CN114948231B - Double-slider electric screw device for single-arm coaxial surgical robot - Google Patents
Double-slider electric screw device for single-arm coaxial surgical robot Download PDFInfo
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- CN114948231B CN114948231B CN202210924528.2A CN202210924528A CN114948231B CN 114948231 B CN114948231 B CN 114948231B CN 202210924528 A CN202210924528 A CN 202210924528A CN 114948231 B CN114948231 B CN 114948231B
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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
- A61B34/70—Manipulators specially adapted for use in 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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Abstract
The invention relates to the technical field of medical instruments, in particular to a double-slider electric screw device for a single-arm coaxial surgical robot, which comprises a U-shaped support frame, a surgical instrument rotary table and an endoscope assembly, wherein a mechanical arm quick connection bayonet is fixedly arranged at the central position of the bottom of the U-shaped support frame, a groove is fixedly arranged at the top of the U-shaped support frame, a first motor is arranged in the groove in a buckling and connecting manner, a first independent screw rod is fixedly arranged at the shaft end of the first motor, a second motor is arranged at the tail end of the inner side of the groove in a buckling and connecting manner, a second independent screw rod is fixedly arranged at the shaft end of the second motor, the first motor is fixedly arranged at the front side of the second independent screw rod, and a first slider and a second slider are respectively sleeved on the upper sides of the first independent screw rod and the second independent screw rod through thread transmission.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a double-slider electric lead screw device for a single-arm coaxial surgical robot.
Background
The robot operation system is a comprehensive body integrating a plurality of modern high-tech means, is a direction and a tool for further development of minimally invasive surgery, and the operation robot is widely applied to various clinical minimally invasive surgeries.
In the multi-arm robot system, a plurality of mechanical arms cooperate to perform surgical operations such as clamping, cutting, suturing and the like of the endoscope and the instrument. However, in some endoscopic surgeries, there is only one surgical endoscope with an instrument channel and a plurality of surgical instruments used in the instrument channel, in the surgeries, surgical instruments with different functions are often required to be replaced in the same instrument channel to complete different operation tasks, and the endoscope and the instruments are required to synchronously and circularly move in the axial direction, so that a coaxial executing mechanism capable of providing more than two independent movements is required to be connected to the tail end of a mechanical arm, so that different instrument components meeting different stage tasks or different operation requirements of the operation can be met by replacing operation components, and the function of automatically replacing the instruments can be realized.
Disclosure of Invention
The invention aims to solve the defects that the mechanical arms of the existing robot surgery system need to adopt a plurality of mechanical arms to work in a coordinated manner, instruments need to be installed, disassembled and replaced manually in a single-arm system, and the synchronous and independent operation of an endoscope and the instruments cannot be realized in a single channel in the prior art, and provides a double-slider electric lead screw device for a single-arm coaxial surgery robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the design is an electric lead screw device with double sliders for a single-arm coaxial surgical robot, and the electric lead screw device comprises a U-shaped support frame, a surgical instrument rotary table and an endoscope assembly, wherein the bottom center position of the U-shaped support frame is fixedly provided with a mechanical arm quick connection bayonet, the top of the U-shaped support frame is fixedly provided with a groove, a first motor is arranged in the groove in a clamping and connecting manner, a first independent lead screw is fixedly arranged at the shaft end of the first motor, one end of the first independent lead screw is rotatably connected to the front end inside the groove, the tail end of the groove is rotatably connected to a second motor, a second independent lead screw is fixedly arranged at the shaft end of the second motor, one end of the second independent lead screw is rotatably connected to the rear side of the first motor, and the upper side of the first independent lead screw and the upper side of the second independent lead screw are respectively sleeved with the first slider and the second slider through thread transmission.
Preferably, a guide slide bar is fixedly connected in the groove, and the first slide block and the second slide block are both sleeved on the inner side of the guide slide bar.
Preferably, the top parts of the first sliding block and the second sliding block are fixedly connected with sliding block bases.
Preferably, the outer side of the slider base is provided with a quick bayonet, the inner side of the quick bayonet is provided with a connecting seat, and one side of the connecting seat is provided with a quick-release button fixing lock.
Preferably, the top of the two connecting seats is respectively and fixedly provided with a first functional component and a second functional component.
