CN114052916B - Handheld surgical robot based on rod transmission - Google Patents
Handheld surgical robot based on rod transmission Download PDFInfo
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- CN114052916B CN114052916B CN202111350266.5A CN202111350266A CN114052916B CN 114052916 B CN114052916 B CN 114052916B CN 202111350266 A CN202111350266 A CN 202111350266A CN 114052916 B CN114052916 B CN 114052916B
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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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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention relates to a hand-held surgical robot based on rod transmission, which comprises a hand-held part, wherein a driving mechanism is arranged in the hand-held part, the hand-held part is connected with a clamp 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 hand-held part; the clamping device 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 a group of driving mechanisms drive the second clamping rods to realize reciprocating linear motion along the axis of the second clamping rods, and the clamping connecting rod assembly is driven by the first clamping rods, the quick-change mechanism and the clamping rods to realize the action of the clamping device; the other group of driving mechanisms drive the second deflection rod to realize reciprocating linear motion along the axis of the second deflection rod, and the first deflection rod, the quick change mechanism and the deflection rod drive the clamp holder to realize deflection motion; the connection part of the rigid pipe and the hand-held part is provided with a thumb wheel, and the thumb wheel drives the clamp holder to rotate along the axis of the clamp holder through an internal rotating mechanism. Three functions are integrated to complete the rotation, deflection and opening and closing of the clamping mechanism of the end effector of the instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a handheld surgical robot based on rod transmission.
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 surgery robot can greatly reduce the surgical wounds, shorten the postoperative recovery time and reduce postoperative complications; the surgical operation precision and stability can be improved, the fatigue of doctors can be reduced, and the unavoidable tremors of hands during the accurate operation can be eliminated.
The existing hand-held electric control surgical instruments still have a plurality of problems in the aspects of function realization, man-machine interaction, rational design of appearance and internal structure, force feedback and the like: when a user performs operation, the wrist is difficult to keep in a straight state, palm tissues bear pressure, and static force application exists; the design of the manual control keys is unreasonable, hand muscles are easy to fatigue, the safety of operation is affected, and single-hand operation is difficult to realize; the mechanism for driving the end effector to realize rotation, clamping and deflection movement is difficult to realize self-locking performance, so that the surgical instrument cannot maintain a reasonable pose in the surgical process for performing surgical operation; meanwhile, the flexibility is lower, generally, the degree of freedom is only 2-3, a certain difficulty is brought to complex minimally invasive surgery operation, collision is easy to occur among instruments, interference is generated among various instruments, secondary injury to a patient can be easily caused by movement of the surgical instruments in operation, and unnecessary pain is brought to the patient.
Meanwhile, the existing operation robot is high in price, wherein the national selling price of the da vinci operation robot is about 2000 ten thousand yuan, meanwhile, the mechanical arm of the robot can only be used for ten times, 3-4 mechanical arms are needed for each operation, the replacement cost of each mechanical arm is close to two ten thousand yuan, the single operation cost is high, and the single operation 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 hand-held surgical robot based on rod transmission, 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 operation of minimally invasive surgery, 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 above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a hand-held surgical robot based on rod transmission, which comprises a hand-held part, wherein at least two groups of driving mechanisms are arranged in the hand-held part, the hand-held part is connected with a holder through a rigid pipe, a quick-change mechanism is arranged on the rigid pipe, and the hand-held part is provided with a trigger and a key;
the clamping device 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 a group of driving mechanisms drive the second clamping rods to realize reciprocating linear motion along the axis of the second clamping rods, and the clamping connecting rod assembly is driven by the first clamping rods, the quick-change mechanism and the clamping rods to realize clamping motion of the clamping device;
the clamp holder is provided with a deflection rotating shaft, the other group of driving mechanisms drive the second deflection rod to realize reciprocating linear motion along the axis of the clamp holder, and the first deflection rod, the quick-change mechanism and the deflection rod drive the clamp holder to realize deflection motion along the deflection rotating shaft;
the connection part of the rigid pipe and the hand-held part is provided with a thumb wheel, the thumb wheel is sleeved outside the rigid pipe, a rotating mechanism is arranged inside the thumb wheel, and the thumb wheel drives the clamp holder to rotate along the axis of the clamp holder through the rotating mechanism.
