CN114271944A

CN114271944A - Surgical robot end actuating mechanism and surgical robot using same

Info

Publication number: CN114271944A
Application number: CN202111614572.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Changzhou Weijing Medical Robot Co ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-04-05
Anticipated expiration: 2041-12-27
Also published as: CN114271944B

Abstract

The invention relates to a surgical robot end actuating mechanism and a surgical robot using the same, comprising: an end effector; a first support frame for supporting an end effector; and the end effector is adapted to effect the pitching motion by rotating relative to the first support frame about a first wire line provided on the end effector; the end effector is provided with a first hollow guide sleeve suitable for clamping and limiting a first steel wire rope; a second support frame for supporting the first support frame; the first support frame is suitable for rotating relative to the second support frame through a second steel wire rope arranged on the first support frame so as to realize yaw movement; and a second hollow guide sleeve suitable for clamping and limiting the second steel wire rope is arranged on the first supporting frame. On one hand, the assembly convenience is improved through the integrally simplified structure, and on the other hand, the integral structure is convenient for sterilization and disinfection through avoiding the design of a closed structure; namely, the optimization of the use performance of the whole end actuating mechanism of the surgical robot is realized.

Description

Surgical robot end actuating mechanism and surgical robot using same

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical robot tail end executing mechanism and a surgical robot using the same.

Background

In robotic-assisted minimally invasive surgical procedures, a dedicated channel is typically established through a cannula into which a surgeon performs surgical tasks within the abdominal cavity of the body with the aid of elongated minimally invasive surgical instruments. Minimally invasive surgical instruments, such as electrocoagulation hooks, are a surgical instrument that is indispensable and used more frequently. The electrocoagulation hook is generally used for cutting and stripping human tissues, can play a role in electrocoagulation hemostasis when meeting capillary vessels, and can also be used for picking up larger vessels or normal tissues to create space for subsequent operation operations.

The most common electrocoagulation hook structure for minimally invasive surgery robots is disclosed in the chinese patent application with publication number CN112043394A, and the structure is found in the da vinci surgery robot of the intuitive surgical operation company at the earliest, and comprises a first supporting frame, a second supporting frame and an executing part, wherein the first supporting frame and the second supporting frame are substantially U-shaped structures, and steel wire ropes are fixed on the second supporting frame and the executing part respectively in orthogonal directions, so that two-degree-of-freedom movement of the executing part is realized. The electric hook is fixed on the execution part, and the electric hook is provided with electric energy required by electrocoagulation through a cable connected with the electric hook.

The practical use finds that the electrocoagulation hook structure has the following technical defects:

1. the insulating part used for accommodating the cable, the part of the second supporting frame for fixing the steel wire rope or the steel wire rope, and the passage of the first insulating part for passing through the cable have large assembly difficulty and are easy to store dirt and contain dirt; because the surgical instruments of the surgical robot can be generally used for about ten times, the electric coagulation hook needs to be sterilized and disinfected after each use, and the structure causes that the disinfection effect is not ideal or the cost is too high, and particularly for some tiny solid matters buried in the closed structure, the common disinfection modes such as disinfection water soaking/flushing, high-temperature steam and the like cannot be removed;

2. the steel wire rope driving the first insulating part to rotate is arranged on one side of the first insulating part in an offset mode, so that the first insulating part is uneven in stress and affects reliability, and the steel wire rope is large in force, so that the influence on the insulating part which is generally made of plastic materials is larger;

3. the two pins are arranged on the first supporting frame at intervals, the guide wheels are respectively installed on the first supporting frame, the U-shaped lug part of the first supporting frame is long in length, the structure is not compact, and the structural strength is influenced;

4. the directions of the steel wire ropes on the two sides and the steel wire ropes (which are substantially one steel wire rope) passing through the guide wheels on the two sides are the same, so that when the electric hook makes front and back deflection motion, the steel wire ropes on the two sides simultaneously extend or shorten, and the length of the steel wire ropes cannot be kept constant, therefore, the scheme needs to design a complex mechanical decoupling structure on the transmission box part, and the transmission box has a complex structure and low motion reliability.

In summary, the overall performance of the electrocoagulation hook structure for minimally invasive surgery robots is yet to be further optimized.

Disclosure of Invention

The first purpose of the present invention is to provide a surgical robot end effector, which is to solve the technical problem of optimizing the overall performance of the surgical robot end effector.

A second object of the present invention is to provide a surgical robot, which solves the technical problem of optimizing the use performance of the entire end effector of the surgical robot.

