CN114983571B - Convenient replacement type rigid surgical instrument for pleuroperitoneal cavity minimally invasive surgery - Google Patents
Convenient replacement type rigid surgical instrument for pleuroperitoneal cavity minimally invasive surgery Download PDFInfo
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- CN114983571B CN114983571B CN202210425607.9A CN202210425607A CN114983571B CN 114983571 B CN114983571 B CN 114983571B CN 202210425607 A CN202210425607 A CN 202210425607A CN 114983571 B CN114983571 B CN 114983571B
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 116
- 239000010959 steel Substances 0.000 claims abstract description 116
- 210000000707 wrist Anatomy 0.000 claims abstract description 70
- 230000005540 biological transmission Effects 0.000 claims abstract description 68
- 239000012636 effector Substances 0.000 claims abstract description 50
- 210000003857 wrist joint Anatomy 0.000 claims description 33
- 210000000078 claw Anatomy 0.000 claims description 18
- 239000000203 mixture Substances 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 210000000683 abdominal cavity Anatomy 0.000 claims description 3
- 210000000115 thoracic cavity Anatomy 0.000 claims description 3
- 238000003825 pressing Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 241001417935 Platycephalidae Species 0.000 description 2
- 229910000619 316 stainless steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 208000010125 myocardial infarction Diseases 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- 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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a convenient and quick replacement type rigid surgical instrument for a pleuroperitoneal cavity minimally invasive surgery, which relates to the field of medical equipment for the pleuroperitoneal cavity minimally invasive surgery, and comprises a driving device; the transmission device is connected with the driving device; the clutch device is arranged in the driving device and connected with the transmission device; the steel tube is connected with the transmission device; a wrist structure mounted on the steel pipe; an end effector mounted on the wrist structure. Two surgical graspers in the end effector are designed to be movable pieces, so that the opening and closing angles of the two surgical graspers are increased, and the operable range is improved; the transmission device is internally provided with the secondary guide wheel set, so that the wire rope running along the axial direction of the steel pipe can be converted into the horizontal direction, the volume is reduced, and the space is saved; the clutch device and the instrument replacement device can be replaced conveniently, and different end effectors can be installed and replaced conveniently only by pressing a button so as to meet different operation requirements. The invention optimizes the pose adjustment and replacement modes of the surgical instrument and realizes the convenient replacement of the end effector.
Description
Technical Field
The invention relates to the technical field of medical equipment for minimally invasive surgery of the pleuroperitoneal cavity, in particular to a convenient and quick replacement type rigid surgical instrument for minimally invasive surgery of the pleuroperitoneal cavity.
Background
The medical development of the 20 th century is rapid, the surgical operation method is continuously improved and optimized, and the concept of minimally invasive surgery is proposed and becomes a great achievement of the human society. Minimally invasive surgery is a technology in which a surgeon cuts a small opening on the body surface of a patient and treats the focus in the patient through surgical instruments, and has the advantages of small wound on the body surface of the patient, less bleeding, quick recovery of the patient after the surgery and the like in the surgical process. In the traditional minimally invasive surgery, a doctor holds a multi-dimensional long straight rod-shaped surgical instrument, the surgical instrument is placed into a small wound of a thoracic cavity, an abdominal cavity or other parts, and then the surgical operation is completed under a display picture through the cooperation of a medical endoscope. The traditional minimally invasive surgery operation mode needs a doctor of a main knife, a doctor of a mirror, and other auxiliary doctors to operate in cooperation with a plurality of persons, and in the surgery process, the problems of surgical instrument interference occur generally because the doctors are not coordinated with each other or the visual field of a display is unreasonable, the surgical instrument motion does not accord with the intuitionistic operation rule and the like, so that the smooth operation is affected. In recent years, with the development of wide fields of robotics, the robotics are applied to medical surgery, so that various robots for medical treatment are developed, and in the field of minimally invasive surgery, various minimally invasive surgery robots are developed. The surgeon performs operations such as cutting organ tissues, clamping, suturing, lifting, releasing and the like by controlling a surgical instrument placed at the tail end of the minimally invasive surgical robot by means of the minimally invasive surgical robot. The surgical instrument directly interacts with the tissue at the focus, so that the specific structure and myocardial infarction index of the surgical instrument have direct influence on the surgical quality and the surgical safety.
Currently, most of the existing surgical instruments used for minimally invasive surgical robots can realize a certain range of motion, such as deflection of the wrist and opening and closing of the end finger joints. However, after the operation is completed or when the surgical instrument needs to be replaced, the position and posture of the end effector of the surgical instrument cannot be rapidly initialized, and the end effector of the surgical instrument cannot be rapidly and conveniently replaced. For example, chinese patent publication No. CN107320188A discloses a surgical instrument for a minimally invasive surgical robot and a minimally invasive surgical robot, which mainly include structures such as an opening and closing driving device, a deflection driving device, a rotation driving device, a wrist device, an end effector, and a base. In the patent, a convenient replacement device is not arranged between the opening and closing driving device, the deflection driving device and the rotating driving device and structures such as the wrist device and the tail end executing device, so that the convenient replacement of the tail end executing device cannot be realized, meanwhile, the surgical instrument cannot realize the rapid initialization of the position and the posture of the tail end executing device, and the position and the posture change of the tail end executing device are always controlled and realized by means of the multi-degree-of-freedom mechanical arm. As another example, chinese patent publication No. CN112043387a discloses an end effector driving device and an end effector of a surgical robot, the end effector driving device mainly includes: motor driving mechanism, control circuit board, power transmission mechanism, apparatus identification mechanism, linking bridge and surgical instrument seat etc.. In this patent, during the surgical instrument changes, can't realize the quick initialization of end effector position and gesture, when installing the instrument, need to push the instrument both sides gib block into the surgical instrument seat after aiming at the guide way and lock, can not realize the installation operation fast.
Disclosure of Invention
The invention provides a convenient replacement type rigid surgical instrument for a minimally invasive surgery of the chest and abdominal cavity, which aims to solve the problems that an end effector of a surgical instrument cannot be replaced quickly and conveniently and the position and the posture of the end effector cannot be initialized quickly and conveniently in the existing surgical instrument for a minimally invasive surgery robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a convenient replacement rigid surgical instrument for a pleuroperitoneal cavity minimally invasive surgery, which comprises:
a driving device;
the transmission device is connected with the driving device;
the clutch device is arranged in the driving device and connected with the transmission device;
the steel tube is connected with the transmission device;
a wrist structure mounted on the steel pipe;
an end effector mounted on the wrist structure.
Further, the driving device includes: the motor mounting box, install the motor in the motor mounting box, install the micro-gap switch on the motor mounting box inner wall.