The clamp 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 a clamping rod; the clamping rod reciprocates in a linear motion along the axis direction of the clamping rod, and the clamping connecting rod assembly drives the two groups of needle holder clamping pieces to open or close along the axis of the clamping rotating shaft so as to realize the action of the clamp.
The quick-change mechanism comprises a pipeline rear end and a pipeline front end which are positioned on the rigid pipe, wherein the pipeline front end is close to the handheld part, the pipeline rear end is close to the clamp 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 with the second connecting convex end and 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 correspondingly connected into the front end of the pipeline respectively with 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 respectively provided with a spring piece connected through a spring, and the two spring pieces face the first connecting concave end and the second connecting concave end respectively; the spring piece side of the first connection protruding end and the second connection protruding end is provided with a clamping button, and the first connection concave end and the second connection concave end are provided with a clamp Niu Cao.
The clamping button extends into the clamping button groove to realize the connection between the second connecting convex end and the second connecting concave end and the connection between the first connecting convex end and the first connecting concave end; in a spring loosening state, the spring piece blocks the clamping button from extending out to separate the second connecting convex end from the second connecting concave end and separate the first connecting convex end from the first connecting concave end; the clamping rod is connected with the second connecting convex end, and the deflection 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 hand-held part shell; two ends of the driving shaft are connected with the shell through small bearings, two gears are arranged on the driving shaft, one of the gears is meshed with the rack, the other 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 a coupler, and the other end of the worm is connected with the shell through a large bearing.
The connecting frame of the driving mechanism for realizing the clamping movement is connected with the second clamping rod through a fastener, the second clamping rod is connected with the first clamping rod through a shaft sleeve, and the connecting frame of the driving mechanism for realizing the deflection movement is connected with the second deflection rod.
The rotating mechanism comprises a first autorotation connecting pipe and a second autorotation connecting pipe which are coaxially arranged and connected in a sleeved mode, the second autorotation connecting pipe and the deflection connecting pipe are coaxially arranged, the shifting wheel is connected with the first autorotation connecting pipe, the deflection connecting pipe is positioned at one end of the second autorotation connecting pipe, the first autorotation connecting pipe rotates around the axis of the second autorotation connecting pipe, and the shifting wheel drives the rigid pipe to rotate through the first autorotation 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 the deflection movement.
The trigger is connected with the motor through the big bevel gear and the small bevel gear which are meshed, the rotation signal of the trigger is transmitted to the motor through the two bevel gears which are meshed, 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 technical scheme has the following beneficial effects:
1. the control handle integrates three functions, and can complete rotation and deflection of the instrument end effector and free opening and closing of the clamping mechanism, so that minimally invasive surgery operation is supported, and the end clamping mechanism can complete multiple accurate surgery operations in a limited surgery space.