The surgical robot end actuating mechanism of the invention is realized by the following steps:

a surgical robotic end effector comprising:

an end effector;

a first support for supporting the end effector; and the end effector is adapted to perform a pitching motion by rotating relative to the first support frame about a first wire rope provided on the end effector; a first hollow guide sleeve suitable for clamping and limiting a first steel wire rope is arranged on the end effector;

a second support frame for supporting the first support frame; the first support frame is suitable for rotating relative to the second support frame through a second steel wire rope arranged on the first support frame so as to realize yaw movement; and a second hollow guide sleeve suitable for clamping and limiting a second steel wire rope is arranged on the first supporting frame.

In an alternative embodiment of the present invention, a first guide groove for guiding the first wire rope is further provided on an outer wall surface of the end effector corresponding to the pitching motion of the end effector.

In an optional embodiment of the invention, the end effector is provided with an open accommodating groove for embedding the first hollow guide sleeve;

the holding tank communicates with the first guide way.

In an alternative embodiment of the present invention, a pair of opposite outer sidewalls of the first support frame are respectively provided with a guide wheel for guiding the first wire rope;

the pair of guide wheels are respectively arranged on the outer wall surface of the first supporting frame corresponding to the pitching motion of the end effector; the guide wheels respectively positioned on the two outer side walls of the first supporting frame are distributed in a staggered manner so that the end surfaces of the two guide wheels which are respectively matched with the first steel wire rope are opposite; and

guide wheels for guiding the first steel wire rope are respectively arranged on a pair of opposite side walls of the second supporting frame;

the pair of guide wheels are respectively arranged on the wall surface of the second supporting frame corresponding to the pitching motion of the end effector;

the two guide wheels are opposite to the end surfaces matched with the first steel wire rope respectively.

In an alternative embodiment of the invention, the first guide groove is arranged in the middle of the end effector so that the first steel wire rope acts on the middle of the end effector

In an alternative embodiment of the invention, the end effector is further coupled with an end effector part through a prefabricated mounting hole;

a wire groove for guiding a wire is further arranged on the outer wall surface of the end effector corresponding to the pitching motion of the end effector; and

the wire groove is communicated with the mounting hole so that a wire can be guided by the wire groove and then extends into the mounting hole to be connected with the tail end execution part.

In an alternative embodiment of the invention, the end effector employs an electrocoagulation hook; and

the electrocoagulation hook comprises a hook head and a hook body which are connected integrally, and a connecting section which is connected with the hook body and is used for being matched with the mounting hole.

In an optional embodiment of the invention, a wall surface of the first support frame corresponding to the deflection motion of the first support frame is further provided with a second guide groove for guiding a second steel wire rope; and

the second hollow guide sleeve is embedded on the first supporting frame and communicated with the second guide groove.

In an optional embodiment of the invention, the first support frame is provided with an open accommodating part for embedding the second hollow guide sleeve;

the accommodating portion communicates with the first guide groove.

The surgical robot of the present invention is realized by:

a surgical robot, comprising: the surgical robot end effector.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the surgical robot end actuating mechanism and the surgical robot using the same, for the first steel wire rope for driving the end effector to do pitching motion, the first steel wire rope winds the first guide groove formed in the outer wall surface of the end effector and penetrates through the first hollow guide sleeve formed in the end effector to limit; the first guide groove and the accommodating groove for assembling the first hollow guide sleeve are both in open structures, and the structures are convenient to assemble and sterilize; for a second steel wire rope for driving the first supporting frame to do yaw motion, the second steel wire rope is wound around a second guide groove arranged on the first supporting frame and penetrates through a second hollow guide sleeve arranged on the first supporting frame to limit; the second guide groove and the accommodating part for assembling the second hollow guide sleeve are also of open structures; the structure is convenient to assemble and sterilize.

In addition, the guide wheels respectively positioned on the two outer side walls of the first supporting frame are distributed in a staggered manner so that the two guide wheels are opposite to the end surfaces matched with the first steel wire rope respectively; and the length of the first steel wire rope used in the structure is constant by matching with a structure that the end surfaces of the two guide wheels on the second bracket are opposite to the end surfaces matched with the first steel wire rope, and a complex mechanical decoupling mechanism is not needed, so that the structure of the tail end actuating mechanism is simplified, and the operating principle is simpler.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a first perspective structural diagram of an end effector of a surgical robot provided in embodiment 1 of the present invention;

fig. 2 is a second perspective structural view of the surgical robot end effector provided in embodiment 1 of the present invention;

fig. 3 is an exploded schematic view of an end effector of a surgical robot provided in embodiment 1 of the present invention;

fig. 4 is a schematic structural diagram illustrating an end effector of a surgical robot provided in embodiment 1 of the present invention;

fig. 5 is a first perspective structural view of a first support frame of a surgical robot end effector provided in embodiment 1 of the present invention;

fig. 6 is a second perspective structural view of the first support frame of the surgical robot end effector provided in embodiment 1 of the present invention;

fig. 7 is a schematic structural diagram illustrating a receiving cavity of a first support frame of a surgical robot end effector provided in embodiment 1 of the present invention;

