CN112914683B - Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector - Google Patents
Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector Download PDFInfo
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- CN112914683B CN112914683B CN202110261333.XA CN202110261333A CN112914683B CN 112914683 B CN112914683 B CN 112914683B CN 202110261333 A CN202110261333 A CN 202110261333A CN 112914683 B CN112914683 B CN 112914683B
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- 239000012636 effector Substances 0.000 title claims abstract description 28
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 86
- 239000010959 steel Substances 0.000 claims abstract description 86
- 210000002445 nipple Anatomy 0.000 claims 9
- 238000003466 welding Methods 0.000 claims 1
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 3
- 210000000080 chela (arthropods) Anatomy 0.000 description 9
- 238000009434 installation Methods 0.000 description 7
- 206010052428 Wound Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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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
- A61B2017/2926—Details of heads or jaws
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Abstract
The invention relates to a multi-degree-of-freedom surgical instrument with independently moving forceps pages and an end effector, which solve the technical problems that the end effector of the existing surgical instrument is poor in flexibility, two forceps pages move simultaneously, the opening and closing flexibility of the forceps pages is limited, and the types of operations are limited. The end effector comprises a first clamping blade, a second clamping blade, a supporting seat, a pitching ring, a first driving wheel, a first driving gear, a second driving wheel, a second driving gear, a first driven gear, a second driven gear, a central shaft, a rotating shaft, a first yarn guide wheel, a second yarn guide wheel, a third yarn guide wheel, a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope. The invention is widely applied to the technical field of minimally invasive surgery robots.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgical instruments, in particular to a multi-degree-of-freedom surgical instrument with independently moving forceps leaves and an end effector.
Background
Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical operations.
Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.
With reference to the invention patent publication No. CN105286989B and the invention patent publication No. CN105286999B, surgical instruments are essential tools for surgical procedures that can perform various functions including clamping, cutting, suturing, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical procedure. During the procedure, the patient robotic arm sets the sterile drape attachment to isolate the surgical instrument from the surrounding area and maintain the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and are reconnected with instrument installation seats connected to the mechanical arms of the patient.
However, the existing surgical instrument end effector has poor flexibility, and the two forceps leaves move simultaneously, so that the flexibility of opening and closing the forceps leaves is limited, and the type of surgery is also limited.
Disclosure of Invention
The invention provides a multi-degree-of-freedom surgical instrument with independently moving forceps pages and an end effector, aiming at solving the technical problems that the flexibility of the end effector of the conventional surgical instrument is poor, two forceps pages move simultaneously, the opening and closing flexibility of the forceps pages is limited, and the types of operations are limited.
The invention provides an end effector which comprises a first tong page, a second tong page, a supporting seat, a pitching ring, a first driving wheel, a first driving gear, a second driving wheel, a second driving gear, a first driven gear, a second driven gear, a central shaft, a rotating shaft, a first yarn guide wheel, a second yarn guide wheel, a third yarn guide wheel, a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope, wherein the first tong page, the second tong page, the supporting seat, the pitching ring, the first driving wheel, the first driving gear, the second driven gear, the central shaft, the rotating shaft, the first yarn guide wheel, the second yarn guide wheel, the third yarn guide wheel, the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope are arranged on the supporting seat;
the first godet wheel is rotationally connected with one side edge of the supporting seat, the second godet wheel is rotationally connected with the other side edge of the supporting seat, and the third godet wheel is rotationally connected with the middle part of the supporting seat;
the first driven gear is fixedly connected with the lower end of the first tong leaf, and the second driven gear is fixedly connected with the second tong leaf;
the pitching ring is in a Chinese character 'shan' shape and is provided with a middle part, a first side part and a second side part, the first side part is provided with a first shaft hole, and the second side part is provided with a second shaft hole; a central shaft hole is arranged on the middle part along the width direction, and an inclined hole is arranged along the length direction; a first driven gear accommodating space is formed between the middle part and the first side part, and a second driven gear accommodating space is formed between the middle part and the second side part; the bottom of the pitching ring is provided with a first arc-shaped wire groove and a second arc-shaped wire groove;