2. The rigid pipe is provided with a quick-change structure, so that quick-change operation of the end effector can be conveniently and quickly realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of the overall structure of a surgical robot provided in one or more embodiments of the present invention;
FIG. 2 is a schematic view of a surgical robotic end effector configuration provided by one or more embodiments of the present invention;
FIG. 3 is a schematic view of the internal structure of a holder provided by one or more embodiments of the invention;
FIG. 4 is a schematic structural view of a surgical robotic quick change mechanism provided by one or more embodiments of the present invention;
FIGS. 5-6 are schematic perspective views of a quick-change mechanism according to one or more embodiments of the present invention;
FIGS. 7-8 are schematic side view perspective structures of a quick change mechanism according to one or more embodiments of the present invention;
FIG. 9 is a schematic diagram illustrating an internal structure of a quick-change mechanism according to one or more embodiments of the present invention;
FIGS. 10-11 are schematic diagrams illustrating a disengaged state of a quick change mechanism provided by one or more embodiments of the present invention;
FIGS. 12 (a) -12 (b) are schematic illustrations of the configuration of a thumbwheel provided in one or more embodiments of the present invention;
FIGS. 13-14 are schematic illustrations of a rotating mechanism provided by one or more embodiments of the present invention;
FIG. 15 is a schematic view of the internal structure of a surgical robot provided in accordance with one or more embodiments of the present invention;
FIG. 16 is a schematic view of a surgical robotic drive mechanism provided in accordance with one or more embodiments of the present invention;
FIG. 17 is a schematic view of a surgical robotic trigger configuration provided by one or more embodiments of the 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 key;
in fig. 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 swinging 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 fig. 5-11: 3-2-1, a second connecting convex end, 3-2-2, a second connecting concave end, 3-2-3, a first connecting convex end, 3-2-4, a spring piece, 3-2-5, a clamping button, 3-2-6, a first connecting concave end, 3-2-7 and a spring;
in fig. 12: 4-1, a thumb wheel, 4.2 and a rotating mechanism;
in fig. 13-14: 1-5-1, a first clamping rod, 1-6-1, a first deflection rod, 1-6-2, a second deflection rod, 4-2-1, a first rotation connecting pipe, 4-2-2, a second rotation connecting pipe, 4-2-3 and 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, a second clamping rod, 5-2-2, a connecting frame, 5-2-3, a rack, 5-2-4, a driving motor, 5-2-5, a coupler, 5-2-6, a worm, 5-2-7, a small bearing, 5-2-8, a gear, 5-2-9, a driving shaft, 5-2-10, a large bearing, 5-2-11 and a fastener;
in fig. 17: 5-3-1, big bevel gears, 5-3-2, small bevel gears, 5-3-3 and motors.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. 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 present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The following embodiment provides a hand-held surgical robot based on rod transmission, three functions are integrated on a control handle, rotation and deflection of an instrument end effector and free opening and closing of a clamping mechanism can be completed, further operation of minimally invasive surgery is supported, the end clamping mechanism completes various accurate surgical operations in a limited surgical space, and quick-change operation of the end effector can be conveniently and quickly realized by utilizing a quick-change structure.
Embodiment one:
as shown in fig. 1-17, the object of the present embodiment is to provide a hand-held surgical robot based on rod transmission, which comprises a hand-held part, wherein a driving mechanism 5 is arranged in the hand-held part, the hand-held part is connected with a holder 1 through a rigid tube 2, and a quick change mechanism 3 is arranged on the rigid tube 2; the hand-held part is also provided with a trigger 6 and a key 7;
as shown in fig. 2-3, the gripper 1 is located at one end of the rigid tube 2 away from the hand-holding part (i.e. the end of the hand-holding part), and comprises at least two groups of needle holder clips 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 with a gripping rod 1-5; the clamping rod 1-5 moves linearly in a reciprocating manner along the axis direction of the clamping rod, and the clamping connecting rod assembly 1-2 drives the two groups of needle holder clamping pieces 1-1 to open or close along the axis of the clamping rotating shaft 1-7 so as to realize the action of the clamp holder 1;
in the embodiment, the end connecting frame 1-3 is connected with the O-shaped end of the clamping rod 1-5 through the clamping connecting rod 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 connecting rod assembly 1-2 is positioned in a sliding groove in the middle of the end 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 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 deflection movement along the deflection rotating shaft 1-4 by the reciprocating linear movement of the deflection rod 1-6 along the axis direction of the needle holder clamping piece;
in this embodiment, as shown in fig. 2, a structure of a T-shaped groove is adopted, and a movement space is provided for the reciprocating linear movement of the deflection lever 1-6 and the rotation of the T-shaped end on the premise of ensuring the connection reliability of the deflection lever 1-6 and the terminal connecting frame 1-3.
The clamping rod 1-5 and the deflection rod 1-6 are both positioned in the rigid tube 2.
As shown in fig. 4, the quick-change mechanism 3 comprises a pipe rear end 3-1 and a pipe front end 3-3 which are positioned on the rigid pipe 2, wherein the pipe front end 3-3 is close to the hand-held part, the pipe rear end 3-1 is close to the clamp holder 1, and the pipe rear end 3-1 and the pipe front end 3-3 form a pipe 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 is arranged in parallel with the second connecting convex end 3-2-1 and is 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 correspondingly connected in the front end 3-3 of the pipeline with 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 inside the rigid tube 2 is connected with the second connecting convex end 3-2-1, and the deflection rod 1-6 positioned inside 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 rod 1-6-2 and the first deflection rod 1-6-1.