FIG. 8 is a schematic cross-sectional view of a first support frame of an end effector of a surgical robot provided in embodiment 1 of the present invention;

FIG. 9 is a schematic diagram showing a second support frame of an end effector of a surgical robot according to embodiment 1 of the present invention;

FIG. 10 is a schematic structural diagram of an electrocoagulation hook of a surgical robot end effector provided in embodiment 2 of the present invention in an alternative implementation;

FIG. 11 shows a schematic view of the electrocoagulation hook from another perspective corresponding to the surgical robotic end effector of FIG. 10;

FIG. 12 shows a schematic view of the electrocoagulation hook from a further perspective corresponding to the surgical robotic end effector of FIG. 10;

FIG. 13 is an enlarged view of portion A of FIG. 12;

FIG. 14 is a schematic size diagram of a flat end of an electrocoagulation hook of a surgical robotic end effector provided in example 2 of the present invention in an alternative implementation;

FIG. 15 is a schematic structural diagram of an electrocoagulation hook of a surgical robot end effector provided in embodiment 2 of the present invention in yet another alternative implementation;

FIG. 16 shows a schematic view of the electrocoagulation hook from another perspective corresponding to the surgical robotic end effector of FIG. 15;

FIG. 17 shows a schematic view of the electrocoagulation hook of the surgical robotic end effector corresponding to FIG. 15 from yet another perspective;

fig. 18 is an enlarged schematic view of part B of fig. 17.

In the figure: the end effector 100, the first support frame 200, the second support frame 300, the long shaft 400, the first wire rope 500, the second wire rope 600, the wire 700, the first hollow guide sleeve 101, the second hollow guide sleeve 201, the outer jacket layer 102, the guide wheel 202, the guide wheel 301, the rotating shaft 103, the shaft 203, the first guide groove 104, the accommodating groove 105, the second guide groove 204, the accommodating portion 205, the pin shaft 206, the fixing pin 107, the mounting hole 108, the fixing pin hole 109, the wire groove 110, the bracket hole 210, the mounting groove 211, the bracket 212, the base body 213, the wire avoiding portion 214, the wire passing portion 215, the fitting hole 303, the straight rod section 1, the curved section 2, the flat end 3, the curved head 5, the second cut-out portion 6, the curved transition section 7, the connecting section 8, the connecting hole 9, the locking hole 10, and the curved transition section 11.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

Example 1:

referring to fig. 1 to 9, the present embodiment provides an end effector of a surgical robot, including: end effector 100, first support 200, and second support 300 are used in conjunction. A first support 200 for supporting the end effector 100; and the end effector 100 is adapted to perform a pitching motion by rotating with respect to the first support frame 200 about the first wire rope 500 provided on the end effector 100; a first hollow guide sleeve 101 suitable for a first steel wire rope 500 to pass through is arranged on the end effector 100; a second support frame 300 for supporting the first support frame 200; and the first support frame is adapted to perform a yawing motion by rotating with respect to the second support frame 300 around a second wire rope 600 provided on the first support frame 200; a second hollow guide sleeve 201 suitable for the second steel wire rope 600 to pass through is arranged on the first support frame 200.

It should be noted that "pitch" and "yaw" are defined in the present invention to correspond to the operating perspective associated with the surgical robot during a particular use.

Next, the end effector 100:

firstly, the end effector 100 is rotationally matched with the first support frame 200 through the rotating shaft 103 which is integrally or assembled and molded on the end effector 100, and the corresponding first support frame 200 is provided with a support hole 210 which is used for being matched with the rotating shaft 103; for this the spindle 103 and bracket hole 210 may be a direct friction fit; the use requirement of the embodiment can be met by performing smoothing treatment on the inner wall of the bracket hole 210 and the outer wall of the rotating shaft 103 to reduce the frictional resistance.

Secondly, for the cooperation of the first wire rope 500 and the end effector 100, a first guide groove 104 for guiding the first wire rope 500 is further provided on the outer wall surface of the end effector 100 corresponding to the pitching motion thereof; the outer wall referred to herein specifically corresponds to a wall that can be directly observed by the naked eye of a person on the end effector 100, i.e., an open structure that is within the range of the line of sight of a person, and the first guide groove 104 is provided on the structure, which facilitates assembly, cleaning and disinfection, and avoids the occurrence of a blind cleaning corner for storing dirt and scale.

