CN114052916A - Handheld surgical robot based on rod transmission - Google Patents
Handheld surgical robot based on rod transmission Download PDFInfo
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- CN114052916A CN114052916A CN202111350266.5A CN202111350266A CN114052916A CN 114052916 A CN114052916 A CN 114052916A CN 202111350266 A CN202111350266 A CN 202111350266A CN 114052916 A CN114052916 A CN 114052916A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/062—Needle manipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention relates to a rod transmission-based handheld surgical robot, which comprises a handheld part, wherein a driving mechanism is arranged in the handheld part, the handheld part is connected with a holder through a rigid pipe, a quick-change mechanism is arranged on the rigid pipe, and a trigger and a button are arranged on the handheld part; the clamp holder is positioned at one end of the rigid pipe, which is far away from the handheld part, and is connected with the clamping rods through the clamping connecting rod assembly, wherein one group of driving mechanisms drives the second clamping rod to realize reciprocating linear motion along the axis of the second clamping rod, and the clamping connecting rod assembly is driven by the first clamping rod, the quick-change mechanism and the clamping rods to realize the action of the clamp holder; the other group of driving mechanisms drive the second swing link to realize reciprocating linear motion along the axis of the second swing link, and the first swing link, the quick-change mechanism and the swing link drive the clamp holder to realize swing motion; the connection part of the rigid pipe and the hand-held part is provided with a shifting wheel which drives the clamp holder to rotate along the axis of the clamp holder through an internal rotating mechanism. Three functions are integrated, and the rotation, the deflection and the opening and closing of the clamping mechanism of the instrument end effector are completed.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a rod transmission-based handheld surgical robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Compared with the traditional minimally invasive surgery or open surgery, the minimally invasive surgical robot can greatly reduce the surgical wound, shorten the postoperative recovery time and reduce postoperative complications; meanwhile, the precision and the stability of the operation can be improved, the fatigue of doctors is reduced, and the tremor which can not be avoided when the hands are accurately operated is eliminated.
The existing hand-held electric control surgical instrument still has a plurality of problems in the aspects of function realization, man-machine interaction, reasonable design of appearance and internal structure, force feedback and the like: when a user performs an operation, the wrist is difficult to keep a straight state, and the palm tissue bears pressure, so that a static force application phenomenon exists; the design of the hand control key is unreasonable, the muscle of the hand is easy to fatigue, the safety of the operation is affected, and the single-hand operation is difficult to realize; the mechanism for driving the end effector to realize autorotation, clamping and deflection motion is difficult to realize self-locking, and the surgical instrument can not keep a reasonable pose in the surgical process to carry out surgical operation; meanwhile, the flexibility is low, generally only 2-3 degrees of freedom exist, certain difficulty is brought to complex minimally invasive surgery operation, the instruments are easy to collide with each other, interference is generated among the instruments, and unnecessary pain is brought to patients due to secondary injury to the patients caused by movement of the surgical instruments during the operation.
Meanwhile, the existing surgical robot is expensive, wherein the price of the da vinci surgical robot is about 2000 ten thousand yuan domestically, mechanical arms of the robot can be used only ten times, 3-4 mechanical arms are needed for each operation, the replacement cost of each mechanical arm is close to two thousand yuan, the expense of a single operation is high, and the da vinci surgical robot is difficult to popularize at present.
