CN114098845A - A modular surgical robot drive device - Google Patents
A modular surgical robot drive device Download PDFInfo
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- CN114098845A CN114098845A CN202010882783.6A CN202010882783A CN114098845A CN 114098845 A CN114098845 A CN 114098845A CN 202010882783 A CN202010882783 A CN 202010882783A CN 114098845 A CN114098845 A CN 114098845A
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- 238000002955 isolation Methods 0.000 claims description 51
- 230000007246 mechanism Effects 0.000 claims description 40
- 238000003032 molecular docking Methods 0.000 claims description 19
- 230000010354 integration Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 description 16
- 238000009434 installation Methods 0.000 description 9
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000002674 endoscopic surgery Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 230000000007 visual effect Effects 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
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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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
- A61B2017/00017—Electrical control of surgical instruments
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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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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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
本发明属于医疗器械领域，具体地说是一种模块化手术机器人驱动装置，C型臂的一端安装有驱动电机，驱动电机的输出轴与基座相连，驱动基座旋转，C型臂的另一端设有多通道穿刺器；基座上设有多个装配工位，每个装配工位处均安装有一驱动模块，每个驱动模块的近端均安装在一个装配工位上，每个驱动模块的远端均可拆卸地安装有手术器械，各手术器械的驱动杆为柔性驱动杆，每个手术器械的柔性驱动杆均由多通道穿刺器穿过。本发明采用模块化设计，可伸缩导轨模块使驱动装置整体空间更加开放，手术器械与驱动模块支持快速拆装，手术器械驱动杆为柔性，可适应多种穿刺器结构及驱动装置的布局，空间布置集成度高，整体轻量化，可靠性高。
The invention belongs to the field of medical instruments, in particular to a modular surgical robot drive device. A drive motor is installed at one end of a C-shaped arm, the output shaft of the drive motor is connected with a base, and the base is driven to rotate. One end is provided with a multi-channel puncture device; the base is provided with a plurality of assembly stations, a drive module is installed at each assembly station, and the proximal end of each drive module is installed on an assembly station, and each drive module is installed on an assembly station. The distal end of the module is detachably mounted with surgical instruments, the driving rods of each surgical instrument are flexible driving rods, and the flexible driving rods of each surgical instrument are passed through by a multi-channel puncture. The invention adopts a modular design, the retractable guide rail module makes the overall space of the driving device more open, the surgical instrument and the driving module support quick disassembly and assembly, and the driving rod of the surgical instrument is flexible, which can adapt to various puncture structures and the layout of the driving device, and the space The layout is highly integrated, the overall light weight, and the reliability are high.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a modular surgical robot driving device which is suitable for completing minimally invasive surgery.
Background
The minimally invasive technology is to use advanced electronic electrothermal optics and other devices and technologies, use an electronic mirror image to replace naked eyes for direct vision, use a slender instrument to replace a conventional scalpel to finish observation, diagnosis and treatment of the focus in a patient body, and strive for minimum wound. With the advent of minimally invasive surgical robots, doctors can realize minimally invasive, accurate and efficient surgery with the help of the robots, and the minimally invasive surgical robots well assist the doctors in completing minimally invasive surgery. The minimally invasive surgery robot completes the operations of cutting, ablating, sewing and the like of pathological change tissues by using a precise surgery mechanical arm and a multi-degree-of-freedom surgical instrument through a tiny surgery incision, can provide a high-definition and three-dimensional surgery visual field, and the surgical instrument has good flexibility and accuracy and can simulate flexible operation of fingers.
The single-hole endoscopic surgery is a typical minimally invasive surgery, can use an endoscope and a plurality of surgical instruments to perform complex surgical operation through a tiny incision, and has the advantages of less bleeding, light pain, quick and attractive postoperative recovery, small postoperative infection risk and the like. The driving device for the single-hole endoscopic surgery is modularly integrated, so that surgical instruments can be conveniently and rapidly replaced in the surgical process, the light weight and multi-degree-of-freedom integrated driving of the surgical instruments are realized, the small surgical wound is realized, and the structure of the driving device for the single-hole endoscopic surgery is simplified.