The first connecting convex end 3-2-3 and the second connecting convex end 3-2-1 are respectively provided with a spring piece 3-2-4 connected through a spring 3-2-7, and the two spring pieces 3-2-4 face the first connecting concave end 3-2-6 and the second connecting concave end 3-2-2 respectively.
The first connecting convex end 3-2-3 and the second connecting convex end 3-2-1 are respectively provided with a clamping button 3-2-5 at one side of a spring piece 3-2-4, and the first connecting concave end 3-2-6 and the second connecting concave end 3-2-2 are respectively provided with a clamp Niu Cao;
the clamping button 3-2-5 extends into the clamping button groove to realize 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;
in a relaxed state of the spring 3-2-7, the spring piece 3-2-4 blocks the clamping button 3-2-5 from extending, 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 fig. 10-11, the first connecting concave end 3-2-6 and the second connecting convex end 3-2-1 which are arranged in parallel are connected with the rear end 3-1 of the pipeline, and the first connecting convex end 3-2-3 and the second connecting concave end 3-2-2 which are arranged in parallel are connected in the front end 3-3 of the pipeline;
when the rear end 3-1 of the pipeline is in butt joint 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 spring pieces 3-2-4 of the first connecting convex end 3-2-3 and the second connecting convex end 3-2-1 are compressed by opposite movement, so that the extension of the clamping button 3-2-5 is not blocked;
when the clamping button 3-2-5 extends into the clamp Niu Cao of the first connecting concave end 3-2-6 and the second connecting concave end 3-2-2, connection of the second connecting convex end 3-2-1 and the second connecting concave end 3-2-2 and connection of the first connecting convex end 3-2-3 and the first connecting concave end 3-2-6 are achieved, and further butt joint of the pipeline rear end 3-1 and the pipeline front end 3-3 of the quick-change mechanism 3 is achieved, 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 the butt joint state, the rear end 3-1 of the pipeline and the front end 3-3 of the pipeline are relatively rotated, so that when the clamping button 3-2-5 slides to the separation state along the clamp Niu Cao, the connection state of the second connecting convex end 3-2-1 and the second connecting concave end 3-2-2 is unlocked, the connection state of the corresponding first connecting convex end 3-2-3 and the first connecting 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 mutually separated along the linear motion after the unlocking, in the separation process, the spring 3-2-7 pushes the spring piece 3-2-4 to plug the outlet of the clamping button groove again, so that the clamping button 3-2-5 cannot slide out, and a locking function is not generated any more.
The above-mentioned process makes quick change mechanism 3 realize the dismantlement and the installation of holder 1 and handheld portion through simple rectilinear motion and relative rotary motion, is favorable to the quick change in the operation.
As shown in fig. 12, a thumb wheel 4-1 is provided at a contact position of the rigid tube 2 with the hand-held portion, and the thumb wheel 4-1 is fixed to the rigid tube 2 by being sleeved outside the rigid tube 2, and a rotation mechanism 4-2 is provided inside the rigid tube 2 of the thumb wheel 4-1.
As shown in fig. 13-14, the rotating mechanism 4-2 comprises a first rotating connecting pipe 4-2-1 and a second rotating connecting pipe 4-2-2 which are coaxially arranged and connected in a sleeved mode, the second rotating connecting pipe 4-2-2 and a deflection connecting pipe 4-2-3 are coaxially arranged, the deflector wheel 4-1 is connected with the first rotating connecting pipe 4-2-1, the deflection connecting pipe 4-2-3 is positioned at one end of the second rotating connecting pipe 4-2-2, and the first rotating connecting pipe 4-2-1 rotates around the axis of the second rotating connecting pipe 4-2-2; the deflector wheel 4-1 drives the rigid tube 2 to rotate through the first autorotation connecting tube 4-2-1, thereby realizing the rotation of the needle holder clamping piece 1-1, but the deflection connecting tube 4-2-3 cannot rotate along with the rotation, so that 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 hand-held part, and the rigid tube 2 can rotate relative to the shell of the hand-held part.