Disclosure of Invention
In order to solve at least one technical problem in the background art, the invention provides a rod-transmission-based handheld surgical robot, which integrates three functions on a control handle, can complete rotation and deflection of an instrument end effector and free opening and closing of a clamping mechanism, further supports minimally invasive surgery operation, enables the end clamping mechanism to complete various accurate surgical operations in a limited surgical space, and can conveniently and rapidly realize quick-change operation of the end effector by utilizing a quick-change structure.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a rod transmission-based handheld surgical robot, which comprises a handheld part, wherein at least two groups of driving mechanisms are arranged in the handheld part, the handheld part is connected with a holder through a rigid pipe, a quick-change mechanism is arranged on the rigid pipe, and a trigger and a button are arranged on the handheld part;
the clamp holder is positioned at one end of the rigid pipe, which is far away from the handheld part, and is connected with the clamping rods through the clamping connecting rod assembly, wherein one group of driving mechanisms drives the second clamping rod to realize reciprocating linear motion along the axis of the second clamping rod, and the clamping connecting rod assembly is driven by the first clamping rod, the quick-change mechanism and the clamping rods to realize the clamping motion of the clamp holder;
the clamp holder is provided with a deflection rotating shaft, the other group of driving mechanisms drive the second deflection oscillating bar to realize reciprocating linear motion along the axis of the clamp holder, and the first deflection oscillating bar, the quick change mechanism and the deflection oscillating bar drive the clamp holder to realize deflection motion along the deflection rotating shaft;
the rigid tube is provided with the thumb wheel with handheld portion junction, and the outside of rigid tube is cup jointed to the thumb wheel, and the inside slewing mechanism that is equipped with of thumb wheel drives the holder through slewing mechanism and rotates along self axis.
The clamping device comprises at least two groups of needle holder clamping pieces connected to the tail end connecting frame, the clamping rotating shaft is connected to the tail end connecting frame, the tail end connecting frame is provided with a clamping connecting rod assembly, and the clamping connecting rod assembly is connected with the clamping rod; the clamping rods perform reciprocating linear motion along the axis direction of the clamping rods, and the clamping connecting rod assemblies drive the two needle holder clamping pieces to open or close along the axis of the clamping rotating shaft to realize the action of the clamping device.
The quick-change mechanism comprises a pipeline rear end and a pipeline front end which are positioned on the rigid pipe, the pipeline front end is close to the handheld part, the pipeline rear end is close to the holder, and the pipeline rear end and the pipeline front end form a pipeline connecting end which is detachably connected.
The pipeline connecting end comprises a second connecting convex end and a second connecting concave end, the first connecting convex end and the first connecting concave end are arranged in parallel, and the first connecting concave end and the second connecting convex end are connected with the rear end of the pipeline; the first connecting convex end and the second connecting concave end are arranged in parallel and are respectively connected in the front end of the pipeline corresponding to the positions of the first connecting concave end and the second connecting convex end.
The first connecting convex end and the second connecting convex end are both provided with spring pieces connected through springs, and the two spring pieces respectively face the first connecting concave end and the second connecting concave end; clamping buttons are arranged on one sides of the spring pieces of the first connecting convex end and the second connecting convex end, and clamping button grooves are formed in the first connecting concave end and the second connecting concave end.
The clamping button extends into the clamping button groove to realize the connection of the second connecting convex end and the second connecting concave end and the connection of the first connecting convex end and the first connecting concave end; under the state that the spring is relaxed, the spring piece blocks the clamping button from extending out, so that the separation of the second connecting convex end and the second connecting concave end and the separation of the first connecting convex end and the first connecting concave end are realized; the clamping rod is connected with the second connecting convex end, and the deflection swing rod is connected with the first connecting concave end.
The driving mechanism comprises a connecting frame, a rack is arranged on the connecting frame, and two ends of the rack are connected with the shell of the handheld part; two ends of the driving shaft are connected with the shell through small bearings, two gears are arranged on the driving shaft, one gear is meshed with the rack, the other gear is meshed with the worm, and the worm and the rack are arranged in parallel; the driving motor is connected with one end of the worm through the coupler, and the other end of the worm is connected with the shell through the large bearing.
The connecting frame of the driving mechanism for realizing clamping movement is connected with the second clamping rods through fasteners, the second clamping rods are connected with the first clamping rods through shaft sleeves, and the connecting frame of the driving mechanism for realizing deflection movement is connected with the second deflection rods.
The rotating mechanism comprises a first rotation connecting pipe and a second rotation connecting pipe which are coaxially arranged and connected in a sleeved mode, the second rotation connecting pipe and the deflection connecting pipe are coaxially arranged, the shifting wheel is connected with the first rotation connecting pipe, the deflection connecting pipe is located at one end of the second rotation connecting pipe, the first rotation connecting pipe rotates around the axis of the second rotation connecting pipe, and the shifting wheel drives the rigid pipe to rotate through the first rotation connecting pipe.
The keys comprise an upper key and a lower key which are arranged in parallel, and the two keys are connected with an encoder of a motor of a driving mechanism for realizing deflection movement.