Disclosure of Invention
In order to meet the requirements of minimally invasive surgery, the invention aims to provide a modular surgical robot driving device.
The purpose of the invention is realized by the following technical scheme:
the multi-channel puncture outfit comprises a C-shaped arm, a base, a driving module, a surgical instrument and a multi-channel puncture outfit, wherein one end of the C-shaped arm is provided with a driving motor, an output shaft of the driving motor is connected with the base to drive the base to rotate, and the other end of the C-shaped arm is provided with the multi-channel puncture outfit; the base is provided with a plurality of assembly stations, a driving module is installed at each assembly station, the near end of each driving module is installed on one assembly station, surgical instruments are detachably installed at the far end of each driving module, driving rods of the surgical instruments are flexible driving rods, and the flexible driving rods of the surgical instruments penetrate through the multichannel puncture outfit.
Wherein: the assembling stations are uniformly distributed along the circumferential direction, or are arranged in a cross shape or a fan shape.
The drive module comprises a telescopic guide rail module and a surgical instrument drive module, the near end of the telescopic guide rail module is installed on the assembling station, and the surgical instrument drive module is connected with the far end of the telescopic guide rail module.
The surgical instrument driving module comprises a box body, a limiting mechanism, a locking mechanism, a power device integration module and an isolation device, wherein the box body is connected with the far end of the telescopic guide rail module, and the isolation device is arranged at the near end of a surgical instrument; the limiting mechanism comprises guide columns, a cover plate A, a movable limiting plate and a spring A, the power device integrated module comprises a mounting plate fixedly connected to the box body and a plurality of power devices mounted on the mounting plate, the cover plate A is connected with the mounting plate through a plurality of guide columns, the movable limiting plate is located between the cover plate A and the mounting plate in a reciprocating mode, each guide column penetrates through the movable limiting plate, the spring A is sleeved on each guide column, and two ends of the spring A are respectively abutted to the movable limiting plate and the mounting plate; the output end of each power device is connected with a butt joint disc, and each butt joint disc is penetrated by a movable limiting plate and a cover plate A respectively; the isolating device comprises adapter discs, a cover plate B and an isolating plate, the isolating plate is installed at the near end of the surgical instrument, the adapter discs which are the same in number and correspond to the adapter discs one to one are packaged on the isolating plate through the cover plate B, one end of each adapter disc is connected with the corresponding adapter disc, the other end of each adapter disc is connected with a flexible driving rod of the surgical instrument, and the isolating plate is inserted into the cover plate A when the surgical instrument is installed and is connected with a locking mechanism installed on the cover plate A.
The cover plate A is provided with a notch, the movable limiting plate is provided with a top block A corresponding to the notch, the isolation plate is provided with a top block B corresponding to the notch, when the isolation plate is spliced with the cover plate A, the top block B penetrates through the notch to be abutted against the top block A, the movable limiting plate is pushed towards the direction of the box body, and the spring A is in a compressed state; after the isolating plate is separated from the cover plate A, the movable limiting plate is reset under the elastic action of the spring A.
The movable limiting plate is provided with positioning holes which are the same in number as the butt joint discs and correspond to the butt joint discs one by one, and each butt joint disc penetrates through the corresponding positioning hole; and each movable limiting plate below the positioning hole is provided with a limit stop, and each butt joint disc is provided with a screw for making change.
The locking mechanism comprises a button, a spring B and an installation frame, the installation frame is installed on the cover plate A, a clamping groove A is formed in the installation frame, the button penetrates through the clamping groove A, one end of the button is a pressing end, the other end of the button is in a hook shape, and the spring B is arranged between the other end of the button and the installation frame; and the isolating plate is provided with a locking hole for the button to pass through.