Further, the transmission device includes: the lower bottom plate is connected with the motor installation box and provided with a square opening, a transmission shaft, a self-rotation wire wheel, a steel rope guide wheel set, an instrument replacement device and a side plate are arranged on the lower bottom plate, the wire wheel is arranged on the transmission shaft and used for driving a steel rope, and the upper cover plate is arranged on the side plate and connected with the instrument replacement device; the lower end of the transmission shaft penetrates through the lower bottom plate and then is connected with the clutch device; the self-rotation wire wheel is sleeved on the steel pipe through a jackscrew.
Further, a wire rope fixing hole I for fixing the wire rope end and a wire rope round groove I for installing the wire rope are formed in the wire wheel, and the wire rope fixing hole I is arranged in the wire rope round groove I; the self-rotation wire wheel is provided with a wire rope fixing hole II for fixing the wire rope end and a wire rope round groove II for installing the wire rope, and the wire rope fixing hole II is arranged in the wire rope round groove II.
Further, the steel rope guiding wheel group comprises: the guide wheel set support plate is arranged on the lower bottom plate, and the cross bar guide wheel set I, the cross bar guide wheel set II, the cross bar guide wheel set III, the cross bar guide wheel set IV, the longitudinal bar guide wheel set I, the longitudinal bar guide wheel set II and the longitudinal bar guide wheel set III are arranged on the guide wheel set support plate; the first transverse rod guide wheel set and the second transverse rod guide wheel set have the same structural composition, namely are composed of a first rigid rod and two first guide wheels sleeved on the first rigid rod, and a circular groove is formed in the middle of each first guide wheel for the steel wire rope to detour; the structure composition of the cross bar guide wheel group III and the cross bar guide wheel group IV is the same, namely the cross bar guide wheel group III and the cross bar guide wheel group IV are composed of a rigid rod II and a guide wheel II sleeved on the rigid rod II, and a circular groove is formed in the middle of the guide wheel II for the steel wire rope to detour; the structure components of the first longitudinal rod guide wheel set, the second longitudinal rod guide wheel set and the third longitudinal rod guide wheel set are the same, namely the guide wheels are composed of a third rigid rod and two guide wheels sleeved on the third rigid rod, and round grooves are formed in the middle of each guide wheel to enable the steel wire rope to detour.
Further, the instrument replacement device includes: the motor comprises a buckle seat fixed on an upper cover plate, an elastic buckle arranged on the buckle seat and provided with triangular blocks at the lower end, a spring supporting seat arranged on a lower bottom plate and provided with stepped holes, a button embedded on a side plate and provided with a slender cylinder, a spring sleeved on the slender cylinder of the button, and a convex rectangular block arranged on a motor mounting box and positioned in a square opening of the lower bottom plate; the side surface of the convex rectangular block is provided with an opening, and the elastic buckle is matched with the side opening of the convex rectangular block; the two ends of the spring respectively prop against the button and the spring supporting seat; the slender cylinder of the button is in clearance fit with the stepped hole of the spring supporting seat; the button is in clearance fit with the side plate.
Further, the clutch device includes: the spring is characterized by comprising an upper clutch connected with the lower end of a transmission shaft through a jackscrew, a spring pin connected with the upper clutch, a connecting sheet arranged on the end face of the spring pin, a lower clutch bottom post arranged on the lower end face of the spring pin and connected with a motor shaft through the jackscrew, and springs with two ends connected with the spring pin and the lower clutch bottom post respectively; the switch contact of the micro switch is close to the side face of the lower clutch bottom post, and when the spring pin is pressed, the spring is compressed to press the switch contact of the micro switch.
Further, the wrist structure includes: the wrist joint is connected with the wrist pipe connecting rod through a wrist pin with a hole; the wrist joint is connected with the end effector; two elliptical holes are formed in the side face of one end of the wrist pipe connecting rod, and two circular holes are formed in the end face of the other end of the wrist pipe connecting rod; the front end of the wrist joint is provided with a small hole, the side surface of the front end of the wrist joint is provided with a round groove, the small hole is communicated with the round groove, and the rear end of the wrist joint is provided with a central hole; the wrist pin with the holes sequentially passes through the elliptical holes and the central holes to enable the wrist pipe connecting rod to be connected with the wrist joint, interference fit is formed between the wrist pin with the holes on the side face of the wrist pipe connecting rod, and clearance fit is formed between the wrist pin with the holes and the central hole at the rear end of the wrist joint.
Further, the end effector includes: a first surgical grasping forceps and a second surgical grasping forceps connected with the first surgical grasping forceps through a finger; the first surgical grasper comprises: the device comprises an oblong claw part I, a grooved pulley joint I connected with the oblong claw part I, an elongated round groove I arranged on the side surface of the grooved pulley joint I, an open hole I arranged at the joint of the grooved pulley joint I and the oblong claw part I and communicated with the elongated round groove I, and a center hole I arranged in the center of the grooved pulley joint I;
the second surgical grasper comprises: the device comprises a prolate claw part II, a grooved pulley joint II connected with the prolate claw part II, a slender round groove II arranged on the side surface of the grooved pulley joint II, an opening II arranged at the joint of the grooved pulley joint II and the prolate claw part II and communicated with the slender round groove II, and a center hole II arranged in the center of the grooved pulley joint II;
the first central hole and the second central hole are coaxially arranged, and the first central hole is matched with the center Kong Erjun and the finger.
Further, one ends of the two steel wire ropes are respectively clamped in the first opening of the operation grasping forceps after being knotted, the other ends of the two steel wire ropes respectively penetrate out from the first opening and the first long and thin circular groove, pass through a small hole of a wrist joint after winding the first long and thin circular groove, penetrate out from the communication position of the small hole and the circular groove, pass through two round holes on the end face of the wrist pipe connecting rod after winding the circular groove, and then are converged into the lumen of the steel pipe; one ends of the other two steel wire ends are knotted and then are respectively clamped in the first opening of the second surgical grasper, the other ends of the two steel wire ropes respectively penetrate out from the communication position of the first opening and the second slender round groove, pass through the other small hole of the wrist joint after winding the second slender round groove, penetrate out from the communication position of the small hole and the round groove, pass through the two round holes on the end face of the wrist pipe connecting rod after winding the round groove, and then are converged into the lumen of the steel pipe, so that the total four steel wire ropes on the end effector are converged into the lumen of the steel pipe through the wrist structure; four steel wires converged in the tube cavity of the steel tube sequentially pass through a first transverse rod guide wheel set, a second transverse rod guide wheel set, a third transverse rod guide wheel set, a fourth transverse rod guide wheel set, a first longitudinal rod guide wheel set, a second longitudinal rod guide wheel set and a third longitudinal rod guide wheel set in sequence, then are wound in a steel wire rope round groove of a wire wheel of a corresponding transmission shaft, pass through a first steel wire rope fixing hole, are wound in a steel wire rope round groove of a self-rotating wire wheel, finally pass through a second steel wire rope fixing hole, and are fastened in the second steel wire rope fixing hole after knotting.