On the basis of the above structure, the end effector 100 is provided with an open accommodating groove 105 for embedding the first hollow guide sleeve, and the accommodating groove 105 is communicated with the first guide groove 104. Specifically, the first hollow guide sleeve 101 of the present embodiment has a cavity for the first steel wire rope 500 to pass through, and after the first hollow guide sleeve 101 and the first steel wire rope 500 are assembled, the first hollow guide sleeve 101 is embedded into the accommodating groove 105, where, for example, but not limited to, an interference fit mode may be adopted to enable the first hollow guide sleeve 101 to be firmly coupled with the end effector 100. The accommodating groove 105 designed in this embodiment is an open structure, and the opening specifically means that after the first hollow guide sleeve 101 is embedded in the accommodating groove 105, the outer side wall surface of the first hollow guide sleeve 101 is still in an outer leakage state, so that the cleaning and disinfection are facilitated, and a cleaning blind corner for storing dirt and dirt is not present.

In an alternative embodiment, the first hollow guide 101 used in the present embodiment has a U-shaped or circular cross-section before being assembled to the receiving groove 105. Of course, the first hollow guide sleeve 101 may have other shapes or a special-shaped structure, and the use requirement of this embodiment can be satisfied as long as the cavity of the first hollow guide sleeve 101 is communicated with the first guide groove 104.

Furthermore, the end effector 100 of the present embodiment is further coupled with an end effector through a prefabricated mounting hole 108. In the using process of the end executing part, the end executing part needs to be externally connected with a lead 700 to realize the supply of power or the control of other functions, and for this reason, a wire slot 110 for guiding the lead 700 is also arranged on the outer wall surface of the end executing part 100 corresponding to the pitching motion of the end executing part; and the wire groove 110 is communicated with the mounting hole 108, so that the lead 700 can extend into the mounting hole 108 to be connected with the end execution part after being guided by the wire groove 110. Here again, the slot 110 is formed in the outer wall of the end effector 100 such that the slot 110 presents an open configuration that facilitates assembly and does not present a clean blind corner that can trap dirt and grime.

Furthermore, in a specific alternative embodiment, the mounting hole 108 of the present embodiment is disposed in a hollow cylindrical structure, and the cylindrical structure may be further configured with an outer casing layer 102, and two mounting and fixing pin holes 109 are formed on the side surface of the cylindrical structure for inserting the fixing pin 107 to fix the end effector. It is understood that in this embodiment, the center line of the rotating shaft 103 and the center line of the mounting hole 108 are orthogonal to each other to form a plane, and the end effector 100 has a left-right symmetrical structure along the plane.

It should be noted that, regarding the end effector 100 of the present embodiment, for the first guide groove 104 provided on the end effector 100, the first guide groove 104 is provided at a middle position on the end effector 100, so that the end effector 100 receives a more uniform pulling force from the first wire rope 500, and the entire pitch motion of the end effector 100 is more stable on the premise of uniform force, so that the operation of the end effector 100 is more precise and sensitive.

Next, the first support frame 200:

firstly, the first supporting frame 200 is rotationally matched with the second supporting frame 300 through a shaft 203 which is integrally or assembled and molded on the first supporting frame 200, and the second supporting frame 300 is correspondingly provided with an adapting hole 303 which is used for being matched with the shaft 203; for this purpose, the shaft 203 may be a direct friction fit with the adapter bore 303; the use requirement of the present embodiment can be satisfied by reducing the frictional resistance by smoothing the inner wall of the fitting hole 303 and the outer wall of the shaft 203.

It should also be noted that, for the shaft 203 of the second support frame 300 to be engaged, the shaft 203 may be an integral shaft 203 extending through the first support frame 200, which makes the integral end effector compact and strong.

Secondly, since the first wire rope 500 for driving the end effector 100 passes through the second support frame 300, passes through the first support frame 200, and then finally extends to the end effector 100, in consideration of the guiding process of the first wire rope 500 in use, guide wheels 202 for guiding the first wire rope 500 are respectively provided on a pair of opposite outer side walls of the first support frame 200; a pair of guide wheels 202 are respectively provided on the outer wall surface of the first support frame 200 corresponding to the pitch motion of the end effector 100; here, too, the guide wheel 202 is disposed on the outer wall surface of the first support frame 200 such that the guide wheel 202 assumes an open structure, which facilitates assembly and does not present a cleaning blind corner for storing dirt and scale.