One end of the butt joint disc is provided with a bulge A used for being connected with the adapter disc, and the other end of the butt joint disc is provided with a mounting hole; one side of the adapter plate is provided with a groove B used for being connected with the protrusion A of the butt joint plate, and the other side of the adapter plate is provided with a protrusion B used for being connected with the surgical instrument.
The cover plate A extends towards the direction of the isolation plate from one side surface of the isolation plate to form an extension part A, and a groove A is formed in the extension part A; the isolating plate is provided with an extending part B, the extending part B is inserted into the groove A when the isolating plate is inserted into the cover plate A, and the extending part B is provided with a clamping groove B for inserting surgical instruments; and guide rails are arranged on the isolation plates on the two sides of the clamping groove B.
The isolation plate is provided with an isolation cover towards the outer edge of one side of the limiting mechanism, and the box body, the limiting mechanism, the locking mechanism, the power device integration module, the C-shaped arm, the base and the telescopic guide rail module are all covered inside the isolation cover.
The invention has the advantages and positive effects that:
the modularized surgical instrument driving device adopts a modularized design, integrates and packages the power device and related transmission components into a whole, and realizes the modularization of the surgical instrument driving part; the telescopic guide rail module enables the whole space of the driving device to be more open, the surgical instruments support quick assembly and disassembly, multi-degree-of-freedom driving of a plurality of surgical instruments can be simultaneously supported, the space arrangement integration level is high, the whole weight is light, and the reliability is high; meanwhile, the driving rod of the surgical instrument is flexible, so that the puncture outfit can adapt to the layout of various puncture outfit structures and driving devices.
Drawings
FIG. 1 is a perspective view of the present invention (with the surgical instrument in a retracted state);
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a perspective view of the present invention (with the surgical instrument in a deployed position);
FIG. 4 is a schematic perspective view of a C-arm according to the present invention;
FIG. 5 is a perspective view of the surgical device of the present invention;
FIG. 6 is a layout of an assembly station on the base of the present invention;
FIG. 7 is a layout of another assembly station on the base of the present invention;
FIG. 8 is a layout of yet another assembly station on the base of the present invention;
FIG. 9 is a schematic perspective view of the multichannel puncture instrument of the present invention;
FIG. 10 is a schematic perspective view of a case, a limiting mechanism, a locking mechanism and a power device integrated module of the driving module according to the present invention;
FIG. 11 is a second schematic perspective view of the case, the limiting mechanism, the locking mechanism and the power device integrated module of the driving module according to the present invention;
FIG. 12 is a schematic perspective view of a driving module of the present invention, with a case removed, showing a limiting mechanism, a locking mechanism and a power device integrated module;
FIG. 13 is a second schematic perspective view of a limiting mechanism, a locking mechanism and a power device integration module of the present invention with the case and the cover removed;
FIG. 14 is a front view of the cartridge, the limiting mechanism, the locking mechanism and the power device integration module of the driving module of the present invention;
FIG. 15 is a schematic perspective view of a movable position-limiting plate in the position-limiting mechanism of the driving module according to the present invention;
FIG. 16 is a schematic perspective view of a docking tray in a power plant integration module of the drive module of the present invention;
FIG. 17 is a schematic perspective view of an isolation device in a driving module according to the present invention;