The beneficial effects of the invention are as follows:
the invention relates to a convenient and quick replacement type rigid surgical instrument for a pleuroperitoneal cavity minimally invasive surgery, which comprises a driving device, a transmission device, a clutch device, a steel tube, a wrist structure and an end effector, wherein the driving device is connected with the transmission device; the clutch device is driven by the driving device to realize rapid combination and separation with the transmission device; the buttons on the transmission device can realize the quick replacement and integral resetting of the end effector of the surgical instrument, so that the quick initialization of the position and the posture of the end effector is convenient to realize. Compared with the prior art, the invention has the following advantages:
(1) According to the invention, two surgical graspers in the end effector are designed to be movable pieces, so that the opening and closing angles of the two surgical graspers are increased, and the operable range is greatly improved.
(2) In the invention, the two operation grasping forceps in the end effector are symmetrical in structure, meanwhile, the wrist structure is simple, no complex transmission mechanism exists between the end effector and the wrist structure, and the instrument structure is simplified.
(3) In the invention, the simple secondary guide wheel set is arranged in the transmission device, so that the wire rope running along the axial direction of the steel pipe can be converted into the horizontal direction, the volume of the transmission device is greatly reduced, and the space is saved.
(4) The clutch device and the instrument replacement device which can be replaced conveniently are designed, and different surgical instrument end effectors can be installed and replaced conveniently only by pressing buttons exposed on two sides of the side plates of the transmission device so as to meet different surgical operation requirements, and meanwhile, the position and the posture of the end effectors can be initialized quickly.
(5) The invention optimizes the pose adjustment mode and the replacement mode of the existing minimally invasive surgical robot surgical instrument and realizes the convenient replacement of the surgical instrument.
Drawings
Fig. 1 is an overall isometric view of a portable replacement rigid surgical instrument for use in minimally invasive surgery of the pleuroperitoneal cavity of the present invention.
Fig. 2 is a schematic structural view of the driving device and clutch device parts.
Fig. 3 is a schematic diagram of the internal structure of the transmission.
Fig. 4 is a schematic structural view of a transmission housing portion.
Fig. 5 is a schematic structural view of the reel and the instrument changing apparatus.
Fig. 6 is a schematic structural view of a steel rope guiding wheel set.
Fig. 7 is a schematic structural view of the clutch device.
Fig. 8 is a schematic view of a wrist structure.
Fig. 9 is a schematic view of the structure of the end effector.
In the figure, 1, a driving device, 1-1, a motor mounting box, 1-2, a motor, 1-3 and a micro switch;
2. 2-1 parts of transmission devices, 2-2 parts of transmission shafts, 2-3 parts of wire wheels, 2-4 parts of self-transmission wire wheels, 2-5 parts of steel rope guide wheel sets, 2-6 parts of instrument replacement devices, 2-7 parts of side plates, 2-7 parts of upper cover plates, 2-8 parts of lower bottom plates;
3. the clutch device comprises 3-1 parts of clutch devices, 3-2 parts of clutch devices, connecting sheets, 3-3 parts of spring pins, 3-4 parts of springs, 3-5 parts of clutch bottom posts and lower clutch bottom posts;
4. a steel pipe;
5. wrist structure, 5-1, wrist pipe connecting rod, 5-2, wrist joint, 5-3, wrist pin with hole;
6. end effector, 6-1, operation grasping forceps I, 6-2, operation grasping forceps II, 6-3 and finger.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the convenient and replaceable rigid surgical instrument for the pleuroperitoneal cavity minimally invasive surgery of the invention mainly comprises: a driving device 1, a transmission device 2, a clutch device 3, a steel tube 4, a wrist structure 5 and an end effector 6. The transmission device 2 is connected with the driving device 1, the clutch device 3 is arranged in the driving device 1 and connected with the transmission device 2, one end of the steel tube 4 is connected with the transmission device 2, the other end of the steel tube 4 is connected with the wrist structure 5, and the end effector 6 is arranged on the wrist structure 5; the end effector 6 is used as an instrument for surgical operation, and the driving device 1 controls the transmission device 2 to drive the end effector 6 to move.
As shown in fig. 2, the driving device 1 mainly includes: the motor mounting box 1-1, the motor 1-2 and the micro switch 1-3; wherein the number of the motors 1-2 is 4, and the number of the micro switches 1-3 is 4; the 4 motors 1-2 are all arranged in motor mounting holes of the motor mounting box 1-1; the 4 micro switches 1-3 are all arranged on the inner side wall of the groove at the upper end of the motor mounting box 1-1.
As shown in fig. 3 to 6, the transmission 2 mainly includes: the device comprises a transmission shaft 2-1, a wire wheel 2-2, a self-rotating wire wheel 2-3, a steel rope guide wheel set 2-4, an instrument replacement device 2-5, a side plate 2-6, an upper cover plate 2-7 and a lower bottom plate 2-8; the lower bottom plate 2-8 is connected with the motor mounting box 1-1; the lower bottom plate 2-8 is provided with 5 counter bores, and bearings are respectively arranged in the 5 counter bores; the number of the transmission shafts 2-1 is 4, the 4 transmission shafts 2-1 respectively penetrate through 4 counter bores of the outer ring of the lower bottom plate 2-8, and the steel pipe 4 is arranged in the counter bore in the center of the lower bottom plate 2-8; the upper surface of the lower bottom plate 2-8 is provided with a square groove; 2 square openings are reserved on the lower bottom plate 2-8; the upper end face and the lower end face of the side plate 2-6 are respectively provided with 8 threaded blind holes, the 8 threaded blind holes respectively correspond to counter bores on the upper cover plate 2-7 and the lower bottom plate 2-8, threaded holes are uniformly distributed on the upper end face and the lower end face of the side plate 2-6, the side plate 2-6 is respectively fixed with the upper cover plate 2-7 and the lower bottom plate 2-8 through screws, and open slots are respectively formed in two side faces of the side plate 2-6; the upper surface of the upper cover plate 2-7 is distributed with counter bores for placing screws, the lower surface of the upper cover plate 2-7 is provided with square grooves, and the lower surface of the upper cover plate 2-7 is provided with 4 blind holes for placing bearings; the upper end of the transmission shaft 2-1 is sleeved in a bearing of the upper cover plate 2-7, and the lower end of the transmission shaft 2-1 passes through a counter bore of the lower bottom plate 2-8 and then is connected with the clutch device 3; two wire wheels 2-2 are arranged on each transmission shaft 2-1, the wire wheels 2-2 are fixed on the transmission shafts 2-1 through threaded holes at fastening gaps, and the wire wheels 2-2 are used for driving steel wire ropes; two threaded holes are formed in the middle of the self-rotation wire wheel 2-3, and the self-rotation wire wheel 2-3 is fixed on the steel pipe 4 through jackscrew sleeving; the wire wheel 2-2 is provided with a wire rope fixing hole I2-2-1 for fixing the wire rope end and a wire rope round groove I2-2-2 for installing the wire rope, and the wire rope fixing hole I2-2-1 is arranged in the wire rope round groove I2-2-2; the self-rotation wire wheel 2-3 is provided with a wire rope fixing hole II 2-3-1 for fixing the wire rope end and a wire rope round groove II 2-3-2 for installing the wire rope, and the wire rope fixing hole II 2-3-1 is arranged in the wire rope round groove II 2-3-2; the steel rope guiding wheel set 2-4 and the instrument replacing device 2-5 are both fixed on the lower bottom plate 2-8.