The trigger is connected with the motor through the big bevel gear and the small bevel gear which are meshed with each other, the rotating signal of the trigger is transmitted to the motor through the two meshed bevel gears, and the encoder of the motor transmits the signal to the encoder of the motor of the driving machine.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
1. the control handle is integrated with three functions, and can complete the rotation, the deflection and the free opening and closing of the clamping mechanism of the end effector of the instrument, so as to support the operation of minimally invasive surgery, and ensure that the end clamping mechanism can complete various accurate surgical operations in a limited surgical space.
2. The rigid pipe is provided with a quick-change structure, so that the quick-change operation of the end effector can be conveniently and quickly realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic view of an overall structure of a surgical robot according to one or more embodiments of the present invention;
FIG. 2 is a schematic view of a surgical robotic end gripper configuration provided in accordance with one or more embodiments of the present invention;
FIG. 3 is a schematic view of the internal structure of a holder provided in accordance with one or more embodiments of the present invention;
fig. 4 is a schematic structural diagram of a quick-change mechanism of a surgical robot according to one or more embodiments of the present invention;
fig. 5-6 are schematic perspective views of a quick-change mechanism according to one or more embodiments of the present invention;
fig. 7-8 are schematic side-view structures of a quick-change mechanism provided in one or more embodiments of the invention;
fig. 9 is a schematic diagram of an internal structure of a quick-change mechanism provided in one or more embodiments of the invention;
fig. 10-11 are schematic diagrams illustrating a disengaged state of a quick-change mechanism provided in accordance with one or more embodiments of the present invention;
FIGS. 12(a) -12(b) are schematic illustrations of thumb wheel configurations provided in accordance with one or more embodiments of the present invention;
FIGS. 13-14 are schematic views of a rotational mechanism provided in accordance with one or more embodiments of the present invention;
FIG. 15 is a schematic view of the internal structure of a surgical robot according to one or more embodiments of the present invention;
FIG. 16 is a schematic structural view of a surgical robot drive mechanism provided in accordance with one or more embodiments of the present invention;
FIG. 17 is a schematic illustration of a surgical robot trigger configuration provided in accordance with one or more embodiments of the present invention;
in fig. 1: 1. the device comprises a clamp holder, 2, a rigid pipe, 3, a quick-change mechanism, 4, a thumb wheel mechanism, 5, a driving mechanism, 6, a trigger, 7 and a button;
in FIGS. 2-3: 1-1 parts of needle holder clamping pieces, 1-2 parts of clamping connecting rod assemblies, 1-3 parts of tail end connecting frames, 1-4 parts of deflection rotating shafts, 1-5 parts of clamping rods, 1-6 parts of deflection oscillating rods, 1-7 parts of clamping rotating shafts;
in fig. 4: 3-1, the rear end of the pipeline, 3-2, the connecting end of the pipeline, 3-3 and the front end of the pipeline;
in FIGS. 5-11: 3-2-1, 3-2-2, 3-2-3, 3-2-4, 3-2-5, 3-2-6, 3-2-7 and a spring;
in fig. 12: 4-1, a thumb wheel, 4.2 and a rotating mechanism;
in FIGS. 13-14: 1-5-1 parts of a first clamping rod, 1-6-1 parts of a first deflection swing rod, 1-6-2 parts of a second deflection swing rod, 4-2-1 parts of a first autorotation connecting pipe, 4-2-2 parts of a second autorotation connecting pipe, 4-2-3 parts of a deflection connecting pipe;
in fig. 15: 5-1 parts of shaft sleeve, 5-2 parts of driving device, 5-3 parts of trigger mechanism, 7-1 parts of lower key, 7-2 parts of upper key;
in fig. 16: 5-2-1 parts of a second clamping rod, 5-2-2 parts of a connecting frame, 5-2-3 parts of a rack, 5-2-4 parts of a driving motor, 5-2-5 parts of a coupler, 5-2-6 parts of a worm, 5-2-7 parts of a small bearing, 5-2-8 parts of a gear, 5-2-9 parts of a driving shaft, 5-2-10 parts of a large bearing, 5-2-11 parts of a fastening piece;
in fig. 17: 5-3-1, a large bevel gear, 5-3-2, a small bevel gear, 5-3-3 and a motor.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
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 exemplary embodiments according to the invention. 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 following embodiment provides a rod-transmission-based handheld surgical robot, which integrates three functions on a control handle, can complete rotation and deflection of an instrument end effector and free opening and closing of a clamping mechanism, further supports minimally invasive surgery operation, enables the end clamping mechanism to complete various accurate surgical operations in a limited surgical space, and can conveniently and quickly realize quick-change operation of the end effector by using a quick-change structure.