wherein: 1 is a box body, 2 is a limiting mechanism, 201 is a guide post, 202 is a cover plate A, 203 is a movable limiting plate, 204 is a spring A, 205 is a limiting stop, 206 is a positioning hole, 207 is a top block A, 208 is an extension part A, 209 is a groove A, 210 is a notch, 3 is a locking mechanism, 301 is a clamping groove A, 302 is a button, 303 is a spring B, 304 is a mounting frame, 4 is a power device integration module, 401 is a mounting plate, 402 is a power device, 403 is a butt joint plate, 4031 is a protrusion A, 4032 is a mounting hole, 5 is an isolating device, 501 is an adapter plate, 5011 is a protrusion B, 502 is a cover plate B, 503 is an isolating plate, 504 is a top block B, 505 is a guide rail, 506 is an extension part B, 507 is a clamping groove B, 508 is a locking hole, 509 is an isolating cover, 6 is a surgical instrument, 7 is a C-shaped arm, 8 is a base, 9 is a telescopic guide rail module, 10 is a surgical instrument driving module, and 11 is a multi-channel puncture instrument puncture outfit, a flexible driving rod 12 and an assembling station 13.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the multi-channel puncture outfit comprises a C-shaped arm 7, a base 8, a driving module, a surgical instrument 6 and a multi-channel puncture outfit 11, wherein the C-shaped arm 7 is the tail end of a mechanical arm system, a driving motor is installed inside one end of the C-shaped arm 7, an output shaft of the driving motor is connected with the base 8 which is rotatably installed at one end of the C-shaped arm 7, the driving base 8 rotates, and the multi-channel puncture outfit 11 is arranged at the other end of the C-shaped arm 7; the base 8 is provided with a plurality of assembling stations 13, a driving module is installed at each assembling station 13, the near end of each driving module is installed on one assembling station 13, the far end of each driving module is detachably provided with the surgical instrument 6, the driving rod of each surgical instrument 6 is a flexible driving rod 12, and the flexible driving rod 12 of each surgical instrument 6 is penetrated by the multi-channel puncture outfit 11.
The number of the assembly stations 13 in this embodiment is four, and the assembly stations are uniformly distributed along the circumferential direction, as shown in fig. 6, each assembly station 13 is provided with one driving module; alternatively, the four assembly stations 13 are arranged in a cross shape and are respectively positioned at four corners of the cross shape, as shown in fig. 7; alternatively, the four assembly stations 13 are arranged in a fan shape, as shown in fig. 8.
The number of the channels of the multi-channel puncture outfit 11 can be flexibly adjusted according to the number of the surgical instruments, and the number can be three channels, four channels or five channels; the outer contour shape of the multichannel puncture instrument 11 can also be adjusted according to specific use scenes, and can be circular or oblong. As shown in FIG. 9, the multichannel puncture instrument 11 of the present embodiment may be a "multichannel puncture instrument for endoscopic surgery" having an application number of 202021149829.5 and an application number of 19/6/2020.
The driving module of the present embodiment includes a telescopic rail module 9 and a surgical instrument driving module 10, wherein a proximal end of the telescopic rail module 9 is mounted on the assembling station 13, and the surgical instrument driving module 10 is connected with a distal end of the telescopic rail module 9. The telescopic guide rail module 9 of the present embodiment may employ a telescopic cylinder.
As shown in fig. 10 to 17, the surgical instrument driving module 10 of the present embodiment includes a box 1, a limiting mechanism 2, a locking mechanism 3, a power device integration module 4 and an isolation device 5, wherein the box 1 is connected to a distal end of a retractable rail module 9, and the isolation device 5 is installed at a proximal end of a surgical instrument 6.
The limiting mechanism 2 of this embodiment includes guide pillars 201, a cover plate a202, a movable limiting plate 203 and a spring a204, the power device integrated module 4 includes a mounting plate 401 fixedly connected to the box body 1 and a plurality of power devices 402 mounted on the mounting plate 401, the cover plate a202 is mounted on the mounting plate 401 through a plurality of guide pillars 201, the movable limiting plate 203 is reciprocally located between the cover plate a202 and the mounting plate 401, each guide pillar 201 is penetrated by the movable limiting plate 203, and two ends of each guide pillar 201 are respectively fixedly connected to the cover plate a202 and the mounting plate 401; each guide post 201 is sleeved with a spring a204, and two ends of the spring a204 are respectively abutted with the movable limit plate 203 and the mounting plate 401. The output end of each power device 402 is connected with a butt joint disk 403, and each butt joint disk 403 is penetrated by a movable limit plate 203 and a cover plate A202 respectively. The mounting plate 401 of this embodiment is L-shaped, one side of the L-shape is fixedly connected to the box body 1, each power device 402 is mounted on the other side of the L-shape, and each guide post 201 is also fixedly connected to the other side of the L-shape. The number of power units 402 may vary depending on the particular requirements of the drive, and the power units 402 of this embodiment employ dc servo motors.