The first clamping rod 1-5-1 passes through the rotating mechanism 4-2, one end of the first deflection rod 1-6-1 is fixed with the second rotation connecting pipe 4-2-1, and one end of the second deflection 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 parts which are horizontally arranged, 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. The two sets of driving mechanisms 5 are respectively fixed on the left and right shells, and the motor 5-3-3 of the trigger 6 is fixed with one set of shells. The two sets of driving mechanisms 5 have the same structure, one set of driving mechanism is used for driving the second clamping rod 5-2-1 to realize the opening and closing of the clamp holder 1, and the other set of driving mechanism is used for driving the second deflection rod 1-6-2 to realize the deflection movement of the clamp holder 1.
15-17, the driving mechanism 5 comprises a connecting frame 5-2-2, a rack 5-2-3 is arranged on the connecting frame 5-2-2, and two ends of the rack 5-2-3 are connected with the hand-held part shell; two ends of the 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, one gear 5-2-8 is meshed with the rack 5-2-3, the other gear is meshed with the worm 5-2-6, and the worm 5-2-6 is arranged in parallel with the rack 5-2-3; 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 big bearing 5-2-10.
The connecting frame 5-2-2 of the driving mechanism 5 of one group is connected with the second clamping rod 5-2-1 through a fastener 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 deflection rod 1-6-2.
The trigger 6 is connected with the motor 5-3-3 through the engaged big bevel gear 5-3-1 and the small bevel gear 5-3-2, the trigger 6 is pulled, the engaged 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 the driving motor 5-2-4 receives the signal, the worm 5-2-6 is driven 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 axial 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 assembly 1-2 hinged with the needle holder clamping piece 1-1. The drive motor encoder in the drive mechanism 5 transmits a signal to the motor of the trigger 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 action, the rack 5-2-3 drives the second deflection rod 1-6-2 to reciprocate along the axis direction through the connecting frame 5-2-2, and the second deflection rod 1-6-2 transmits the reciprocating linear motion to the deflection rod 1-6 through the first deflection rod 1-6-1, so that the clamp holder 1 is driven to deflect leftwards or rightwards.
The keys 7 comprise 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 this embodiment, the upper button 7-2 is pressed, the lower film button is triggered, the signal transmission is performed to the encoder of the motor of the deflection driving mechanism, the motor is controlled to rotate forward, the rack 5-2-3 is moved backward through the vortex rod 5-2-6, the second deflection rod 1-6-2 is pulled to move backward, the first deflection rod 1-6-1 is driven to move backward through the rotating mechanism 4-2, then the deflection rod 1-6 is driven to move backward through the quick change mechanism 3, and finally the terminal needle holder clamping piece 1-1 deflects leftwards.
Pressing the key 7-1, triggering the film key below the key, transmitting signals to an encoder of a motor of the deflection driving mechanism, enabling the encoder to control the motor to reversely rotate, enabling the rack 5-2-3 to move forwards through the vortex rod 5-2-6, pulling the second deflection rod 1-6-2 to move forwards, driving the first deflection rod 1-6-1 to move forwards through the rotating mechanism 4-2, driving the deflection rod 1-6 to move forwards through the quick change mechanism 3, and finally enabling the tail end needle holder clamping piece 1-1 to deflect rightwards.