As shown in fig. 6, the rope guiding wheel set 2-4 mainly includes: 2-4-1 of a cross rod guide wheel set, 2-4-2 of a cross rod guide wheel set, 2-4-3 of a cross rod guide wheel set, 2-4-4 of a cross rod guide wheel set, 2-4-5 of a longitudinal rod guide wheel set, 2-4-6 of a longitudinal rod guide wheel set, 2-4-7 of a longitudinal rod guide wheel set and 2-4-8 of a guide wheel set supporting plate; the guide wheel set supporting plates 2-4-8 are arranged on the lower bottom plate 2-8; the first transverse rod guide wheel set 2-4-1, the second transverse rod guide wheel set 2-4-2, the third transverse rod guide wheel set 2-4-3, the fourth transverse rod guide wheel set 2-4-4, the first longitudinal rod guide wheel set 2-4-5, the second longitudinal rod guide wheel set 2-4-6 and the third longitudinal rod guide wheel set 2-4-7 are all arranged on the guide wheel set supporting plate 2-4-8.
The transverse rod guiding wheel set I2-4-1 and the transverse rod guiding wheel set II 2-4-2 have the same structural composition, namely, the transverse rod guiding wheel set I and the transverse rod guiding wheel set II are composed of two guiding wheels I2-4-1-1 and a rigid rod I2-4-1-2, the two guiding wheels I2-4-1-1 are sleeved on the rigid rod I2-4-1-2 through shaft check rings, and a circle of circular groove is formed in the middle position of each guiding wheel I2-4-1-1 for a steel wire rope to bypass; the cross bar guiding wheel group III 2-4-3 and the cross bar guiding wheel group IV 2-4-4 have the same structural composition, namely, the cross bar guiding wheel group III and the cross bar guiding wheel group IV consist of a guiding wheel II 2-4-3-1 and a rigid rod II 2-4-3-2, the guiding wheel II 2-4-3-1 is sleeved on the rigid rod II 2-4-3-2 through a shaft retainer ring, and a round groove is formed in the middle position of the guiding wheel II 2-4-3-1 for the steel wire rope to detour; the structure compositions of the first longitudinal rod guide wheel set 2-4-5, the second longitudinal rod guide wheel set 2-4-6 and the third longitudinal rod guide wheel set 2-4-7 are the same, namely, the two guide wheels three 2-4-5-1 and the rigid rod three 2-4-5-2 are formed, the two guide wheels three 2-4-5-1 are sleeved on the rigid rod three 2-4-5-2 through a shaft retainer ring, and a circle of circular groove is formed in the middle position of each guide wheel three 2-4-5-1 for the steel wire rope to detour; the upper points of round grooves on the first cross rod guide wheel set 2-4-1, the second cross rod guide wheel set 2-4-2, the third cross rod guide wheel set 2-4-3 and the fourth cross rod guide wheel set 2-4-4 are tangent to the lower end surfaces of round grooves on the adjacent longitudinal rod guide wheel sets 2-4-5, the second longitudinal rod guide wheel set 2-4-6 and the third longitudinal rod guide wheel set 2-4-7, and the round grooves on the first longitudinal rod guide wheel set 2-4-5, the second longitudinal rod guide wheel set 2-4-6 and the third longitudinal rod guide wheel set 2-4-7 are level with the round grooves of steel wire ropes of the respective adjacent wire wheels 2-2.
As shown in fig. 4 and 5, the instrument changing apparatus 2-5 mainly includes: the device comprises a clamping seat 2-5-1, an elastic clamping seat 2-5-2, a spring 2-5-3, a spring supporting seat 2-5-4, a button 2-5-5 and a convex rectangular block 2-5-6; the upper end of the buckle seat 2-5-1 is fastened in a square groove of the upper cover plate 2-7 through threaded connection; the middle lug of the buckle seat 2-5-1 is provided with a slender opening which can accommodate the insertion of the elastic buckle 2-5-2, and the upper end of the elastic buckle 2-5-2 is fixed in the slender opening of the buckle seat 2-5-1 in a welding, cementing and other modes; the middle part of the elastic buckle 2-5-2 is fixed on an inner side stop block 2-5-1-1 of the buckle seat 2-5-1, and a triangular block is arranged at the lower end of the elastic buckle 2-5-2; the spring supporting seat 2-5-4 is arranged in a square groove of the lower bottom plate 2-8; the button 2-5-5 is embedded in the opening groove of the side plate 2-6, the pressing cylindrical surface of the button 2-5-5 is in clearance fit with the opening groove of the side plate 2-6, and the pressing cylindrical surface faces to the outer side; the spring 2-5-3 is sleeved on the slender cylinder on the inner wall of the button 2-5-5, one end of the spring 2-5-3 is propped against the inner wall of the button 2-5-5, and the other end of the spring 2-5-3 is propped against the spring supporting seat 2-5-4; the slender cylinder of the inner wall of the button 2-5-5 stretches into the stepped hole of the spring supporting seat 2-5-4, the slender cylinder of the inner wall of the button 2-5-5 is in clearance fit with the stepped hole of the spring supporting seat 2-5-4, and the slender cylinder of the inner wall of the button 2-5-5 is long enough, so that the spring 2-5-3 is stably sleeved on the slender cylinder of the inner wall of the button 2-5-5 and cannot fall off; the raised rectangular block 2-5-6 is arranged on the motor mounting box 1-1, and the raised rectangular block 2-5-6 is positioned in a square opening of the lower bottom plate 2-8; the side surface of the convex rectangular block 2-5-6 is provided with an opening; the elastic buckle 2-5-2 is matched with the side opening of the convex rectangular block 2-5-6.
After the installation of the transmission device 2 is completed, the button 2-5-1 is continuously pressed by a finger, the inner stop block 2-5-1 of the button 2-5-1 pushes the elastic buckle 2-5-2, two square openings on the lower bottom plate 2-8 are respectively aligned with two convex rectangular blocks 2-5-6, the button 2-5-1 is pressed by the finger until the lower end surface of the lower bottom plate 2-8 coincides with the upper surface of the motor installation box 1-1, then the button 2-5-5 is released, at the moment, the spring 2-5-3 rebounds, the elastic buckle 2-5-1 returns to the original position, and the triangular block at the lower end of the elastic buckle 2-5-2 just can enter the opening at the side surface of the convex rectangular block 2-5-6, so that the transmission device 2 and the driving device 1 are firmly combined together.