the rotating shaft penetrates through an inclined hole in the middle of the pitching ring, one end of the rotating shaft is inserted into a first shaft hole of the pitching ring to realize positioning, and the other end of the rotating shaft is inserted into a second shaft hole of the pitching ring to realize positioning;
the central shaft is provided with an inclined through hole, the central shaft penetrates through a central shaft hole of the pitching ring, and the middle part of the rotating shaft penetrates through the inclined through hole of the central shaft; the pitching ring can rotate by taking the central shaft as a reference;
the first driven gear is located in the first driven gear receiving space of the pitch ring, and the second driven gear is located in the second driven gear receiving space of the pitch ring; the rotating shaft penetrates through the lower end of the first tong leaf, the lower end of the first tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a central hole of the first driven gear; the rotating shaft penetrates through the lower end of the second tong leaf, the lower end of the second tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a central hole of the second driven gear;
the first driving gear is fixedly connected with the first driving wheel, the first steel wire rope is fixedly connected with the first driving wheel, and the first steel wire rope is wound on the first driving wheel and then crossly bypasses the first wire guide wheel;
the second driving gear is fixedly connected with a second driving wheel, a second steel wire rope is fixedly connected with the second driving wheel, and the second steel wire rope is wound on the second driving wheel and then bypasses the second wire guide wheel;
the first driven gear is meshed with the first driving gear, and the second driven gear is meshed with the second driving gear;
two ends of the central shaft are respectively fixedly connected with two side edges of the supporting seat, the central shaft penetrates through a first driving wheel, the first driving wheel is rotatably connected with the central shaft, and the central shaft penetrates through a central hole of a first driving gear; the central shaft penetrates through a second driving wheel which is rotationally connected with the central shaft, and the central shaft penetrates through a central hole of a second driving gear;
the third wire guide wheel is provided with a first guide groove and a second guide groove, a third steel wire rope winds around the first guide groove of the third wire guide wheel and then is embedded into a first arc-shaped wire groove at the bottom of the pitching ring, a fourth steel wire rope winds around the second guide groove of the third wire guide wheel and then is embedded into a second arc-shaped wire groove at the bottom of the pitching ring, and the upper end of the third steel wire rope and the upper end of the fourth steel wire rope are fixedly connected with the two sides of the pitching ring respectively;
the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope all penetrate through the supporting seat.
Preferably, the first steel wire rope is fixedly connected with the first driving wheel through a first wire section, the first steel wire rope penetrates through the first wire section, the first wire section is fixedly connected with the first steel wire rope, two end faces of the first wire section are mutually parallel inclined planes, a first wire section installation groove is formed in the first driving wheel, the first wire section installation groove is provided with two inclined planes, the first wire section is embedded into the first wire section installation groove in the first driving wheel and welded together, and the two inclined planes of the first wire section installation groove are matched with the two inclined planes of the first wire section;
the second wire rope passes through second silk festival and second drive wheel fixed connection, and the second wire rope passes the second silk festival, second silk festival and second wire rope fixed connection, and two terminal surfaces of second silk festival are the inclined plane that is parallel to each other, and the second drive wheel is equipped with second silk festival mounting groove, and second silk festival mounting groove is equipped with two inclined planes that match with two inclined planes of second silk festival, and the second silk festival imbeds the silk festival mounting groove and welds together on the second drive wheel.
Preferably, a first thread section positioning hole and a second thread section positioning hole are formed in two sides of the pitching ring; the first screw section positioning hole is communicated with the first arc-shaped screw groove; the second screw section positioning hole is communicated with the second arc-shaped screw groove;
the upper end of the third steel wire rope is connected with a third wire section, the third wire section is fixedly connected in the first wire section positioning hole, the upper end of the fourth steel wire rope is connected with a fourth wire section, and the fourth wire section is fixedly connected in the second wire section positioning hole.