The isolating device 5 of the present embodiment includes adapter discs 501, a cover plate B502, and an isolating plate 503, where the isolating plate 503 is installed at the proximal end of the surgical instrument 6, the adapter discs 501, which are the same in number as the number of the docking discs 403 and are in one-to-one correspondence, are packaged on the isolating plate 503 through the cover plate B502, one end of each adapter disc 501 is connected to the corresponding docking disc 403, the other end of each adapter disc 501 is connected to the flexible driving rod 12 of the surgical instrument 6, and the isolating plate 503 is inserted into the cover plate a202 when the surgical instrument 6 is installed, and is connected to the locking mechanism 3. In this embodiment, the isolation cover 509 is mounted on the outer edge of the isolation plate 503 facing the limiting mechanism 2, and the box 1, the limiting mechanism 2, the locking mechanism 3, the power device integration module 4, the C-arm 7, the base 8 and the retractable guide rail module 9 are all covered in the isolation cover 509 except for the surgical instrument 6 and the multichannel puncture outfit 11. The isolation cover 509 of the present embodiment is made of plastic.
The locking mechanism 3 of this embodiment includes a button 302, a spring B303, and an installation frame 304, where the installation frame 304 is installed on the cover plate a202, a clamping groove a301 is provided on the installation frame 304, the button 302 is inserted into the clamping groove a301, one end of the button 302 is a pressing end, the other end is in a hook shape, and the spring B303 is provided between the other end of the button 302 and the installation frame 304; the isolation plate 503 is provided with a locking hole 508 for the other end of the button 302 to pass through.
The cover plate A202 of the embodiment is provided with a notch 210, when the isolation plate 503 is inserted into the cover plate A202, the notch 210 penetrates through the movable limit plate 203 to push the box body 1, and the spring A204 is in a compressed state; after the isolation plate 503 is separated from the cover plate a202, the movable limiting plate 203 is reset by the elastic force of the spring a 204. In this embodiment, the left side and the right side of the cover plate a202 are respectively provided with a notch 210, the left side and the right side of the movable limiting plate 203 are provided with a top block a207 corresponding to the notch 210, the left side and the right side of the isolation plate 503 are provided with a top block B504 corresponding to the notch 210, when the isolation plate 503 is inserted into the cover plate a202, the top block B504 penetrates through the notch 210 and abuts against the top block a207, and then the movable limiting plate 203 is pushed towards the box body 1 along the guide pillar 201.
The movable limiting plate 203 of this embodiment is provided with positioning holes 206, the number of which is the same as that of the abutting plates 403, and the positioning holes 206 correspond to one another, and each abutting plate 403 passes through the corresponding positioning hole 206 and then passes through the cover plate a 202; a limit stop 205 is arranged on the movable limit plate 203 below each positioning hole 206. A protrusion a4031 for connecting with the adapter plate 501 is arranged on an end face of one end of the docking plate 403 in this embodiment, and the protrusion a4031 is in a strip shape; the other end of the docking tray 403 is provided with two mounting holes 4032, one of the two mounting holes 4032 is used for mounting a screw for positioning (mechanical limiting), and the other one is used for connecting with the output end of the power device 402. The screw is located on the side of the movable restriction plate 203 facing the partition plate 503.
The adapter plate 501 of this embodiment has a groove B for connecting with the docking plate 403 on one side and a protrusion B5011 for connecting with the surgical instrument 6 on the other side. The groove B is a strip-shaped groove to accommodate the strip-shaped protrusion A4031; the projection B5011 is also in the form of a bar and is connected to the drive rod of the surgical instrument 6.