As shown in fig. 2 and 7, the clutch device 3 mainly includes: the upper clutch 3-1, the connecting piece 3-2, the spring pin 3-3, the spring 3-4 and the lower clutch bottom post 3-5; the upper end of the upper clutch 3-1 is fixedly connected with the lower end of the transmission shaft 2-1 through a jackscrew; the bottom of the upper clutch 3-1 disc is provided with two small holes; the top end of the lower clutch spring pin 3-3 is provided with two raised cylinders, two small holes on the upper clutch 3-1 are respectively matched with two small cylinders on the spring pin 3-3, and the two small cylinders on the spring pin 3-3 can just enter the two small holes at the bottom of the disc of the upper clutch 3-1; the lower end surface of the spring pin 3-3 is provided with a round groove and two square through grooves, and the upper end surface of the spring pin 3-3 is provided with a square concave surface; the end face of the lower clutch bottom post 3-5 is provided with a round groove 3-5-1, and the lower clutch bottom post 3-5 is provided with two rectangular convex blocks 3-5-2; a spring 3-4 is arranged in the round groove 3-5-1 on the end surface of the lower clutch bottom post 5; the round groove at the lower end surface of the spring pin 3-3 is aligned with the spring 3-4, the square through groove at the lower end surface of the spring pin 3-3 is aligned with the rectangular convex block 3-5-2 which is matched with the alignment, and the upper end of the rectangular convex block 3-5-2 is provided with a threaded blind hole; placing a connecting sheet 3-2 in the square concave surface of the upper end surface of the spring pin 3-3, aligning a countersunk hole on the connecting sheet 3-2 with a threaded hole on the rectangular protruding block 3-5-2, and connecting the upper end of the rectangular protruding block 3-5-2 with the connecting sheet 3-2 through a screw; the side surface of the lower clutch bottom post 3-5 is provided with a threaded hole, and the lower clutch bottom post 3-5 is connected with a motor shaft of a motor 1-2 of the driving device 1 through a jackscrew; when the spring pin 3-3 is pressed down, the spring 3-4 is compressed, the switch contact of the micro switch 1-3 can be just pressed, the motor 1-2 in the driving device 1 is started, when the motor 1-2 drives the clutch 3 to rotate, the switch contact of the micro switch 1-3 can not contact the lower clutch bottom post 3-5 all the time, when the motor 1-2 rotates until two small cylinders on the spring pin 3-2 correspond to two small holes at the bottom of the upper clutch 3-1, the spring 3-4 springs up, and the two small cylinders on the spring pin 3-2 are inserted into the two small holes at the bottom of the upper clutch 3-1, so that the upper clutch 3-1, the transmission shaft 2-1 and the wire wheel 2-2 are driven to move together.
In the present embodiment, a lumen is provided in the steel pipe 4; the steel pipe 4 is made of 316 stainless steel material.
As shown in fig. 8, the wrist structure 5 mainly includes: the wrist joint comprises a wrist pipe connecting rod 5-1, a wrist joint 5-2 and a wrist pin 5-3 with holes; the wrist pipe connecting rod 5-1 and the wrist joint 5-2 are connected through a wrist pin 5-3 with holes; the wrist pipe connecting rod 5-1 is connected with the steel pipe 4; the wrist joint 5-2 is connected to an end effector 6.
The round pipe end of the wrist pipe connecting rod 5-1 is in interference connection with the steel pipe 4; two elliptical holes 5-1-1 are formed in the side face of the other end of the wrist pipe connecting rod 5-1, and two circular holes 5-1-2 are formed in the end face of the other end of the wrist pipe connecting rod 5-1; the front end of the wrist joint 5-2 is provided with a small hole 5-2-1, the side surface of the front end of the wrist joint 5-2 is provided with a round groove 5-2-2, the small hole 5-2-1 is communicated with the round groove 5-2-2, and the rear end of the wrist joint 5-2 is provided with a central hole 5-2-3; the wrist pin 5-3 with holes sequentially passes through the elliptical holes 5-1-1 and the central holes 5-2-3 to enable the wrist pipe connecting rod 5-1 to be connected with the wrist joint 5-2, the wrist pin 5-3 with holes is in interference fit with the two elliptical holes 5-1-1 on the side face of the wrist pipe connecting rod 5-1, the wrist pin 5-3 with holes is in clearance fit with the central holes 5-2-3 at the rear end of the wrist joint 5-2, and therefore the wrist pin 5-3 with holes cannot slide off, and the wrist joint 5-2 can swing freely.
As shown in fig. 9, the end effector 6 mainly includes: a first surgical grasping forceps 6-1, a second surgical grasping forceps 6-2 and a finger 6-3; the first surgical grasping forceps 6-1 are connected with the second surgical grasping forceps 6-2 through the finger pins 6-3. The first surgical grasping forceps 6-1 and the second surgical grasping forceps 6-2 are arranged in pairs and can swing; the first surgical forceps 6-1 and the second surgical forceps 6-2 have the same structural composition, namely the first surgical forceps 6-1 mainly comprises: a prolate claw part I6-1-1, a grooved pulley joint I6-1-2, an elongated round groove I6-1-3, an open hole I6-1-4 and a central hole I6-1-5; the grooved pulley joint I6-1-2 is arranged on the prolate claw part I6-1-1, a central hole I6-1-5 is arranged in the center of the grooved pulley joint I6-1-2, an elongated round groove I6-1-3 is arranged on the side surface of the grooved pulley joint I6-1-2, an opening I6-1-4 is arranged at the joint of the grooved pulley joint I6-1-2 and the prolate claw part I6-1-1, and the opening I6-1-4 is communicated with the elongated round groove I6-1-3; the second surgical grasping forceps 6-2 mainly comprise: the second prolate claw part is 6-2-1, the second sheave joint is 6-2-2, the second slender round groove is 6-2-3, the second open hole is 6-2-4 and the second central hole is 6-2-5; the grooved pulley joint II 6-2-2 is arranged on the prolate claw part II 6-2-1, a center hole II 6-2-5 is arranged in the center of the grooved pulley joint II 6-2-2, an elongated round groove II 6-2-3 is arranged on the side surface of the grooved pulley joint II 6-2-2, an opening II 6-2-4 is arranged at the joint of the grooved pulley joint II 6-2-2 and the prolate claw part II 6-2-1, and the opening II 6-2-4 is communicated with the elongated round groove II 6-2-3; the first center hole 6-1-5 and the second center hole 6-2-5 are coaxially arranged, and the first center hole 6-1-5 and the second center hole 6-2-5 are matched with the finger pin 6-3.