The invention also provides a multi-degree-of-freedom surgical instrument with independently moving forceps leaves, which comprises an end effector, an instrument rod and an instrument box, wherein the instrument rod is connected with the instrument box;
the end effector comprises a first tong page, a second tong page, a supporting seat, a pitching ring, a first driving wheel, a first driving gear, a second driving wheel, a second driving gear, a first driven gear, a second driven gear, a central shaft, a rotating shaft, a first godet wheel, a second godet wheel, a third godet wheel, a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope;
the first godet wheel is rotationally connected with one side edge of the supporting seat, the second godet wheel is rotationally connected with the other side edge of the supporting seat, and the third godet wheel is rotationally connected with the middle part of the supporting seat;
the first driven gear is fixedly connected with the lower end of the first tong leaf, and the second driven gear is fixedly connected with the second tong leaf;
the pitching ring is in a Chinese character 'shan' shape and is provided with a middle part, a first side part and a second side part, the first side part is provided with a first shaft hole, and the second side part is provided with a second shaft hole; a central shaft hole is arranged on the middle part along the width direction, and an inclined hole is arranged along the length direction; a first driven gear accommodating space is formed between the middle part and the first side part, and a second driven gear accommodating space is formed between the middle part and the second side part; the bottom of the pitching ring is provided with a first arc-shaped wire groove and a second arc-shaped wire groove;
the rotating shaft penetrates through an inclined hole in the middle of the pitching ring, one end of the rotating shaft is inserted into a first shaft hole of the pitching ring to realize positioning, and the other end of the rotating shaft is inserted into a second shaft hole of the pitching ring to realize positioning;
the central shaft is provided with an inclined through hole, the central shaft penetrates through a central shaft hole of the pitching ring, and the middle part of the rotating shaft penetrates through the inclined through hole of the central shaft; the pitching ring can rotate by taking the central shaft as a reference;
the first driven gear is located in the first driven gear receiving space of the pitch ring, and the second driven gear is located in the second driven gear receiving space of the pitch ring; the rotating shaft penetrates through the lower end of the first tong leaf, the lower end of the first tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a central hole of the first driven gear; the rotating shaft penetrates through the lower end of the second tong leaf, the lower end of the second tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a central hole of the second driven gear;
the first driving gear is fixedly connected with the first driving wheel, the first steel wire rope is fixedly connected with the first driving wheel, and the first steel wire rope is wound on the first driving wheel and then crossly bypasses the first wire guide wheel;
the second driving gear is fixedly connected with a second driving wheel, a second steel wire rope is fixedly connected with the second driving wheel, and the second steel wire rope is wound on the second driving wheel and then crossly bypasses the second wire guide wheel;
the first driven gear is meshed with the first driving gear, and the second driven gear is meshed with the second driving gear;
two ends of the central shaft are respectively fixedly connected with two side edges of the supporting seat, the central shaft penetrates through a first driving wheel, the first driving wheel is rotatably connected with the central shaft, and the central shaft penetrates through a central hole of a first driving gear; the central shaft penetrates through a second driving wheel which is rotationally connected with the central shaft, and the central shaft penetrates through a central hole of a second driving gear;
the third wire guide wheel is provided with a first guide groove and a second guide groove, a third steel wire rope winds around the first guide groove of the third wire guide wheel and then is embedded into a first arc-shaped wire groove at the bottom of the pitching ring, a fourth steel wire rope winds around the second guide groove of the third wire guide wheel and then is embedded into a second arc-shaped wire groove at the bottom of the pitching ring, and the upper end of the third steel wire rope and the upper end of the fourth steel wire rope are fixedly connected with the two sides of the pitching ring respectively;
the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope all penetrate through the supporting seat.
The invention has the advantages that the end effector has compact structure and flexible movement, each clamp can independently act, the space is saved, and the size of the clamp head of the surgical instrument is reduced. The opening and closing angle of the two pincers pages is increased.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of a multi-degree of freedom surgical instrument with independently moving jaws;
FIG. 2 is a schematic view of the end effector mounted on the instrument shaft;
FIG. 3 is a schematic structural view of an end effector;
FIG. 4 is a schematic structural view of an end effector;
FIG. 5 is a schematic view of the connection of the first driven gear and the first jaw;
FIG. 6 is a schematic view of the connection of the second driven gear with the second jaw;
FIG. 7 is a schematic view of the pitch ring configuration;
FIG. 8 is a partial cross-sectional view of a pitch ring;
FIG. 9 is a schematic view of the structure of the central shaft;
FIG. 10 is a schematic view of the first drive gear coupled to the first drive wheel;
FIG. 11 is a schematic view of two wire ropes passing around godet wheel III and connected to a pitch ring;
FIG. 12 is a schematic view of a first drive gear fixedly coupled to a first drive wheel;
FIG. 13 is a schematic view of a first drive gear fixedly coupled to a first drive wheel;
FIG. 14 is a front view of the structure shown in FIG. 13;
FIG. 15 is a side view of the structure shown in FIG. 13;
FIG. 16 is a perspective view of a first wire segment;
fig. 17 is a top view of a first wire segment.
