first screw rod (223), the first screw rod (223) is fixedly connected with the second end of the push broach transmission rod (221);

the nut seat (224) is arranged on the first screw rod (223), one side of the nut seat (224) is connected with a first end of the push-broach driving rod (21), a second end of the push-broach driving rod (21) penetrates through the guide sleeve (222) to be connected with the push-broach (1), and the nut seat (224) is limited in rotation.

3. The surgical robot end pusher apparatus of claim 1 or 2, further comprising a pusher drive shaft (3), wherein a first end of the pusher drive shaft (3) is connected to a pusher connector (31), and a second end of the pusher drive shaft (3) is connected to a first end of the pusher drive rod (221) by means of a plug-in linkage structure (4).

4. A surgical robot end pusher device according to claim 3, characterized in that the plugging linkage structure (4) comprises a slot (41) and a protrusion (42), the protrusion (42) extending into the slot (41) for linkage.

5. A surgical robot tip mechanism employing the surgical robot tip pusher gear according to any one of claims 1 to 4, characterized by further comprising a rotation device (5), the rotation device (5) comprising:

the actuating component (51), the actuating component (51) comprises a fixed finger (511) and a movable finger (512), the fixed finger (511) is configured to be fixedly assembled, a first end of the movable finger (512) is in hinged fit with a fixed end of the fixed finger (511), and a second end of the movable finger (512) is configured to be a free end;

the first end of the sleeve (52) is fixedly connected with the finger (511), and the push broach (1) is arranged in the sleeve (52);

a cannula drive assembly (53), the cannula drive assembly (53) for driving rotation of the cannula (52).

6. A surgical robotic tip mechanism according to claim 5, wherein the cannula drive assembly (53) comprises:

the first end of the connector (531) is arranged as an inserting end, and the push broach transmission rod (221) is arranged in the connector (531);

the first end of the rotation sleeve (532) is fixedly connected with the second end of the connector (531), the second end of the rotation sleeve (532) is fixedly connected with the second end of the sleeve (52) through the guide sleeve (222), and the push broach driving rod (21) is arranged in the rotation sleeve (532).

7. The surgical robot tip mechanism according to claim 6, wherein the rotation sleeve (532) is formed with at least one set of rotation-stopping ports (5321), and the nut seat (224) is provided with rotation-stopping protrusions (2241) engaged with the rotation-stopping ports (5321) to restrict rotation of the nut seat (224).

8. A surgical robotic tip mechanism according to claim 7, further comprising a self-rotating drive shaft (55), the first end of the rotation driving shaft (55) is connected with a rotation connecting piece (56), the second end of the rotation driving shaft (55) is provided with a socket matched with the insertion end, a pin body (5311) is formed on the outer periphery of the contact end, a channel (552) for sliding in the pin body (5311) and a deflecting space (554) which can deflect after sliding in the pin body (5311) are formed on the rotation driving shaft (55), the rotation driving shaft (55) is further provided with a sliding limit rod (553), the limit rod (553) is positioned at one end of the channel (552), after the pin body (5311) enters the deflection space (554), the limiting rod (553) enters the channel (552) to limit the pin body (5311).

9. The surgical robot tip mechanism according to claim 8, wherein the rotation driving shaft (55) is formed with a mounting groove (558) for slidably mounting the limiting rod (553), an elastic member (556) for tightly pushing against the limiting rod (553) is further disposed in the mounting groove (558), a sliding key (555) is formed on an outer circumferential surface of the rotation driving shaft (55), the sliding key (555) is connected to the limiting rod (553) through a connecting rod (5551), and the sliding key (555) drives the limiting rod (553) to move.

10. The surgical robot end mechanism according to claim 8, wherein a slide way (5112) is formed on the fixed finger (511), the push broach (1) slides in the slide way (5112), and the movable finger (512) is provided with an avoidance port (5122) at a position corresponding to the push broach (1).

11. A surgical robot tip mechanism according to claim 5 or 9, characterized by further comprising an opening and closing device (6), the opening and closing device (6) comprising:

the opening and closing push rod (61), the opening and closing push rod (61) is arranged in the sleeve (52), and the opening and closing push rod (61) is assembled with the sleeve (52) in a sliding mode;

the opening and closing linear driving module (62) drives the movable finger (512) to deflect through the opening and closing push rod (61).

12. Surgical robotic tip mechanism according to claim 11, characterized in that said opening and closing linear drive module (62) comprises:

the first end of the opening and closing transmission rod (621) is set as a power end, the second end of the opening and closing transmission rod (621) is in threaded connection with the first end of a second screw rod (623), the second screw rod (623) is arranged in the first screw rod (223), and the opening and closing transmission rod (621) is arranged in the push broach transmission rod (221);

a rotation stopping piece (622), wherein a first end of the rotation stopping piece (622) is fixedly connected with a second end of the second screw rod (623), a second end of the rotation stopping piece (622) penetrates through the guide sleeve (222) to be fixedly connected with a first end of the opening and closing push rod (61), and the rotation stopping piece (622) is limited by the guide sleeve (222).

13. The surgical robot tip mechanism according to claim 12, characterized in that the opening and closing push rod (61) is formed with a push blade groove (611) accommodating the push blade (1), the push blade (1) being slidably fitted in the push blade groove (611).

14. The surgical robot end mechanism according to claim 13, wherein a pin shaft (612) is disposed at the second end of the opening and closing push rod (61), a guide opening (5111) is formed on the fixed finger (511), a slant opening (5121) is correspondingly formed on the movable finger (512), and the pin shaft (612) sequentially passes through the slant opening (5121) and the guide opening (6111) to enable the movable finger (512) to deflect around a hinge point under the action of the opening and closing push rod (61).

15. The surgical robot end mechanism according to claim 12 or 14, characterized by further comprising an opening and closing drive shaft (63), wherein a first end of the opening and closing drive shaft (63) is connected with an opening and closing connector (631), and a second end of the opening and closing drive shaft (63) is connected with a first end of the opening and closing transmission rod (621) by means of the inserting linkage structure (4).

16. A surgical robot tip mechanism according to claim 15, characterized in that a first end of the opening and closing drive shaft (63) passes through a first end of the pusher drive shaft (3), and a first end of the pusher drive shaft (3) passes through a first end of the rotation drive shaft (55).

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