One end of each of the two steel wire ropes is knotted and then is respectively clamped in an opening I6-1-4 of a surgical grasper I6-1, the other end of each of the two steel wire ropes passes through a connecting position of the opening I6-1-4 and a slender round groove I6-1-3, passes through a small hole 5-2-1 of a wrist joint 5-2 after passing through the slender round groove I6-1-3, passes through a connecting position of the small hole 5-2-1 and the round groove 5-2-2, passes through two round holes 5-1-2 on the end face of a wrist pipe connecting rod 5-1 after passing through the round groove 5-2 and then is converged into a pipe cavity of a steel pipe 4; one ends of the other two steel wires are respectively clamped in the first opening 6-1-4 of the second surgical forceps 6-2 after knotting, the other ends of the two steel wires respectively penetrate out from the communication position of the first opening 6-1-4 and the second long and thin circular groove 6-2-3, pass through the other small hole 5-2-1 of the wrist joint 5-2 after winding the second long and thin circular groove 6-2-3, penetrate out from the communication position of the small hole 5-2-1 and the circular groove 5-2-2, pass through the two round holes 5-1-2 on the end face of the wrist connecting rod 5-1 after winding the circular groove 5-2, and then are gathered into the lumen of the steel pipe 4, so that the total four steel wires on the end effector 6 are gathered into the lumen of the steel pipe 4 in pairs through the wrist structure 5; four steel wires which are gathered into the pipe cavity of the steel pipe 4 pass through a first transverse rod guide wheel set 2-4-1, a second transverse rod guide wheel set 2-4-2, a third transverse rod guide wheel set 2-4-3, a fourth transverse rod guide wheel set 2-4-4, a first longitudinal rod guide wheel set 2-4-5, a second longitudinal rod guide wheel set 2-4-6 and a third longitudinal rod guide wheel set 2-4-7 in sequence, then are wound in a first steel wire round groove 2-2 of a wire wheel 2-2 of a corresponding transmission shaft 2-1, then pass through a first steel wire fixing hole 2-2-1, then are wound in a second steel wire round groove 2-3-2 of a self-rotating wire wheel 2-3, finally pass through a second steel wire fixing hole 2-3-1, and are fastened in a second steel wire fixing hole 2-3-1 after knotting.
When the end effector 6 needs to be replaced, the button 2-5-5 in the transmission device 2 is pressed by a finger, the triangular block at the lower end of the elastic buckle 2-5-2 buckled in the side opening of the convex rectangular block 2-5-6 is jacked, and by further pressing the button 2-5-5, the flat heads at two edges of the button 2-5-5 push the plane cut out on the transmission shaft 2-1 until the flat heads coincide with the plane on the transmission shaft 2-1, at the moment, the transmission shaft 2-1 rotates to drive the end effector 6 to reach a fixed initial position, which can be called as the zero position of the end effector 6, at the moment, the transmission device 2 is released upwards, so that the end effector 6 is reset and replaced quickly.
The invention relates to a convenient and quick replacement type rigid surgical instrument for a pleuroperitoneal cavity minimally invasive surgery, which is operated according to the following principle:
1. the opening and closing operation of the end effector 6 is as follows:
as shown in FIG. 9, the end effector 6 includes a first surgical grasper 6-1, a second surgical grasper 6-2, and a finger 6-3 connecting the two graspers. The two grippers are respectively driven by the steel wire rope to wind the finger pin 6-3 to form two revolute pairs, so that the opening and closing movement is realized. For the surgical grasping forceps I6-1, after the two steel wire rope ends are knotted, the knot positions are clamped in the opening I6-1-4 together, and the two steel wire ropes are wound out along two sides of the slender round groove I6-1-3 respectively; the installation winding mode of the two steel wire ropes on the second surgical grasper 6-2 is the same as that of the first surgical grasper 6-1. Four steel wires wound out of the first surgical grasper 6-1 and the second surgical grasper 6-2 are respectively divided into two steel wires on the upper end surface and two steel wires on the lower end surface of the wrist joint grooved pulley through four small holes on the wrist joint 5-2, the steel wires on the two end surfaces respectively pass through small holes on the upper side and small holes on the lower side of the wrist pin 5-3 with holes, respectively pass through the round holes 5-1-2 on the wrist pipe connecting rod 5-1 to enter the steel pipe 4, and pass out of the other end of the steel pipe 4 to enter the transmission device 2.
As shown in fig. 6, two steel wires connected with the operation grasping forceps 1 are respectively wound on the middle circular grooves of the left guide wheels 1 2-4-1 of the cross rod guide wheel set 1 2-4-1 and the cross rod guide wheel set 2-4-2, the two steel wires are respectively wound on the middle circular grooves of the upper (or lower) guide wheels three 2-4-5-1 of the longitudinal rod guide wheel set 1 2-4-5 and the longitudinal rod guide wheel set 2-4-6 after being horizontally wound out along the circular grooves, are wound on the steel wire rope circular grooves 1-2-2 of the nearest wire wheel 2-2 after being wound out leftwards along the horizontal direction again, and are clamped in the stepped holes at the edges of the steel wire rope circular grooves 1-2-2 after being compressed by the capillary steel pipes sleeved at the ends of the steel wire ropes; similarly, two steel wires connected with the operation grasping forceps II 6-2 are respectively wound on the middle circular grooves of the right side guide wheels I2-4-1-1 of the cross bar guide wheel group I2-4-1 and the cross bar guide wheel group II 2-4-2, are respectively wound on the middle circular grooves of the lower side (or upper side) guide wheels III 2-4-5-1 of the longitudinal bar guide wheel group I2-4-5 and the longitudinal bar guide wheel group II 2-4-6 after being horizontally wound out along the circular grooves, are wound on the steel wire rope circular grooves I2-2-2 of the nearest wire wheel 2-2 after being wound out along the horizontal direction, and are clamped in the ladder holes at the edges of the steel wire rope circular grooves I2-2-2 after being compressed by the capillary steel pipes sleeved at the ends of the steel wire ropes. When the motor 1-2 rotates clockwise and the upper clutch 3-1 on the clutch device 3 is combined with the spring pin 3-3, the transmission shaft 2-1 rotates clockwise, the upper wire wheel 2-2 fastened on the transmission shaft 2-1 also rotates along with the rotation, and the wire rope wound on the wire rope round groove I2-2-2 is pulled, so that the surgical grasping forceps I6-1 on the instrument end effector 6 is pulled to rotate in one direction around the direction of the finger pin 6-3; when the motor 1-2 rotates anticlockwise, the lower wire wheel 2-2 fastened on the transmission shaft 2-1 also rotates along with the rotation, and the wire rope wound on the wire rope round groove 1 2-2-2 is pulled, so that the surgical grasper 6-1 is pulled to rotate in the other direction around the direction of the axis of the finger pin 6-3. Similarly, the second surgical grasper 6-2 is driven by a steel wire rope, when the first surgical grasper 6-1 on the left rotates clockwise and the second surgical grasper 6-2 on the right rotates anticlockwise, the operation of closing the tail end of the instrument is realized, and when the first surgical grasper 6-1 on the left rotates anticlockwise and the second surgical grasper 6-2 on the right rotates clockwise, the operation of opening the tail end of the instrument is realized.