The first embodiment is as follows:
as shown in fig. 1-17, the present embodiment aims to provide a rod-transmission-based handheld surgical robot, which includes a handheld portion, a driving mechanism 5 is disposed inside the handheld portion, the handheld portion is connected to a holder 1 through a rigid tube 2, and a quick-change mechanism 3 is disposed on the rigid tube 2; the hand-held part is also provided with a trigger 6 and a button 7;
as shown in fig. 2-3, the gripper 1 is located at one end of the rigid tube 2 away from the hand-held part (i.e. the end of the hand-held part), and comprises at least two sets of needle holder clamping pieces 1-1 movably connected through a gripping rotating shaft 1-7, the gripping rotating shaft 1-7 is connected to an end connecting frame 1-3, the end connecting frame 1-3 is provided with a gripping connecting rod assembly 1-2, and the gripping connecting rod assembly 1-2 is connected to a gripping rod 1-5; the clamping rods 1-5 do reciprocating linear motion along the axis direction of the clamping rods, and the clamping connecting rod assemblies 1-2 drive the two needle holder clamping pieces 1-1 to open or close along the axis of the clamping rotating shaft 1-7 to realize the action of the clamping device 1;
in this embodiment, the terminal connecting frame 1-3 is connected to the O-shaped end of the clamping rod 1-5 through the clamping link assembly 1-2 and the clamping rotating shaft 1-7, wherein the O-shaped end of the clamping rod 1-5 is a soft rod, and the rotating shaft of the clamping link assembly 1-2 is located in the sliding groove in the middle of the terminal connecting frame 1-3.
One end of the tail end connecting frame 1-3, which is far away from the needle holder clamping piece 1-1, is provided with a T-shaped groove, the T-shaped end of the deflection swing rod 1-6 is positioned in the T-shaped groove, and one side of the T-shaped groove is provided with a deflection rotating shaft 1-4; the needle holder clamping piece 1-1 is driven to realize the deflection motion along the deflection rotating shaft 1-4 through the reciprocating linear motion of the deflection swing rod 1-6 along the self axis direction;
in this embodiment, as shown in fig. 2, a T-shaped groove structure is adopted to provide a movement space for the reciprocating linear movement of the inclined swing rod 1-6 and the rotation of the T-shaped end on the premise of ensuring the reliable connection between the inclined swing rod 1-6 and the tail end connecting frame 1-3.
The clamping rods 1-5 and the swing rods 1-6 are positioned in the rigid pipe 2.
As shown in fig. 4, the quick-change mechanism 3 includes a rear end 3-1 of the pipeline and a front end 3-3 of the pipeline, the front end 3-3 of the pipeline is close to the hand-held portion, the rear end 3-1 of the pipeline is close to the holder 1, and the rear end 3-1 of the pipeline and the front end 3-3 of the pipeline form a pipeline connecting end 3-2 which is detachably connected;
as shown in fig. 5-9, the pipe connection end 3-2 includes a second connection male end 3-2-1, a second connection female end 3-2-2, a first connection male end 3-2-3, and a first connection female end 3-2-6;
the first connecting concave end 3-2-6 and the second connecting convex end 3-2-1 are arranged in parallel and connected with the rear end 3-1 of the pipeline.
The first connecting convex end 3-2-3 and the second connecting concave end 3-2-2 are arranged in parallel and are respectively connected in the front end 3-3 of the pipeline corresponding to the positions of the first connecting concave end 3-2-6 and the second connecting convex end 3-2-1.
The clamping rod 1-5 positioned in the rigid tube 2 is connected with the second connecting convex end 3-2-1, and the deflection swing rod 1-6 positioned in the rigid tube 2 is connected with the first connecting concave end 3-2-6.