FIG. 18 is a schematic view of a first wire rope being wound around a first drive wheel, godet wheel one;
FIG. 19 is a schematic view of the first driven gear at the lower end of the first jaw engaged with the first driving gear and the second driven gear at the lower end of the second jaw engaged with the second driving gear;
FIG. 20 is a schematic structural view of an arc-shaped wire groove arranged at the bottom of a pitch ring;
FIG. 21 is a partial cross-sectional view of a pitch ring;
FIG. 22 is a schematic view of the third wire segment installed in the wire segment positioning hole;
FIG. 23 is a schematic view of the structure in which the rotating shaft passes through the pitch ring and two clamp leaves are connected with the rotating shaft;
FIG. 24 is a view from another perspective of the structure shown in FIG. 18;
fig. 25 is a view from another perspective of the structure shown in fig. 18.
The symbols in the drawings illustrate that:
1. the end effector comprises an end effector, an opening and closing direction of 1-1, a deflection direction of 1-2, a supporting seat of 001, a pitching ring of 002, a rotating shaft connecting hole of 002-1 and a rotating shaft connecting hole of 002-2; 004-1. a second drive wheel, 005. a central shaft, 006. a first nipper blade, 007. a second nipper blade, 008. a shaft 2, 009. a godet wheel I, 010. a godet wheel II, 011. a godet wheel III, 012. a shaft III, 013. a shaft IV, 014. a shaft V, 015. a first driven gear, 016. a second driven gear, 020. a third wire rope, 021. a fourth wire rope; 2. instrument rod, 3. instrument box.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1, the surgical instrument with multiple degrees of freedom and independently moving jaws comprises an end effector 1, an instrument rod 2 and an instrument box 3, wherein the instrument rod 2 is connected with the instrument box 3, the end effector 1 is connected with the instrument rod 2, the instrument box 3 adopts a structure in the prior art, and the instrument rod 2 adopts a structure in the prior art. As shown in fig. 2, the end effector 1 has two clamp leaves, and the first clamp leaf 006 and the second clamp leaf 007 can be opened and closed and can also be deflected.
As shown in fig. 3 and 4. The end effector 1 comprises a supporting seat 001, a pitching ring 002, a first driving wheel 003-1, a first driving gear 003-2, a second driving wheel 004-1, a second driving gear 003-3, a first driven gear 015, a second driven gear 016, a central shaft 005, a first gripper 006, a second gripper 007, a rotating shaft 008, a first godet wheel 009, a second godet wheel 010, a third godet wheel 011, a third shaft 012, a fourth shaft 013 and a fifth shaft 014.
The first godet wheel 009 is rotationally connected with one side of the supporting seat 001 through the third shaft 12, the second godet wheel 010 is rotationally connected with the other side of the supporting seat 001 through the fourth shaft 013, and the third godet wheel 011 is rotationally connected with the middle of the supporting seat 001 through the fifth shaft 014.
As shown in fig. 5, the first driven gear 015 is fixedly coupled to a lower end of the first flapper 006, and as shown in fig. 6, the second driven gear 016 is fixedly coupled to the second flapper 007.
As shown in FIGS. 7 and 8, the pitching ring 002 is integrally in a shape of a Chinese character shan, and has a middle portion 002-1, a first side portion 002-2, and a second side portion 002-3, wherein the first side portion 002-2 is provided with a first axial hole 002-2-1, and the second side portion 002-3 is provided with a second axial hole 002-3-1. The middle part 002-1 is provided with a central shaft hole 002-1-1 along the width direction and an inclined hole 002-1-2 along the length direction. A first driven gear accommodating space is provided between the middle portion 002-1 and the first side portion 002-2, and a second driven gear accommodating space is provided between the middle portion 002-1 and the second side portion 002-3.