2. The rotation process of the end effector 6 is as follows:
as shown in fig. 1, the end effector 6, the wrist 5 and the steel tube 4 are mounted together, the circular end of the wrist connecting rod 5-1 is in interference fit connection with the lumen of the steel tube 4, so that the rotation of the end effector 6 is realized by the rotation of the steel tube 4 around the axis direction thereof. As shown in fig. 5, two threaded holes are formed in the middle of the self-rotation wire wheel 2-3, and the self-rotation wire wheel 2-3 is fixed at the upper end of the steel pipe 4 through jackscrew sleeving; the wire rope is wound on a wire rope round groove II 2-3-2 of the autorotation wire wheel 2-3, the wire rope end penetrates through a wire rope fixing hole II 2-3-1 edge stepped hole and then is tightly pressed by a sleeve, the other end of the wire rope is wound on the wire rope round groove II 2-3-2 and then is directly wound on a wire rope round groove I2-2 of the wire wheel 2-2 on the nearest transmission shaft 2-1 along the horizontal direction, the wire rope end penetrates through the wire rope round groove I2-2 edge stepped hole and then is tightly pressed by the sleeve, and therefore when the motor 1-2 drives the transmission shaft 2-1 to rotate, the wire wheel 2-2 on the transmission shaft 2-1 follows to rotate, the wire rope is driven to slide along the wire rope round groove I2-2 and the wire rope round groove II 2-3-2, the autorotation wire wheel 2-3 is driven to rotate, and finally the steel pipes 4, the wrist 5 and the end effector 6 are driven to rotate around the axis of the steel pipe 4 together.
3. The disassembly and assembly process of the instrument is as follows:
as shown in FIG. 2, a connecting piece 3-2, a spring pin 3-3, a spring 3-4 and a lower clutch base post 3-5 in the clutch device 3 are installed together and fastened on a motor shaft of the motor 1-2 through the lower clutch base post 3-5. Typically, the drive device 1 is mounted on a minimally invasive surgical robot and does not require disassembly. When the device is used, other combined parts (a transmission device 2, a steel pipe 4, a wrist 5 and an end effector 6) of the device are required to be installed on the driving device 1, a quickly replaced button 2-5-5 exposed outside the transmission device 2-6 is pressed by hands, an internal spring 2-5-3 is compressed, a bump on the inner side of the button 2-5-5 pushes the middle part of the elastic buckle 2-5-2, the elastic buckle 2-5-2 is a relatively thin elastic steel sheet and can be bent under the action of pushing force, at the moment, two square openings of an outer lower bottom plate 2-8 of the transmission device 2 are aligned with the raised rectangular blocks 2-5-6 and then are pressed by force until the bottom edges of the lower bottom plate 2-8 are overlapped with the top edges of the driving device 1, then the button 2-5-5 is released, the spring 2-5-3 rebounds, the button 2-5-5 is pushed back to the original position, the pushing force acting on the elastic buckle 2-5-2 disappears, a triangular block at the lower end of the elastic buckle 2-5-2 is buckled in the opening on the side face of the raised rectangular blocks 2-5-6, and the other devices (the device can be installed on the wrist 4 and the device can be installed on the device 1; when the device needs to be disassembled, the button 2-5-5 is pressed by a hand, the inner side lug of the button 2-5-5 pushes the elastic buckle 2-5-2 to bend, the triangular block at the lower end of the elastic buckle 2-5-2 is separated from the side opening of the rectangular protruding block 2-5-6, and when the button 2-5-5 is pressed by a finger, the button is lifted upwards with force along the normal direction of the bottom surface of the lower bottom plate 2-8, so that the lower bottom plate 2-8 is separated from the motor mounting box 1-1, and the disassembly of the device is realized.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be replaced with others, which may not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A portable replacement rigid surgical instrument for use in minimally invasive surgery of the pleuroperitoneal cavity, comprising:
a driving device;
the transmission device is connected with the driving device;
the clutch device is arranged in the driving device and connected with the transmission device;
the steel tube is connected with the transmission device;
a wrist structure mounted on the steel pipe;
an end effector mounted on the wrist structure;
the driving device includes: the motor mounting box, the motor arranged in the motor mounting box and the micro switch arranged on the inner wall of the motor mounting box;
the transmission device comprises: the lower bottom plate is connected with the motor installation box and provided with a square opening, a transmission shaft, a self-rotation wire wheel, a steel rope guide wheel set, an instrument replacement device and a side plate are arranged on the lower bottom plate, the wire wheel is arranged on the transmission shaft and used for driving a steel rope, and the upper cover plate is arranged on the side plate and connected with the instrument replacement device; the lower end of the transmission shaft penetrates through the lower bottom plate and then is connected with the clutch device; the self-rotation wire wheel is sleeved on the steel pipe through a jackscrew;
the wire wheel is provided with a wire rope fixing hole I for fixing the rope end of the wire rope and a wire rope round groove I for installing the wire rope, and the wire rope fixing hole I is arranged in the wire rope round groove I; the self-rotation wire wheel is provided with a wire rope fixing hole II for fixing the rope end of the wire rope and a wire rope round groove II for installing the wire rope, and the wire rope fixing hole II is arranged in the wire rope round groove II;
the steel rope guiding wheel group comprises: the guide wheel set support plate is arranged on the lower bottom plate, and the cross bar guide wheel set I, the cross bar guide wheel set II, the cross bar guide wheel set III, the cross bar guide wheel set IV, the longitudinal bar guide wheel set I, the longitudinal bar guide wheel set II and the longitudinal bar guide wheel set III are arranged on the guide wheel set support plate; the first transverse rod guide wheel set and the second transverse rod guide wheel set have the same structural composition, namely are composed of a first rigid rod and two first guide wheels sleeved on the first rigid rod, and a circular groove is formed in the middle of each first guide wheel for the steel wire rope to detour; the structure composition of the cross bar guide wheel group III and the cross bar guide wheel group IV is the same, namely the cross bar guide wheel group III and the cross bar guide wheel group IV are composed of a rigid rod II and a guide wheel II sleeved on the rigid rod II, and a circular groove is formed in the middle of the guide wheel II for the steel wire rope to detour; the structure compositions of the first longitudinal rod guide wheel set, the second longitudinal rod guide wheel set and the third longitudinal rod guide wheel set are the same, namely the first longitudinal rod guide wheel set, the second longitudinal rod guide wheel set and the third longitudinal rod guide wheel set are composed of a third rigid rod and two guide wheels sleeved on the third rigid rod, and a round groove is formed in the middle position of each guide wheel for the steel wire rope to detour;
the instrument replacement device includes: the motor comprises a buckle seat fixed on an upper cover plate, an elastic buckle arranged on the buckle seat and provided with triangular blocks at the lower end, a spring supporting seat arranged on a lower bottom plate and provided with stepped holes, a button embedded on a side plate and provided with a slender cylinder, a spring sleeved on the slender cylinder of the button, and a convex rectangular block arranged on a motor mounting box and positioned in a square opening of the lower bottom plate; the side surface of the convex rectangular block is provided with an opening, and the elastic buckle is matched with the side opening of the convex rectangular block; the two ends of the spring respectively prop against the button and the spring supporting seat; the slender cylinder of the button is in clearance fit with the stepped hole of the spring supporting seat; the button is in clearance fit with the side plate.