In addition, guide wheels 301 for guiding the first wire rope 500 are respectively provided on a pair of opposite sidewalls of the second support frame 300; a pair of guide wheels 301 are respectively provided on the wall surface of the second support frame 300 corresponding to the pitching motion of the end effector 100; the end surfaces of the two guide wheels 301, which are respectively engaged with the first wire rope 500, are opposite. The guide wheel 301 can be directly sleeved on the shaft 203 of the first supporting frame 200, so that the additional support for the guide wheel 301 arranged on the side wall of the second supporting frame 300 can be omitted, and the structure of the integral end actuating mechanism is simplified. And for the two guide wheels 301, the whole contact surface matched with the first steel wire rope 500 is also open and visible, and the cleaning and disinfection are also facilitated.

In addition to the above structure, it should be noted that the end surfaces of the two guide wheels 301 respectively located on the two side walls of the second support frame 300 are opposite to the end surfaces where the first wire rope 500 is engaged. Referring to fig. 2, in guide wheel 301 in the current view, first cable 500 passes through the right side of guide wheel 301 (i.e. the side far from the end executing part), and at the back side of the view, i.e. the end surface invisible in the current view, there is also a guide wheel 301, and first cable 500 passes through the left side of guide wheel 301 (i.e. the side near the end executing part). Thus, when the first support frame 200 rotates, the length of one side of the first steel wire rope 500 is increased, the length of the other side of the first steel wire rope 500 is reduced equally, that is, the length of the whole first steel wire rope 500 is constant, the angle of the end effector 100 can be kept unchanged, a complex mechanical decoupling mechanism is not required to be designed, the structure of the whole surgical robot end effector is simplified, the simplified structure reduces the accessory cost and the assembly cost on one hand, and on the other hand, the cleaning and disinfection are convenient, and the disinfection thoroughness can be improved.

It should be noted that, in the case of the structure of the present embodiment in which the first guide groove 104 is formed at the middle position of the end effector 100, when the end effector 100 is pulled, the first wire 500 needs to be conducted through the guide wheel 202 of the first support frame 200 and the guide wheel 301 of the second support frame 300, since the end effector of the surgical robot of the present embodiment is applied to the minimally invasive surgery, with respect to the precision and sensitivity of the instrument operation, in conjunction with the present embodiment, the transmission coefficient of the driving force of first cable 500 to the force applied to end effector 100 directly affects the sensitivity and precision of the final end effector 100, therefore, it is necessary to reduce the frictional resistance of the guide pulley 202 and the guide pulley 301 during the conduction of the first steel cable 500, and for this reason, the following design is made: that is, for the guide wheel 202 arranged on the first support frame 200 and the guide wheel 301 arranged on the second support frame 300, the guide wheel 202 and the guide wheel 301 which are positioned on the same side are in an offset distribution structure, and the inner side edge of the guide wheel 202 corresponds to the middle position of the guide wheel 301, and practical trials verify that under such a structure, not only the first steel wire rope 500 can act on the middle position of the end executing mechanism, so that the stress of the whole end executing mechanism is balanced, but also the conduction effect of the acting force of the first steel wire rope 500 passing through the guide wheel 202 and the guide wheel 301 which are positioned on the same side can reach an ideal state, so that the precision and the sensitivity of the end executor 100 under the action of the first steel wire rope 500 with such a structure can reach an ideal state in the using process, and the use requirement under the minimally invasive surgery environment is met.

Furthermore, for the matching of the second steel wire rope 600 and the first support frame 200, a second guide groove 204 for guiding the second steel wire rope 600 is further arranged on the wall surface of the first support frame 200 corresponding to the yawing motion; the wall surface at this place corresponds specifically to the wall surface that people's naked eye can direct observation on first support 200, also is open the structure that presents in people's sight range, sets up second guide way 204 on this kind of structure, and the assembly of can being convenient for on the one hand, and on the other hand also is convenient for wash the disinfection, can not have the washing blind angle of hiding dirty and holding dirt.

On the basis of the above structure, the first supporting frame 200 is provided with an open accommodating part 205 for embedding the second hollow guide sleeve 201, and the accommodating part 205 is communicated with the second guide groove 204. Specifically, the second hollow guide sleeve 201 of the present embodiment has a cavity for the second steel wire rope 600 to pass through, and after the second hollow guide sleeve 201 and the second steel wire rope 600 are assembled, the second hollow guide sleeve 201 is embedded into the accommodating portion 205, where, for example, but not limited to, an interference fit mode may be optionally adopted to enable the second hollow guide sleeve 201 to be firmly connected with the first support frame 200. The accommodating portion 205 designed in this embodiment is an open structure, and the opening here specifically means that after the second hollow guide sleeve 201 is embedded in the accommodating portion 205, the outer side wall surface of the second hollow guide sleeve 201 is still in an outer leakage state, so that the cleaning and disinfection are facilitated, and a cleaning blind corner for storing dirt and dirt does not exist.