The driving mechanisms 5 are provided with two groups, wherein one group of driving mechanisms 5 is connected with the second connecting concave end 3-2-2 through the first clamping rod 1-5-1 and the second clamping rod 5-2-1, and the other group of driving mechanisms 5 is connected with the first connecting convex end 3-2-3 through the second deflection oscillating bar 1-6-2 and the first deflection oscillating bar 1-6-1.
The first connecting convex end 3-2-3 and the second connecting convex end 3-2-1 are both provided with spring pieces 3-2-4 connected through springs 3-2-7, and the two spring pieces 3-2-4 respectively face the first connecting concave end 3-2-6 and the second connecting concave end 3-2-2.
Clamping buttons 3-2-5 are arranged on one sides of the spring pieces 3-2-4 of the first connecting convex end 3-2-3 and the second connecting convex end 3-2-1, and clamping button grooves are formed in the first connecting concave end 3-2-6 and the second connecting concave end 3-2-2;
the clamping button 3-2-5 extends into the clamping button groove to realize the connection of the second connecting convex end 3-2-1 and the second connecting concave end 3-2-2 and the connection of the first connecting convex end 3-2-3 and the first connecting concave end 3-2-6;
when the spring 3-2-7 is in a relaxed state, the spring piece 3-2-4 blocks the clamping button 3-2-5 from extending out, so that the separation of the second connecting convex end 3-2-1 and the second connecting concave end 3-2-2 and the separation of the first connecting convex end 3-2-3 and the first connecting concave end 3-2-6 are realized.
As shown in FIGS. 10-11, the first female connection end 3-2-6 and the second male connection end 3-2-1 arranged in parallel are connected to the rear end 3-1 of the pipe, and the first male connection end 3-2-3 and the second female connection end 3-2-2 arranged in parallel are connected to the front end 3-3 of the pipe;
when the rear end 3-1 of the pipeline is butted with the front end 3-3 of the pipeline in a separated state, the first connecting concave end 3-2-6 moves towards the first connecting convex end 3-2-3 along the axial direction, the corresponding second connecting convex end 3-2-1 moves towards the second connecting concave end 3-2-2, and the opposite movement enables the spring pieces 3-2-4 of the first connecting convex end 3-2-3 and the second connecting convex end 3-2-1 to be compressed without blocking the extension of the clamping button 3-2-5;
when the clamping button 3-2-5 extends out of the clamping button groove of the first connecting concave end 3-2-6 and the second connecting concave end 3-2-2, the connection between the second connecting convex end 3-2-1 and the second connecting concave end 3-2-2 and the connection between the first connecting convex end 3-2-3 and the first connecting concave end 3-2-6 are realized, and then the butt joint between the rear end 3-1 of the pipeline of the quick-change mechanism 3 and the front end 3-3 of the pipeline is realized, so that the clamp holder 1 is in butt joint with the driving mechanism 5 of the handheld part.
When the rear end 3-1 of the pipeline is separated from the front end 3-3 of the pipeline in a butt joint state, the rear end 3-1 of the pipeline and the front end 3-3 of the pipeline rotate relatively, when the clamping button 3-2-5 slides to a separated state along the clamping button groove, the connection state of the second connection convex end 3-2-1 and the second connection concave end 3-2-2 is unlocked, the connection state of the corresponding first connection convex end 3-2-3 and the first connection concave end 3-2-6 is unlocked, the rear end 3-1 of the pipeline and the front end 3-3 of the pipeline are separated from each other along linear motion after unlocking, in the separation process, the spring 3-2-7 pushes the spring piece 3-2-4 to block the outlet of the clamping button groove again, so that the clamping button 3-2-5 cannot slide out, and the locking function is not generated any more.
The process enables the quick-change mechanism 3 to realize the disassembly and the assembly of the holder 1 and the handheld part through simple linear motion and relative rotation motion, and is favorable for quick change in an operation.
As shown in figure 12, a thumb wheel 4-1 is arranged at the contact part of the rigid tube 2 and the hand-held part, the thumb wheel 4-1 is sleeved outside the rigid tube 2 and fixed with the rigid tube 2, and a rotating mechanism 4-2 is arranged inside the rigid tube 2 of the thumb wheel 4-1.