The invention provides a double-slider electric lead screw device for a single-arm coaxial surgical robot, which has the beneficial effects that: the independent operation function with two degrees of freedom in the radial direction of the same axis under the robot mirror is realized by arranging the first independent screw rod, the second independent screw rod, the first motor, the second motor, the first slide block and the second slide block, and the function that the robot replaces the left hand and the right hand in the single-person endoscopic operation to operate the endoscope and the instrument respectively can be realized by matching the components with specific functions;
through the arrangement of the mechanical arm quick connection bayonet which is matched with the existing multi-axis mechanical arm for use, the robot endoscope and the instrument can synchronously move in the same direction, and the structure, the weight, the algorithm and the like can be greatly simplified in the application of similar operations (such as spinal column, uterine cavity, bladder, blood vessel, bronchus, digestive endoscope and the like);
by arranging the sliding block base, the quick bayonet, the second functional component and the first functional component and combining the replaceable executing component and different components, the device can be applied to different fields, greatly improves functions, reduces the times of manual installation and instrument replacement, reduces delay and cross infection risks caused by frequent instrument replacement of the robot, and improves the application range and the working efficiency of the surgical robot;
for the single clamping function in traditional robotic arm front end, this a pair of slider electric screw device for coaxial surgical robot of single armed has realized more design possibilities for connecting in this a pair of slider electric screw device for coaxial surgical robot of single armed, make the robot function more perfect, reduce human intervention's action and reduce error and pollution chance, this a pair of slider electric screw device for coaxial surgical robot of single armed, two independent motion functions have the axial, the subassembly design that the cooperation slider is connected, can realize the rapid Assembly of apparatus, the equipment, functions such as rotation and radial motion, replace the staff to realize robot operation.
Drawings
Fig. 1 is a schematic structural diagram of a double-slider electric screw device for a single-arm coaxial surgical robot according to the present invention, which is measured along a front axis;
fig. 2 is a schematic structural diagram of the double-slider electric lead screw device for the single-arm coaxial surgical robot according to the present invention.
In the figure: the quick-release type endoscope surgical instrument comprises a 1U-shaped support frame, 2 mechanical arm quick connection bayonets, 3 first independent screw rods, 4 second independent screw rods, 5 first motors, 6 second motors, 7 first sliding blocks, 8 second sliding blocks, 9 guide sliding rods, 10 sliding block bases, 1001 quick bayonets, 11 second functional components, 12 first functional components, 13 quick-release button fixing locks, 14 surgical instrument rotating discs and 15 endoscope components.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-2, a double-slider electric screw device for a single-arm coaxial surgical robot comprises a U-shaped support frame 1, a surgical instrument turntable 14 and an endoscope assembly 15, a mechanical arm quick connection bayonet 2 is fixedly arranged at the bottom center position of the U-shaped support frame 1, a groove is fixedly arranged at the top of the U-shaped support frame 1, a first motor 5 is arranged in the groove in a buckling connection mode, a first independent screw rod 3 is fixedly arranged at the shaft end of the first motor 5, one end of the first independent screw rod 3 is rotatably connected to the front end of the inner side of the groove, a second motor 6 is arranged at the tail end of the inner side of the groove in a buckling connection mode, a second independent screw rod 4 is fixedly arranged at the shaft end of the second motor 6, one end of the second independent screw rod 4 is rotatably connected to the rear side of the first motor 5, and a first slider 7 and a second slider 8 are respectively sleeved on the upper sides of the first independent screw rod 3 and the second independent screw rod 4 through thread transmission.
In order to improve the guiding stability of the first sliding block 7 and the second sliding block 8, a guiding sliding rod 9 is fixedly connected in the groove, and the first sliding block 7 and the second sliding block 8 are both sleeved on the inner side of the guiding sliding rod 9.
In order to facilitate the installation of other functional components, the top parts of the first sliding block 7 and the second sliding block 8 are fixedly connected with sliding block bases 10.
In order to conveniently and quickly disassemble and assemble the required functional components, the outer side of the slider base 10 is provided with a quick bayonet 1001, the inner side of the quick bayonet 1001 is provided with a connecting seat, one side of the connecting seat is provided with a quick-release button fixing lock 13, the connecting seat is inserted into the quick bayonet 1001, and the quick-release button fixing lock 13 is utilized to fix and lock the connecting seat to complete the connection.
In order to provide different functions for operation and use, the tops of the two connecting seats are respectively fixedly provided with a second functional component 11 and a first functional component 12, the front side of the second functional component 11 is fixedly provided with a push rod, and the rear side of the first functional component 12 and the position opposite to the push rod are fixedly provided with a through hole matched with the push rod.
In order to provide the function of prearranged installation of surgical instruments, the front side of the first functional component 12 is provided with a surgical instrument rotary table 14 through buckling connection, a plurality of instrument channels are arranged in the surgical instrument rotary table 14, and the instrument channels and the through holes are arranged in a communicating structure.
In order to provide endoscopic operation, an endoscope assembly 15 is provided at one end of the top of the U-shaped support frame 1 in a snap-fit connection.
In order to provide connection guide between the endoscope assembly 15 and the surgical instrument rotary table 14, one side of the endoscope assembly 15 is provided with an insertion bayonet, the front side of the surgical instrument rotary table 14 is provided with an insertion plate, one side of the insertion plate is fixedly provided with a through hole, the through hole is communicated with an instrument channel, and the bottom of the insertion plate is inserted into the insertion bayonet.
When the multifunctional endoscope is used, the mechanical arm is quickly connected to the mechanical arm quick connecting bayonet 2, then the quick bayonet 1001 on the sliding block base 10 is connected with functional components with different requirements, the first motor 5 and the second motor 6 are used for respectively driving the first independent screw rod 3 and the second independent screw rod 4 to move, the first sliding block 7 and the second sliding block 8 are controlled to move, the sliding block base 10 is driven to move, and the endoscope and instruments on the functional components can be cooperatively operated by the left hand and the right hand in a single operation.