In an alternative embodiment, the second hollow guide sleeve 201 used in the present embodiment has a U-shaped or circular cross-section before being assembled to the receptacle 205. Of course, the second hollow guide sleeve 201 here may also be in other shapes or in a special-shaped structure, and the use requirement of this embodiment can be satisfied as long as the cavity of the second hollow guide sleeve 201 is communicated with the second guide groove 204.

Further, in an alternative embodiment, the first supporting frame 200 of the present embodiment may be formed by a plastic material (specifically, a peek plastic material, which is formed integrally), and includes a base 213 having the second guiding groove 204 and a bracket 212 located at two sides of the base 213 for matching with the rotating shaft 103. Three shaft holes are formed in the base 213, two of the shaft holes are used for assembling the guide wheel 202 by matching with the pin shaft 206, and the third shaft hole is used for assembling the shaft 203 for realizing the yaw motion of the first support frame 200 relative to the second support frame 300. The bracket 212 is provided with a bracket hole 210 for matching with the rotating shaft 103 of the end effector 100, and an inclined mounting groove 211 is arranged at the inner side position above the bracket hole 210, so that the rotating shaft 103 is conveniently clamped in the bracket hole 210; the bracket 212 is connected to the base 213 at a position where a wire passing portion 215 for passing the wire 700 is provided at one side and a wire escape portion 214 for preventing the wire 700 from interfering with the first support 200 when the end effector 100 is rotated is provided at the other side. In the present embodiment, the projections of the centers of the three pin shaft holes 208 on the large surface of the base 213 are not on a straight line, but form an isosceles triangle; specifically, two of the pin holes 208 are used to mate with the guide wheels 202, and the third pin hole 208 is used to mate with the shaft 203. In other words, the entire first supporting frame 200 has a central symmetrical structure, and thus, assembly is more facilitated.

Example 2:

referring to fig. 10 to 18, on the basis of the surgical robot end effector of embodiment 1, an electric coagulation hook is used as an end effector of the surgical robot end effector according to this embodiment; and the electrocoagulation hook comprises a hook head and a hook body which are connected integrally, and a connecting section 8 which is connected with the hook body and is used for matching with the mounting hole 108.

The electrocoagulation hook adopted by the embodiment comprises: the hook head and the hook body are integrally connected; wherein the hook head comprises a straight rod section 1 and an arc-shaped bent section 2 which are integrally formed; the length of the straight rod section 1 is L, L is more than or equal to 2.5mm and less than or equal to 4.5mm, and 3.5mm is preferred in the embodiment.

It should be noted here that for the straight rod segment 1, in combination with the actual use requirement, a cylindrical or approximately cylindrical structure may be adopted, so that the structure not only facilitates the processing, but also reduces the unintended damage to the human tissue during the use process.

In addition, the curved section 2 can be designed in other shapes for the electrocoagulation hook herein to fit head structures on different surgical instruments. Specifically, the present embodiment does not improve the structure of the arc-shaped bending section 2, and therefore the specific structure of the part of the structure is not absolutely limited.

On the basis of the above structure, the present embodiment further forms a pair of flat ends 3 on the side wall of the hook head by, for example, but not limited to, turning, so that the straight rod section 1 forms an edge structure toward the end face of human tissue during specific use. A pair of flat ends 3 are located on either side of the cutting edge configuration. And the flat end part 3 extends from the straight rod section 1 to the side of the arc-shaped bent section 2 in the processing process. That is, the flat end 3 may be formed on only the side wall of the straight rod segment 1, or may be formed on both the side walls of the straight rod segment 1 and the curved segment 2, and this embodiment is not limited thereto.

It should be noted that, for the pair of flat end portions 3 formed on the hook head, it may be a symmetrical distribution structure or an asymmetrical structure, and of course, in consideration of the convenience of processing, the symmetry of the formed product structure, and the optimization of performance during use, this embodiment is exemplified by the pair of flat end portions 3 which are symmetrically arranged in conjunction with the drawings.

Regarding the cutting edge structure of the present embodiment is mainly used for peeling off tissue in a specific using process, therefore, in the process of peeling off tissue, it is also necessary to avoid the situation that unexpected damage is generated to tissue due to the cutting edge structure being too sharp, so the end surface of the cutting edge structure designed in the present embodiment facing to the human tissue is formed into an outward arc-shaped surface, and compared with a flat end surface, the two side edges corresponding to the cutting edge structure are softer, so that damage possibly generated to the human tissue in the process of peeling off the human tissue is also small.