The rotating shaft 008 penetrates through the inclined hole 002-1-2 of the pitching ring 002, one end of the rotating shaft 008 is inserted into the first shaft hole 002-2-1 to achieve positioning, and the other end of the rotating shaft 008 is inserted into the second shaft hole 002-3-1 to achieve positioning.
As shown in fig. 9, the center shaft 005 is provided with an inclined through-hole 005-1, and the axis of the inclined through-hole 005-1 makes an angle a with the vertical line. The central shaft 005 passes through a central shaft hole 002-1-1 of the pitching ring 002, and the middle part of the rotating shaft 008 passes through an inclined through hole 005-1 of the central shaft 005. The pitch ring 002 can rotate about the center axis 005.
The first driven gear 015 is located in the first driven gear accommodating space of the pitch ring 002, and the second driven gear is located in the second driven gear accommodating space of the pitch ring 002. The lower extreme that the pivot 008 passed first pincers page 006 realized first pincers page 006 rotates with the pivot 008 to be connected, and the pivot 008 passes the centre bore of first driven gear 015. The lower extreme that second pincers page or leaf 007 was passed to pivot 008 realizes that the lower extreme of second pincers page or leaf 007 rotates with pivot 008 to be connected, and pivot 008 passes the centre bore of second driven gear.
As shown in fig. 10 and 11, the first driving gear 003-2 is fixedly connected to the first driving wheel 003-1. The first wire rope 0033 passes through the first wire section 0032, and the first wire section 0032 and the first wire rope 0033 are fixedly combined together in a compression joint mode. As shown in FIGS. 16-17, both end surfaces of the first wire section 0032 are beveled (beveled 0032-1, beveled 0032-2, respectively, beveled 0032-1 and beveled 0032-2 being parallel). As shown in FIGS. 12-15, the first knuckle mounting groove on the first drive wheel 003-1 is a skewed slot with a slope 003-1-1 and a slope 003-1-2 matching the slope 0032-1 and the slope 0032-2. The first wire section 0032 is embedded into the first wire section installation groove on the first driving wheel 003-1, the inclined surface 0032-1 is coincided with the inclined surface 003-1-1 and welded together, and the inclined surface 0032-2 is coincided with the inclined surface 003-1-2 and welded together. As shown in fig. 18, the first wire rope 0033 is wound around the first godet wheel 009 after being wound around the first driving wheel 003-1, and the first wire section installation groove is designed to be a chute and a slope of the first wire section, so that the intersection of two running parts of the first wire rope 0033 is free from contact (refer to fig. 24 and 25), contact friction of the wire rope is avoided, and safety of the instrument is improved. The first steel wire rope 0033 is connected with the first driving wheel 003-1 through the first wire section 0032, and the processing and the manufacturing are convenient.
In a similar way, the second driving gear is fixedly connected with the second driving wheel, the second steel wire rope penetrates through the second wire section, the second wire section and the second steel wire rope are fixedly combined together in a compression joint mode, two end faces of the second wire section are inclined planes which are parallel to each other, a second wire section mounting groove in the second driving wheel is a chute, and the chute is provided with two inclined planes matched with the two inclined planes of the second wire section. The second wire section is embedded into the second wire section mounting groove on the second driving wheel and welded together. The second steel wire rope is wound on the second driving wheel and then wound around the second wire guide wheel 010 in a crossed mode. The first steel wire rope 003 and the second steel wire rope pass through the supporting seat 001.