As shown in fig. 13-14, the rotating mechanism 4-2 includes a first autorotation connecting pipe 4-2-1 and a second autorotation connecting pipe 4-2-2 which are coaxially arranged and connected in a sleeved manner, the second autorotation connecting pipe 4-2-2 and a deflection connecting pipe 4-2-3 are coaxially arranged, the dial wheel 4-1 is connected with the first autorotation connecting pipe 4-2-1, the deflection connecting pipe 4-2-3 is positioned at one end of the second autorotation connecting pipe 4-2-2, and the first autorotation connecting pipe 4-2-1 rotates around the axis of the second autorotation connecting pipe 4-2-2; the poking wheel 4-1 drives the rigid tube 2 to rotate through the first autorotation connecting tube 4-2-1, so that the needle holder clamping piece 1-1 rotates, but the deflection connecting tube 4-2-3 cannot rotate along with the rotation, and the position of the deflection rod 1-6 cannot be changed.
The rigid tube 2 is provided with two shaft sleeves 5-1, the shaft sleeves 5-1 are fixed with the shell of the handheld part, and the rigid tube 2 can rotate relative to the shell of the handheld part.
The first clamping rod 1-5-1 passes through the rotating mechanism 4-2, one end of the first deflection swing rod 1-6-1 is fixed with the second autorotation connecting pipe 4-2-1, and one end of the second deflection swing rod 1-6-2 is fixed with the deflection connecting pipe 4-2-3.
The housing of the hand-held part is formed by two horizontally arranged parts, and the inside of the housing comprises a left driving mechanism 5, a right driving mechanism 5, a trigger 6 and a key 7 which are arranged in parallel. Two sets of driving mechanisms 5 are respectively fixed on the left shell and the right shell, and a motor 5-3-3 of a trigger 6 is fixed with one group of the shells. The two sets of driving mechanisms 5 have the same structure, one set is used for driving the second clamping rod 5-2-1 to realize the opening and closing of the clamp 1, and the other set is used for driving the second swing rod 1-6-2 to realize the swing movement of the clamp 1.
As shown in fig. 15-17, the driving mechanism 5 includes a connecting frame 5-2-2, a rack 5-2-3 is provided on the connecting frame 5-2-2, and both ends of the rack 5-2-3 are connected with the hand-held portion housing; two ends of a driving shaft 5-2-9 are connected with the shell through small bearings 5-2-7, an upper gear 5-2-8 and a lower gear 5-2-8 are arranged on the driving shaft, wherein one gear 5-2-8 is meshed with a rack 5-2-3, the other gear is meshed with a worm 5-2-6, and the worm 5-2-6 and the rack 5-2-3 are arranged in parallel; the driving motor 5-2-4 is connected with one end of the worm 5-2-6 through the coupler 5-2-5, and the other end of the worm 5-2-6 is connected with the shell through the large bearing 5-2-10.
The connecting frame 5-2-2 of the driving mechanism 5 in one group is connected with the second clamping rod 5-2-1 through a fastening piece 5-2-11, and the second clamping rod 5-2-1 is connected with the first clamping rod 1-5-1 through a shaft sleeve 5-1.
The connecting frame 5-2-2 of the other group of driving mechanisms 5 is connected with the second swing link 1-6-2.
The trigger 6 is connected with the motor 5-3-3 through the big bevel gear 5-3-1 and the small bevel gear 5-3-2 which are meshed, the trigger 6 is pulled, the meshed bevel gear transmits the rotation signal of the trigger 6 to the motor 5-3-3, and the encoder of the motor 5-3-3 transmits the signal to the encoder of the motor 5-2-4 of the driving machine.
After receiving the signal, the driving motor 5-2-4 drives the worm 5-2-6 to rotate through the coupler 5-2-5, the worm 5-2-6 drives the driving shaft 5-2-9 to rotate through the gear 5-2-8 meshed with the worm, and the driving shaft 5-2-9 drives the rack 5-2-3 to linearly reciprocate along the axis through the other gear 5-2-8.