The double-slider electric screw device for the single-arm coaxial surgical robot is characterized in that a clamping and moving device of an operation execution assembly at the tail end of a multi-shaft mechanical arm is matched, the clamping and moving device is designed into the double-slider electric screw device capable of moving independently, a mechanical arm fixing quick interface is arranged below the device, the device can be used in quick connection with an existing robot mechanical arm, a rear side top execution assembly can be designed according to surgical requirements and can be installed on the device quickly, independent movement of two degrees of freedom is achieved, an endoscope assembly is connected to the front side top of the device, synchronization and axial movement of the endoscope and the operation assembly are achieved, the execution assembly is provided with two axial independent movement sliders, the assembly design connected with the sliders is matched, the functions of rapid assembly of instruments, assembly, rotation, radial movement and the like can be achieved, and the robot operation can be achieved by replacing hands.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (3)
1. A double-slider electric lead screw device for a single-arm coaxial surgical robot comprises a U-shaped support frame (1), a surgical instrument turntable (14) and an endoscope assembly (15), and is characterized in that a mechanical arm quick connection bayonet (2) is fixedly arranged at the center of the bottom of the U-shaped support frame (1), a groove is fixedly arranged at the top of the U-shaped support frame (1), a first motor (5) is arranged in the groove in a clamping and connecting mode, a first independent lead screw (3) is fixedly arranged at the shaft end of the first motor (5), one end of the first independent lead screw (3) is rotatably connected to the front end of the inner side of the groove, a second motor (6) is arranged at the tail end of the inner side of the groove in a clamping and connecting mode, a second independent lead screw (4) is fixedly arranged at the shaft end of the second motor (6), one end of the second independent lead screw (4) is rotatably connected to the rear side of the first motor (5), and a first slider (7) and a second slider (8) are respectively sleeved on the upper sides of the first independent lead screw (3) and the second independent lead screw (4) through thread transmission; the quick-release button fixing device is characterized in that a slider base (10) is fixedly connected to the tops of the first slider (7) and the second slider (8), a quick bayonet (1001) is arranged on the outer side of the slider base (10), a connecting seat is arranged on the inner side of the quick bayonet (1001), and a quick-release button fixing lock (13) is arranged on one side of the connecting seat.
2. The double-slider electric lead screw device for the single-arm coaxial surgical robot according to claim 1, wherein a guide slide bar (9) is fixedly connected in the groove, and the first slider (7) and the second slider (8) are both sleeved on the inner side of the guide slide bar (9).
3. The double-slider electric lead screw device for the single-arm coaxial surgical robot according to claim 1, characterized in that a first functional component (12) and a second functional component (11) are respectively and fixedly arranged on the top of the two connecting seats.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924528.2A CN114948231B (en) | 2022-08-03 | 2022-08-03 | Double-slider electric screw device for single-arm coaxial surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924528.2A CN114948231B (en) | 2022-08-03 | 2022-08-03 | Double-slider electric screw device for single-arm coaxial surgical robot |
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| CN114948231A CN114948231A (en) | 2022-08-30 |
| CN114948231B true CN114948231B (en) | 2022-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210924528.2A Active CN114948231B (en) | 2022-08-03 | 2022-08-03 | Double-slider electric screw device for single-arm coaxial surgical robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115137490B (en) * | 2022-09-05 | 2022-12-02 | 珠海康弘医疗科技有限公司 | Automatic positioning, puncturing and implanting working sheath assembly used by surgical robot |
| CN115177368B (en) * | 2022-09-13 | 2022-11-18 | 珠海康弘医疗科技有限公司 | Percutaneous spinal endoscope robot endoscope depth locking and adjusting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210969251U (en) * | 2019-10-14 | 2020-07-10 | 山东普瑞德智能装备有限公司 | Independently-controlled double-system engraving machine |
| CN211381753U (en) * | 2019-11-20 | 2020-09-01 | 山东威高手术机器人有限公司 | Surgical instrument lifting seat |
| CN113425414A (en) * | 2021-07-06 | 2021-09-24 | 深圳市鑫君特智能医疗器械有限公司 | Automatic centrum puncture forming device and bone surgery robot system |
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- 2022-08-03 CN CN202210924528.2A patent/CN114948231B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210969251U (en) * | 2019-10-14 | 2020-07-10 | 山东普瑞德智能装备有限公司 | Independently-controlled double-system engraving machine |
| CN211381753U (en) * | 2019-11-20 | 2020-09-01 | 山东威高手术机器人有限公司 | Surgical instrument lifting seat |
| CN113425414A (en) * | 2021-07-06 | 2021-09-24 | 深圳市鑫君特智能医疗器械有限公司 | Automatic centrum puncture forming device and bone surgery robot system |
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