As shown in fig. 19, the first driven gear 015 of the lower end of the first tong 006 is engaged with the first driving gear 003-2, the second driven gear 016 of the lower end of the second tong 007 is engaged with the second driving gear 003-3, the first driven gear 015 of the lower end of the first tong 006 is not engaged with the second driving gear 003-3, and the second driven gear 016 of the lower end of the second tong 007 is not engaged with the first driving gear 003-2. When the first wire rope 0033 drives the first driving wheel 003-1 to rotate, the first driving gear 003-2 rotates along with the first driving wheel, and the first driving gear 003-2 drives the first driven gear 015 to rotate, so that the first tong leaf 006 rotates; when the second wire rope drives the second driving wheel to rotate, the second driven gear is driven to rotate, so that the second clamp leaf 007 rotates; therefore, the opening and closing of the two clamp pages are realized, and the movement of any one of the two clamp pages (one of the two clamp pages is static and the other one of the two clamp pages moves) can be independently controlled without mutual interference.
Two ends of the central shaft 005 are respectively fixedly connected with two side edges of the upper part of the supporting seat 001. Center shaft 005 passes through first drive wheel 003-1, and first drive wheel 003-1 is connected with center shaft 005 is rotated, and center shaft 005 passes through the centre bore of first driving gear 003-2. The central shaft 005 passes through the second driving wheel 004-1, the second driving wheel 004-1 is rotationally connected with the central shaft 005, and the central shaft 005 passes through the central hole of the second driving gear.
As shown in fig. 20, the pitch ring 002 has a first arc-shaped wire groove 002-4 and a second arc-shaped wire groove 002-5 in the bottom. As shown in FIG. 21, the pitch ring 002 has first wire segment positioning holes 002-6 and second wire segment positioning holes 002-7 on both sides. The first wire section positioning hole 002-6 is communicated with the first arc-shaped wire groove 002-4. The second thread pitch positioning hole 002-7 is communicated with the second arc-shaped thread groove 002-5.
The third godet wheel 011 is provided with a first guide groove and a second guide groove. The third steel wire rope 020 bypasses the first guide groove of the third godet wheel 011 and then is embedded into the first arc-shaped wire groove 002-4 at the bottom of the pitching ring 002, and the fourth steel wire rope 021 bypasses the second guide groove of the third godet wheel 011 and then is embedded into the second arc-shaped wire groove 002-5 at the bottom of the pitching ring 002. The third thread section 019 is connected with the upper end of a third steel wire rope 020, and the third thread section 019 is fixedly installed in the first thread section positioning hole 002-6. The fourth wire section is connected with the upper end of a fourth wire rope 021, and the fourth wire section is fixedly installed in the second wire section positioning hole 002-7. The third steel wire rope 020 and the fourth steel wire rope 021 penetrate through the supporting seat 001.
Pulling third wire rope 020, pitch ring 002 rotates around 005 central axial one direction to drive 006 first pincers page or leaf and 007 the second pincers page or leaf and rotate certain angle simultaneously, realize the deflection motion. Pulling fourth wire rope 021, every single move ring 002 rotates around 005 central axial another direction to drive first pincers page or leaf 006 and second pincers page or leaf 007 rotate certain angle simultaneously, realize the deflection motion.
The end effector has compact structure and flexible movement, saves space and reduces the size of the forceps head of the surgical instrument. Meanwhile, various forceps heads such as needle holders and grasping forceps can be equipped.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.