In the driving mechanism 5 for realizing the clamping action, the rack 5-2-3 drives the second clamping rod 5-2-1 to reciprocate along the axis direction through the connecting frame 5-2-2, the second clamping rod 5-2-1 transmits the reciprocating linear motion to the clamping rod 1-5 through the first clamping rod 1-1, and the clamping rod 1-5 controls the clamping and the opening of the needle holder clamping piece 1-1 through the clamping connecting rod component 1-2 which is hinged with the needle holder clamping piece 1-1. The drive motor encoder in the drive mechanism 5 transmits a signal to the trigger motor according to the rotation state of the motor, so that the trigger motor gives a force feedback to the hand of the operator through the trigger.
In the driving mechanism 5 for realizing the deflection motion, the rack 5-2-3 drives the second deflection oscillating bar 1-6-2 to reciprocate along the axial direction through the connecting frame 5-2-2, and the second deflection oscillating bar 1-6-2 transmits the reciprocating linear motion to the deflection oscillating bar 1-6 through the first deflection oscillating bar 1-6-1, thereby driving the clamp holder 1 to deflect leftwards or rightwards.
The key 7 comprises an upper key 7-2 and a lower key 7-1 which are arranged in parallel, and the two keys are connected with an encoder of a motor of the deflection driving mechanism for signal transmission.
In the embodiment, the upper key 7-2 is pressed to trigger the film key below the upper key, signal transmission is carried out on an encoder of a motor of the deflection driving mechanism, the motor is controlled to rotate in the forward direction, the rack 5-2-3 is moved backwards through the scroll bar 5-2-6, the second deflection swing rod 1-6-2 is pulled to move backwards, the first deflection swing rod 1-6-1 is driven to move backwards through the rotating mechanism 4-2, then the deflection swing rod 1-6 is driven to move backwards through the quick-change mechanism 3, and finally the clamping piece 1-1 of the needle holder at the tail end is deflected leftwards.
The lower key 7-1 is pressed to trigger a film key below the lower key, signal transmission is carried out on an encoder of a motor of the deflection driving mechanism, the motor is controlled to rotate reversely, the rack 5-2-3 is moved forwards through the scroll bar 5-2-6, the second deflection swing rod 1-6-2 is pulled to move forwards, the first deflection swing rod 1-6-1 is driven to move forwards through the rotating mechanism 4-2, then the deflection swing rod 1-6 is driven to move forwards through the quick-change mechanism 3, and finally the clamping piece 1-1 of the needle holder at the tail end is deflected rightwards.
In the structure, the control handle is integrated with three functions, the rotation, the deflection and the free opening and closing of the clamping mechanism of the instrument end effector can be completed, the operation of minimally invasive surgery is further supported, the end clamping mechanism can complete multiple accurate surgical operations in a limited surgical space, and the quick-change structure is utilized, so that the quick-change operation of the end effector can be conveniently and quickly realized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A hand-held surgical robot based on rod transmission, characterized in that: the quick-change mechanism is arranged on the rigid pipe, and the hand-held part is provided with a trigger and a button;
the clamp holder is positioned at one end of the rigid pipe, which is far away from the handheld part, and is connected with the clamping rods through the clamping connecting rod assembly, wherein one group of driving mechanisms drives the second clamping rod to realize reciprocating linear motion along the axis of the second clamping rod, and the clamping connecting rod assembly is driven by the first clamping rod, the quick-change mechanism and the clamping rods to realize the clamping motion of the clamp holder;
the clamp holder is provided with a deflection rotating shaft, the other group of driving mechanisms drive the second deflection oscillating bar to realize reciprocating linear motion along the axis of the clamp holder, and the first deflection oscillating bar, the quick change mechanism and the deflection oscillating bar drive the clamp holder to realize deflection motion along the deflection rotating shaft;
the rigid tube is provided with the thumb wheel with handheld portion junction, and the outside of rigid tube is cup jointed to the thumb wheel, and the inside slewing mechanism that is equipped with of thumb wheel drives the holder through slewing mechanism and rotates along self axis.