In the structure, the control handle is integrated with three functions, so that the rotation, deflection and free opening and closing of the clamping mechanism of the end effector of the instrument can be completed, further the operation of minimally invasive surgery is supported, the end clamping mechanism can complete various accurate surgery operations in a limited surgery 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 of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. Hand-held type surgical robot based on pole transmission, its characterized in that: the device comprises a hand-held part, wherein at least two groups of driving mechanisms are arranged in the hand-held part, the hand-held part is connected with a clamp holder through a rigid pipe, a quick-change mechanism is arranged on the rigid pipe, and the hand-held part is provided with a trigger and a key;
the clamping device 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 a group of driving mechanisms drive the second clamping rods to realize reciprocating linear motion along the axis of the second clamping rods, and the clamping connecting rod assembly is driven by the first clamping rods, the quick-change mechanism and the clamping rods to realize clamping motion of the clamping device;
the clamp holder is provided with a deflection rotating shaft, the other group of driving mechanisms drive the second deflection rod to realize reciprocating linear motion along the axis of the clamp holder, and the first deflection rod, the quick-change mechanism and the deflection rod drive the clamp holder to realize deflection motion along the deflection rotating shaft;
a thumb wheel is arranged at the joint of the rigid pipe and the handheld part, the thumb wheel is sleeved outside the rigid pipe, a rotating mechanism is arranged inside the thumb wheel, and the thumb wheel drives the clamp holder to rotate along the axis of the clamp holder through the rotating mechanism;
the quick-change mechanism comprises a pipeline rear end and a pipeline front end which are positioned on the rigid pipe, wherein the pipeline front end is close to the handheld part, the pipeline rear end is close to the clamp 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 with the second connecting convex end and 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 correspondingly connected into the front end of the pipeline respectively with 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 respectively provided with a spring piece connected through a spring, and the two spring pieces face the first connecting concave end and the second connecting concave end respectively; the first connecting convex end and the second connecting convex end are respectively provided with a clamping button at one side of a spring piece, and the first connecting concave end and the second connecting concave end are respectively provided with a clamp Niu Cao;
the clamping button extends into the clamping button groove to realize connection between the second connecting convex end and the second connecting concave end and connection between the first connecting convex end and the first connecting concave end; in a spring loosening state, the spring piece blocks the clamping button from extending out to separate the second connecting convex end from the second connecting concave end and separate the first connecting convex end from the first connecting concave end; the clamping rod is connected with the second connecting convex end, and the deflection rod is connected with the first connecting concave end.
2. A rod-driven, hand-held surgical robot as defined 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 a clamping rod; the clamping rod reciprocates in a linear motion along the axis direction of the clamping rod, and the clamping connecting rod assembly drives the two groups of needle holder clamping pieces to open or close along the axis of the clamping rotating shaft so as to realize the action of the clamp.
3. A rod-driven, hand-held surgical robot as defined 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 hand-held part shell; two ends of the driving shaft are connected with the shell through small bearings, two gears are arranged on the driving shaft, one of the gears is meshed with the rack, the other 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 a coupler, and the other end of the worm is connected with the shell through a large bearing.
4. A rod-driven, hand-held surgical robot as defined in claim 1, wherein: the connecting frame of the driving mechanism for realizing the clamping movement is connected with the second clamping rod through a fastener, the second clamping rod is connected with the first clamping rod through a shaft sleeve, and the connecting frame of the driving mechanism for realizing the deflection movement is connected with the second deflection rod.
5. A rod-driven, hand-held surgical robot as defined in claim 1, wherein: the rotating mechanism comprises a first autorotation connecting pipe and a second autorotation connecting pipe which are coaxially arranged and connected in a sleeved mode, the second autorotation connecting pipe and the deflection connecting pipe are coaxially arranged, the shifting wheel is connected with the first autorotation connecting pipe, the deflection connecting pipe is positioned at one end of the second autorotation connecting pipe, the first autorotation connecting pipe rotates around the axis of the second autorotation connecting pipe, and the shifting wheel drives the rigid pipe to rotate through the first autorotation connecting pipe.
6. A rod-driven, hand-held surgical robot as defined 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 the deflection movement; the trigger is connected with the motor through the big bevel gear and the small bevel gear which are meshed, the rotation signal of the trigger is transmitted to the motor through the two bevel gears which are meshed, and the encoder of the motor transmits the signal to the encoder of the motor of the driving machine.
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| CN115227402B (en) * | 2022-06-30 | 2024-08-27 | 山东大学 | Surgical robot quick change device and surgical robot |
| CN115670550A (en) * | 2022-11-04 | 2023-02-03 | 山东大学齐鲁医院 | Electrically-controlled needle holder capable of adjusting angle of suture needle for laparoscopic surgery and method |
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