In the present embodiment, one side surface of the cover plate a202 facing the isolation plate 503 extends toward the isolation plate 503 to form an extension portion a208, and the extension portion a208 is provided with a groove a 209; the isolation plate 503 is provided with an extension part B506, the extension part B506 is inserted into the groove A209 when the isolation plate 503 is inserted into the cover plate A202, the extension part B506 is provided with a clamping groove B507 for inserting the surgical instrument 6, guide rails 505 are arranged on the isolation plate 503 at two sides of the clamping groove B507, and the surgical instrument 6 is inserted through the guide rails 505.
The material of the isolation device 5 of the present invention may be a polymer material, such as ABS, and the processing method may be injection molding or 3D printing molding.
The invention can be used for simultaneously installing a plurality of surgical instruments 6, each surgical instrument 6 and the corresponding surgical instrument driving module 10 are installed on the independent telescopic guide rail modules 9, the number can be determined according to specific requirements, and no restriction is made here. In the present embodiment, a four-way telescopic rail module 9 is adopted, that is, a combination of one endoscope and three surgical instruments is adopted.
The surgical instrument 6 of the present invention has a telescopic degree of freedom driven by the telescopic rail module 9, a rotational degree of freedom driven by the rotation of the base 8, and a pitching degree of freedom or a yawing degree of freedom pitching or yawing along with the C-arm 7.
The installation and working principle of the invention is as follows:
firstly, respectively installing a telescopic guide rail module 9 at each assembly station 13 on a base 8, then installing an assembled surgical instrument driving module 10 at the far end of the telescopic guide rail module 9, and finally, installing a multi-channel puncture outfit 11 and installing surgical instruments 6, wherein the surgical instruments 6 slide in from a guide rail 505 on an isolation plate 503 in a radial direction, and a flexible driving rod 12 of each surgical instrument 6 penetrates through a plurality of channels of the puncture outfit 11 and is installed at the other end of a C-shaped arm 7
The movable limiting plate 203 in the limiting mechanism 2 is jacked up by the spring a204 in a natural state, at this time, the output end of the power device 402 drives the butt joint disc 403 to rotate, the screw on the butt joint disc 403 rotates along with the butt joint disc 403, the butt joint disc 403 rotates forward and backward once respectively, the rotation in each direction stops after contacting with the limiting stopper 205 on the movable limiting plate 203, and thus the limiting and changing effects are achieved.
When the isolating device 5 and the limiting mechanism 2 are installed, the extending part B506 on the isolating plate 503 firstly slides into the groove A209 on the cover plate A202 and is buckled along the axial direction; when the button 302 is pressed downwards, the spring B303 is compressed, the hook-shaped other end of the button 302 passes through the locking hole 508 on the isolation plate 503, and after the hand is released, the button 302 is reset under the action of the spring B303, so that the isolation device 5 is locked on the limiting mechanism 2. In the process, the top block B504 on the isolation plate 503 passes through the notch 210 on the cover plate a202, contacts with the top block a207 on the movable limit plate 203, and pushes and compresses the movable limit plate 203 along the axial direction, and the limit stopper 205 is far away from the screw on the butt-joint disc 403. The protrusion a4031 on the docking tray 403 is inserted into the groove B on the adapter plate 501, the output end of the power device 402 drives the docking tray 403 to rotate, the docking tray 403 cannot contact with the limit stop 205 on the movable limit plate 203, the adapter plate 501 is driven to rotate by the docking tray 403, and the flexible driving rod 12 of the surgical instrument 6 is driven by the adapter plate 501 to move.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010882783.6A CN114098845B (en) | 2020-08-28 | 2020-08-28 | A modular surgical robot driving device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010882783.6A CN114098845B (en) | 2020-08-28 | 2020-08-28 | A modular surgical robot driving device |
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| CN114098845A true CN114098845A (en) | 2022-03-01 |
| CN114098845B CN114098845B (en) | 2023-07-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115837659A (en) * | 2022-11-21 | 2023-03-24 | 佗道医疗科技有限公司 | A surgical instrument alignment tooling platform and offset angle measurement method |
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| CN114098845B (en) | 2023-07-25 |
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