2. A rod drive based hand-held surgical robot as claimed in claim 1, wherein: the clamping device comprises at least two groups of needle holder clamping pieces connected to the tail end connecting frame, the clamping rotating shaft is connected to the tail end connecting frame, the tail end connecting frame is provided with a clamping connecting rod assembly, and the clamping connecting rod assembly is connected with the clamping rod; the clamping rods perform reciprocating linear motion along the axis direction of the clamping rods, and the clamping connecting rod assemblies drive the two needle holder clamping pieces to open or close along the axis of the clamping rotating shaft to realize the action of the clamping device.
3. A rod drive based hand-held surgical robot as claimed in claim 1, wherein: the quick-change mechanism comprises a pipeline rear end and a pipeline front end which are positioned on the rigid pipe, the pipeline front end is close to the handheld part, the pipeline rear end is close to the holder, and the pipeline rear end and the pipeline front end form a pipeline connecting end which is detachably connected.
4. A rod drive based hand-held surgical robot as claimed in claim 3, wherein: the pipeline connecting end comprises a second connecting convex end and a second connecting concave end, the first connecting convex end and the first connecting concave end are arranged in parallel, and the first connecting concave end and the second connecting convex end are connected with the rear end of the pipeline; the first connecting convex end and the second connecting concave end are arranged in parallel and are respectively connected in the front end of the pipeline corresponding to the positions of the first connecting concave end and the second connecting convex end.
5. A rod drive based hand-held surgical robot as claimed in claim 4, wherein: the first connecting convex end and the second connecting convex end are both provided with spring pieces connected through springs, and the two spring pieces respectively face the first connecting concave end and the second connecting concave end; clamping buttons are arranged on one sides of the spring pieces of the first connecting convex end and the second connecting convex end, and clamping button grooves are formed in the first connecting concave end and the second connecting concave end.
6. A rod drive based hand-held surgical robot as claimed in claim 5, wherein: the clamping button extends into the clamping button groove to realize the connection of the second connecting convex end and the second connecting concave end and the connection of the first connecting convex end and the first connecting concave end; under the state that the spring is relaxed, the spring piece blocks the clamping button from extending out, so that the separation of the second connecting convex end and the second connecting concave end and the separation of the first connecting convex end and the first connecting concave end are realized; the clamping rod is connected with the second connecting convex end, and the deflection swing rod is connected with the first connecting concave end.
7. A rod drive based hand-held surgical robot as claimed in claim 1, wherein: the driving mechanism comprises a connecting frame, a rack is arranged on the connecting frame, and two ends of the rack are connected with the shell of the handheld part; two ends of the driving shaft are connected with the shell through small bearings, two gears are arranged on the driving shaft, one gear is meshed with the rack, the other gear is meshed with the worm, and the worm and the rack are arranged in parallel; the driving motor is connected with one end of the worm through the coupler, and the other end of the worm is connected with the shell through the large bearing.
8. A rod drive based hand-held surgical robot as claimed in claim 1, wherein: the connecting frame of the driving mechanism for realizing clamping movement is connected with the second clamping rods through fasteners, the second clamping rods are connected with the first clamping rods through shaft sleeves, and the connecting frame of the driving mechanism for realizing deflection movement is connected with the second deflection rods.
9. A rod drive based hand-held surgical robot as claimed in claim 1, wherein: the rotating mechanism comprises a first rotation connecting pipe and a second rotation connecting pipe which are coaxially arranged and connected in a sleeved mode, the second rotation connecting pipe and the deflection connecting pipe are coaxially arranged, the shifting wheel is connected with the first rotation connecting pipe, the deflection connecting pipe is located at one end of the second rotation connecting pipe, the first rotation connecting pipe rotates around the axis of the second rotation connecting pipe, and the shifting wheel drives the rigid pipe to rotate through the first rotation connecting pipe.
10. A rod drive based hand-held surgical robot as claimed in claim 1, wherein: the keys comprise an upper key and a lower key which are arranged in parallel, and the two keys are connected with an encoder of a motor of a driving mechanism for realizing deflection movement; the trigger is connected with the motor through the big bevel gear and the small bevel gear which are meshed with each other, the rotating signal of the trigger is transmitted to the motor through the two meshed bevel gears, and the encoder of the motor transmits the signal to the encoder of the motor of the driving machine.
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| CN114052916B (en) | 2023-08-08 |
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