Furthermore, also for the purpose of reducing the likelihood of unintended damage to human tissue that may be caused by the electrocoagulation hook during use, the end of the straight rod section 1 of the present embodiment distal from the curved section 2 is shaped into a curved head 5; and the arc-shaped head 5 has an arc-shaped transition which is engaged with the cutting edge structure. In this configuration, the arcuate head 5 also has arcuate transitions that engage a pair of flat end portions 3, respectively.

Since the arc-shaped surface of the present embodiment is realized by processing the flat end portions 3 on the side wall of the hook head, the specific structure of the pair of flat end portions 3 directly affects the structure of the formed arc-shaped surface. To this end, the present embodiment illustrates the following alternative flat end 3 shapes to develop the description of the arc-shaped face:

in the first case, the pair of flat ends 3 are not only symmetrical but also parallel, and the radial width of the arc-shaped surface formed at this time is the same from the straight rod section 1 to the arc-shaped curved section 2, that is to say, for the overall cutting edge structure, the structure of the cutting edge structure far away from the arc-shaped curved section 2 and the structure of the cutting edge structure near the arc-shaped curved section 2 are the same, and the effect of stripping the tissue that can be realized is the same.

Under the second condition, a pair of flush end portion 3 is not only symmetrical structure, and two side edges of the length direction that a pair of flush end portion 3 corresponds the blade structure are parallel distribution form moreover, and the radial width of fashioned arcwall face is the same to the crooked section 2 direction of arc by straight rod section 1 this moment, that is to say to holistic blade structure, this blade structure keeps away from crooked section 2 of arc and its structure that is close to crooked section 2 of arc is the same, and the effect of peeling off to the tissue that it can realize is unanimous.

In the third case, the pair of flat end portions 3 not only has a symmetrical structure, but also the pair of flat end portions 3 gradually opens from the straight rod section 1 to the arc-shaped bent section 2; and the extension surfaces of the pair of flat end parts 3 intersect at a far position to form an included angle alpha; wherein alpha is more than or equal to 5 degrees and less than or equal to 10 degrees; preferably 7. In this case, the radial width of the arc surface decreases from the straight rod segment 1 to the arc-shaped bent segment 2. That is, the sharpness of the cutting edge structure away from the curved section 2 is greater than that of the cutting edge structure close to the curved section 2, so that the portion of the cutting edge structure away from the curved section 2 is more suitable for the peeling operation for fine tissues than the portion close to the curved section 2. In conclusion, for the cutting edge structure under the structure, the stripping operation of tissues with different fineness degrees can be adjusted and used at different parts on the cutting edge structure according to requirements in the specific using process, so that the flexibility in the using process is stronger.

The cutting edge structure of the present embodiment will be further described in detail with reference to the following parameters by way of example with reference to the accompanying drawings:

in the first embodiment, the straight rod segment 1 of the cylindrical or nearly cylindrical structure has an outer diameter r1, r1 mm 0.8mm, preferably 0.6 mm. r1 is less than the range, so that the hook head of the electrocoagulation hook is too thin and sharp, the use requirements of other operations such as picking up blood vessels are difficult to meet, and the structural strength is not ideal; and r1 being greater than this range would make the hook head of the electrocoagulation hook too thick to peel tissue and not manipulate fine tissue. And because the top end of the straight rod segment 1 is a sphere-like curved surface, the maximum transverse dimension d1 of the cut-off part is formed at a position close to the top end, r1 ≤ d1 ≤ 1.5 ≤ r1, preferably 1.3 ≤ r1 in the embodiment, and if r1 is selected to be 0.6mm, d1 is preferably 0.78 mm. d1 is less than this range, making the cutting edge of the cutting edge structure too thick and hardly effective in peeling tissue; and d1 is greater than this scope, can make the blade of blade structure too sharp, and manufacturing difficulty, and structural strength is not ideal enough.