Claims (4)
1. An end effector is characterized by comprising a first jaw, a second jaw, a supporting seat, a pitching ring, a first driving wheel, a first driving gear, a second driving wheel, a second driving gear, a first driven gear, a second driven gear, a central shaft, a rotating shaft, a first yarn guide wheel, a second yarn guide wheel, a third yarn guide wheel, a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope;
the first godet wheel is rotatably connected with one side edge of the supporting seat, the second godet wheel is rotatably connected with the other side edge of the supporting seat, and the third godet wheel is rotatably connected with the middle part of the supporting seat;
the first driven gear is fixedly connected with the lower end of the first tong leaf, and the second driven gear is fixedly connected with the second tong leaf;
the pitching ring is in a Chinese character 'shan' shape and is provided with a middle part, a first side part and a second side part, the first side part is provided with a first shaft hole, and the second side part is provided with a second shaft hole; a central shaft hole is formed in the middle of the bracket along the width direction, and an inclined hole is formed in the middle of the bracket along the length direction; a first driven gear accommodating space is formed between the middle part and the first side part, and a second driven gear accommodating space is formed between the middle part and the second side part; the bottom of the pitching ring is provided with a first arc-shaped wire groove and a second arc-shaped wire groove;
the rotating shaft penetrates through an inclined hole in the middle of the pitching ring, one end of the rotating shaft is inserted into a first shaft hole of the pitching ring to realize positioning, and the other end of the rotating shaft is inserted into a second shaft hole of the pitching ring to realize positioning;
the central shaft is provided with an inclined through hole, the central shaft penetrates through a central shaft hole of the pitching ring, and the middle part of the rotating shaft penetrates through the inclined through hole of the central shaft; the pitching ring can rotate by taking the central shaft as a reference;
the first driven gear is located in the first driven gear receiving space of the pitch ring, and the second driven gear is located in the second driven gear receiving space of the pitch ring; the rotating shaft penetrates through the lower end of the first tong leaf, the lower end of the first tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a center hole of the first driven gear; the rotating shaft penetrates through the lower end of the second tong leaf, the lower end of the second tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a central hole of the second driven gear;
the first driving gear is fixedly connected with a first driving wheel, the first steel wire rope is fixedly connected with the first driving wheel, and the first steel wire rope is wound on the first driving wheel and then crossly bypasses the first wire guide wheel;
the second driving gear is fixedly connected with a second driving wheel, the second steel wire rope is fixedly connected with the second driving wheel, and the second steel wire rope is wound on the second driving wheel and then crossly bypasses the second wire guide wheel;
the first driven gear is meshed with the first driving gear, and the second driven gear is meshed with the second driving gear;
two ends of the central shaft are respectively fixedly connected with two side edges of the supporting seat, the central shaft penetrates through a first driving wheel, the first driving wheel is rotatably connected with the central shaft, and the central shaft penetrates through a central hole of a first driving gear; the central shaft penetrates through a second driving wheel which is rotationally connected with the central shaft, and the central shaft penetrates through a central hole of a second driving gear;
the third wire guide wheel is provided with a first guide groove and a second guide groove, the third wire rope bypasses the first guide groove of the third wire guide wheel and then is embedded into a first arc-shaped wire groove at the bottom of the pitching ring, the fourth wire rope bypasses the second guide groove of the third wire guide wheel and then is embedded into a second arc-shaped wire groove at the bottom of the pitching ring, and the upper end of the third wire rope and the upper end of the fourth wire rope are fixedly connected with the two sides of the pitching ring respectively;
the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope all penetrate through the supporting seat.
2. The end effector as claimed in claim 1, wherein the first wire rope is fixedly connected with the first driving wheel through a first wire section, the first wire rope passes through the first wire section, the first wire section is fixedly connected with the first wire rope, two end faces of the first wire section are mutually parallel inclined planes, a first wire section mounting groove is arranged on the first driving wheel, the first wire section mounting groove is provided with two inclined planes, the first wire section is embedded into the first wire section mounting groove on the first driving wheel and welded together, and the two inclined planes of the first wire section mounting groove are matched with the two inclined planes of the first wire section;
second wire rope passes through second nipple and second drive wheel fixed connection, second wire rope passes the second nipple, second nipple and second wire rope fixed connection, two terminal surfaces of second nipple are the inclined plane that is parallel to each other, the second drive wheel is equipped with second nipple mounting groove, second nipple mounting groove is equipped with two inclined planes that match with two inclined planes of second nipple, nipple mounting groove and welding on the second drive wheel of second nipple embedding are in the same place.
3. The end effector as claimed in claim 1, wherein the pitch ring is provided with a first wire section positioning hole and a second wire section positioning hole on both sides; the first screw section positioning hole is communicated with the first arc-shaped screw groove; the second screw section positioning hole is communicated with the second arc-shaped screw groove;
the upper end of the third steel wire rope is connected with a third wire section, the third wire section is fixedly connected in the first wire section positioning hole, the upper end of the fourth steel wire rope is connected with a fourth wire section, and the fourth wire section is fixedly connected in the second wire section positioning hole.