In the second embodiment, it can be regarded that, in the first embodiment, two planes at a certain angle β are further cut off at both sides of the straight pole segment 1 to form the second cut-off portion 6. Of course, the second cut-away portion 6 is connected to the curved segment 2 by means of a curved transition 11. The projection of the second cut-out portion 6 on the tip end face can be regarded as two sides of an isosceles triangle except that the base side becomes a circular arc and the tip angle at which the two sides meet also becomes a circular arc, and the two circular arcs have the same outer diameter r2 (r 2 is in the same range as the outer diameter r1 in the first embodiment), but different arc lengths. Specifically, the included angle formed by the two sides is β (i.e. the extension lines of the two edges of the pair of flat end portions 3 corresponding to the end portions of the straight rod segment 1 far away from the arc-shaped bent segment 2 intersect at a far distance to form the included angle β), where β is 20 ° or more and 60 ° or less, and preferably 40 ° in this embodiment. Beta is less than the range, so that the cutting edge of the cutting edge structure of the electrocoagulation hook is too sharp, the use requirements of other operations such as blood vessel picking and the like are difficult to meet, and the structural strength is not ideal enough; beta is larger than the range, so that the cutting edge of the cutting edge structure is too thick and hardly plays a role in stripping tissues. Further, rounded corners are formed at the positions where the second cut-away portion 6 meets the tip end and where the second cut-away portion 6 meets the side surface of the straight pole segment 1. After rounding, the closest distance between the two sides is d2, which is formed on the side of the straight rod section 1 facing human tissue, 0.2 × r2 ≤ d2 ≤ r2, preferably 0.5 × r2 in the embodiment, and if r2 is selected to be 0.6mm, d2 is preferably 0.3 mm. d2 is less than the range, so that the cutting edge of the cutting edge structure of the electrocoagulation hook is too sharp, the use requirements of other operations such as picking up blood vessels are difficult to meet, and the structural strength is not ideal; d2 being greater than this range would make the cutting edge of the cutting edge configuration too thick to perform almost any peeling action on the tissue.

In summary, in the electrocoagulation hook of the present embodiment, the specific shape and size of the formed cutting edge structure are adjusted by controlling the shape and positional relationship of the pair of flat end portions 3 on the side wall of the hook head, so that the electrocoagulation hook can achieve both the effect of peeling the tissue and the effect of picking up the blood vessel. In an alternative embodiment, which is illustrated in the attached drawings, the electrocoagulation hook adopted by the embodiment further comprises a curved transition section 7 connected with the end part of the arc-shaped curved section 2 of the hook head, which is far away from the straight rod section 1; the connecting section 8 is connected with the bending transition section 7; wherein, a connecting hole 9 is arranged on the connecting section 8, the connecting hole 9 is used for inserting the fixing pin 107 so as to fix the hook head of the electrocoagulation hook, at least the part of the connecting section 8 close to the lower side is of a hollow structure to form a locking hole 10 which is used for connecting with the lead 700 and compressing the lead 700, so that the lead 700 can provide electric energy for the hook head of the electrocoagulation hook. The curved transition section 7 and the curved section 2 are curved in opposite directions to form a hook-like configuration. It will be appreciated that although the electrocoagulation hook is integrally segmented, it is an integrally formed conductive metal structure.

Example 3:

on the basis of the surgical robot end effector of embodiment 1 or embodiment 2, the present embodiment provides a surgical robot including: the surgical robot end effector of embodiment 1 or embodiment 2. When the surgical robot end effector according to embodiment 1 or embodiment 2 is applied to a surgical robot, the second support frame 300 of the surgical robot end effector and other components of the surgical robot may be connected to each other by the long shaft 400 structure, and the assembly is easy and efficient.

The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

Claims

1. A surgical robotic end effector, comprising:

an end effector;

2. The surgical robot end effector as claimed in claim 1, wherein a first guide groove for guiding the first wire rope is further provided on an outer wall surface of the end effector corresponding to the pitch motion thereof.

3. A surgical robotic end effector according to claim 2, wherein the end effector is provided with an open receiving slot for engaging a first hollow guide sleeve;

the holding tank communicates with the first guide way.

4. A surgical robot end effector according to claim 2 or 3, wherein a pair of opposing outer side walls of the first support frame are provided with guide wheels for guiding a first wire rope, respectively;

5. A surgical robotic end effector mechanism according to claim 4, wherein the first guide slot is provided in a central portion of the end effector such that the first cable acts on the central portion of the end effector.

6. A surgical robotic end effector mechanism according to claim 1, wherein the end effector is further coupled with an end effector portion through a pre-fabricated mounting hole;

7. A surgical robotic end effector mechanism according to claim 6, wherein the end effector portion employs an electrocoagulation hook; and

8. The surgical robot end effector as claimed in claim 1, wherein a second guide groove for guiding a second wire rope is further provided on a wall surface of the first support frame corresponding to the deflecting motion thereof; and

9. A surgical robot end effector according to claim 8, characterized in that the first support is provided with an open receptacle for engaging a second hollow guide sleeve;

the accommodating portion communicates with the first guide groove.

10. A surgical robot, comprising: a surgical robotic end effector as claimed in any one of claims 1 to 9.