4. The surgical instrument with multiple degrees of freedom and independently moving forceps blades is characterized by comprising an end effector, an instrument rod and an instrument box, wherein the instrument rod is connected with the instrument box;
the end effector comprises a first clamping blade, a second clamping blade, a supporting seat, a pitching ring, a first driving wheel, a first driving gear, a second driving wheel, a second driving gear, a first driven gear, a second driven gear, a central shaft, a rotating shaft, a first godet wheel, a second godet wheel, a third godet wheel, a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope;
the first godet wheel is rotatably connected with one side edge of the supporting seat, the second godet wheel is rotatably connected with the other side edge of the supporting seat, and the third godet wheel is rotatably connected with the middle part of the supporting seat;
the first driven gear is fixedly connected with the lower end of the first tong leaf, and the second driven gear is fixedly connected with the second tong leaf;
the pitching ring is in a Chinese character 'shan' shape and is provided with a middle part, a first side part and a second side part, the first side part is provided with a first shaft hole, and the second side part is provided with a second shaft hole; a central shaft hole is formed in the middle of the bracket along the width direction, and an inclined hole is formed in the middle of the bracket along the length direction; a first driven gear accommodating space is formed between the middle part and the first side part, and a second driven gear accommodating space is formed between the middle part and the second side part; the bottom of the pitching ring is provided with a first arc-shaped wire groove and a second arc-shaped wire groove;
the rotating shaft penetrates through an inclined hole in the middle of the pitching ring, one end of the rotating shaft is inserted into a first shaft hole of the pitching ring to realize positioning, and the other end of the rotating shaft is inserted into a second shaft hole of the pitching ring to realize positioning;
the central shaft is provided with an inclined through hole, the central shaft penetrates through a central shaft hole of the pitching ring, and the middle part of the rotating shaft penetrates through the inclined through hole of the central shaft; the pitching ring can rotate by taking the central shaft as a reference;
the first driven gear is located in the first driven gear receiving space of the pitch ring, and the second driven gear is located in the second driven gear receiving space of the pitch ring; the rotating shaft penetrates through the lower end of the first tong leaf, the lower end of the first tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a central hole of the first driven gear; the rotating shaft penetrates through the lower end of the second tong leaf, the lower end of the second tong leaf is rotatably connected with the rotating shaft, and the rotating shaft penetrates through a center hole of the second driven gear;
the first driving gear is fixedly connected with a first driving wheel, the first steel wire rope is fixedly connected with the first driving wheel, and the first steel wire rope is wound on the first driving wheel and then crossly bypasses the first wire guide wheel;
the second driving gear is fixedly connected with a second driving wheel, the second steel wire rope is fixedly connected with the second driving wheel, and the second steel wire rope is wound on the second driving wheel and then bypasses the second godet wheel in a crossing manner;
the first driven gear is meshed with the first driving gear, and the second driven gear is meshed with the second driving gear;
two ends of the central shaft are respectively fixedly connected with two side edges of the supporting seat, the central shaft penetrates through a first driving wheel, the first driving wheel is rotatably connected with the central shaft, and the central shaft penetrates through a central hole of a first driving gear; the central shaft penetrates through a second driving wheel which is rotationally connected with the central shaft, and the central shaft penetrates through a central hole of a second driving gear;
the third wire guide wheel is provided with a first guide groove and a second guide groove, the third steel wire rope winds around the first guide groove of the third wire guide wheel and then is embedded into a first arc-shaped wire groove at the bottom of the pitching ring, the fourth steel wire rope winds around the second guide groove of the third wire guide wheel and then is embedded into a second arc-shaped wire groove at the bottom of the pitching ring, and the upper end of the third steel wire rope and the upper end of the fourth steel wire rope are respectively fixedly connected with two sides of the pitching ring;
the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope all penetrate through the supporting seat.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110261333.XA CN112914683B (en) | 2021-03-10 | 2021-03-10 | Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector |
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| CN202110261333.XA CN112914683B (en) | 2021-03-10 | 2021-03-10 | Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector |
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| CN112914683B true CN112914683B (en) | 2022-09-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113925601B (en) * | 2021-11-18 | 2023-06-02 | 山东威高手术机器人有限公司 | Multi-degree-of-freedom monopole electric hook |
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| CN112914683A (en) | 2021-06-08 |
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