2. A portable, interchangeable rigid surgical instrument for use in minimally invasive surgery on the pleuroperitoneal cavity as recited in claim 1, wherein the clutch means comprises: the spring is characterized by comprising an upper clutch connected with the lower end of a transmission shaft through a jackscrew, a spring pin connected with the upper clutch, a connecting sheet arranged on the end face of the spring pin, a lower clutch bottom post arranged on the lower end face of the spring pin and connected with a motor shaft through the jackscrew, and springs with two ends connected with the spring pin and the lower clutch bottom post respectively; the switch contact of the micro switch is close to the side face of the lower clutch bottom post, and when the spring pin is pressed, the spring is compressed to press the switch contact of the micro switch.
3. A portable replacement rigid surgical instrument for use in minimally invasive surgery on the pleuroperitoneal cavity according to claim 2, wherein the wrist structure comprises: the wrist joint is connected with the wrist pipe connecting rod through a wrist pin with a hole; the wrist joint is connected with the end effector; two elliptical holes are formed in the side face of one end of the wrist pipe connecting rod, and two circular holes are formed in the end face of the other end of the wrist pipe connecting rod; the front end of the wrist joint is provided with a small hole, the side surface of the front end of the wrist joint is provided with a round groove, the small hole is communicated with the round groove, and the rear end of the wrist joint is provided with a central hole; the wrist pin with the holes sequentially passes through the elliptical holes and the central holes to enable the wrist pipe connecting rod to be connected with the wrist joint, interference fit is formed between the wrist pin with the holes on the side face of the wrist pipe connecting rod, and clearance fit is formed between the wrist pin with the holes and the central hole at the rear end of the wrist joint.
4. A portable, replacement rigid surgical instrument for use in minimally invasive surgery on the pleuroperitoneal cavity according to claim 3, wherein the end effector comprises: a first surgical grasping forceps and a second surgical grasping forceps connected with the first surgical grasping forceps through a finger; the first surgical grasper comprises: the device comprises an oblong claw part I, a grooved pulley joint I connected with the oblong claw part I, an elongated round groove I arranged on the side surface of the grooved pulley joint I, an open hole I arranged at the joint of the grooved pulley joint I and the oblong claw part I and communicated with the elongated round groove I, and a center hole I arranged in the center of the grooved pulley joint I;
the second surgical grasper comprises: the device comprises a prolate claw part II, a grooved pulley joint II connected with the prolate claw part II, a slender round groove II arranged on the side surface of the grooved pulley joint II, an opening II arranged at the joint of the grooved pulley joint II and the prolate claw part II and communicated with the slender round groove II, and a center hole II arranged in the center of the grooved pulley joint II;
the first central hole and the second central hole are coaxially arranged, and the first central hole is matched with the center Kong Erjun and the finger.
5. The portable and replaceable rigid surgical instrument for minimally invasive surgery on the chest and abdominal cavity according to claim 4, wherein one ends of the two steel wire ropes are respectively clamped in the first opening of the surgical grasper, the other ends of the two steel wire ropes respectively penetrate out from the first opening and the first long and thin circular groove, pass through a small hole of a wrist joint after passing around the first long and thin circular groove, pass out from the communication position of the small hole and the circular groove, pass through two round holes on the end face of the wrist connecting rod after passing around the circular groove, and then are converged into the lumen of the steel pipe; one ends of the other two steel wire ends are knotted and then are respectively clamped in the first opening of the second surgical grasper, the other ends of the two steel wire ropes respectively penetrate out from the communication position of the first opening and the second slender round groove, pass through the other small hole of the wrist joint after winding the second slender round groove, penetrate out from the communication position of the small hole and the round groove, pass through the two round holes on the end face of the wrist pipe connecting rod after winding the round groove, and then are converged into the lumen of the steel pipe, so that the total four steel wire ropes on the end effector are converged into the lumen of the steel pipe through the wrist structure; four steel wires converged in the lumen sequentially pass through a first transverse rod guide wheel set, a second transverse rod guide wheel set, a third transverse rod guide wheel set, a fourth transverse rod guide wheel set, a first longitudinal rod guide wheel set, a second longitudinal rod guide wheel set and a third longitudinal rod guide wheel set in sequence, then are wound in a steel wire rope round groove of a wire wheel of a corresponding transmission shaft, pass through a first steel wire rope fixing hole, are wound in a steel wire rope round groove of a self-rotating wire wheel, finally pass through a second steel wire rope fixing hole, and are fastened in the second steel wire rope fixing hole after knotting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210425607.9A CN114983571B (en) | 2022-04-22 | 2022-04-22 | Convenient replacement type rigid surgical instrument for pleuroperitoneal cavity minimally invasive surgery |
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| CN202210425607.9A CN114983571B (en) | 2022-04-22 | 2022-04-22 | Convenient replacement type rigid surgical instrument for pleuroperitoneal cavity minimally invasive surgery |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997254A (en) * | 2016-07-08 | 2016-10-12 | 天津大学 | Quick changing device for minimally invasive surgery instruments |
| RU2715684C1 (en) * | 2019-03-27 | 2020-03-02 | Общество с ограниченной ответственностью "МРОБОТИКС" (ООО "МРОБОТИКС") | Self-contained mobile module of robotic surgical instrument |
| CN210521023U (en) * | 2017-12-08 | 2020-05-15 | 吉林大学 | Minimally invasive surgical instrument end effector with quick replacement function |
| CN111700683A (en) * | 2019-11-20 | 2020-09-25 | 山东威高手术机器人有限公司 | Quick change device for minimally invasive surgical instrument |
| CN113855251A (en) * | 2021-10-12 | 2021-12-31 | 浙江理工大学 | Multi-degree-of-freedom minimally invasive surgical instrument |
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- 2022-04-22 CN CN202210425607.9A patent/CN114983571B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997254A (en) * | 2016-07-08 | 2016-10-12 | 天津大学 | Quick changing device for minimally invasive surgery instruments |
| CN210521023U (en) * | 2017-12-08 | 2020-05-15 | 吉林大学 | Minimally invasive surgical instrument end effector with quick replacement function |
| RU2715684C1 (en) * | 2019-03-27 | 2020-03-02 | Общество с ограниченной ответственностью "МРОБОТИКС" (ООО "МРОБОТИКС") | Self-contained mobile module of robotic surgical instrument |
| CN111700683A (en) * | 2019-11-20 | 2020-09-25 | 山东威高手术机器人有限公司 | Quick change device for minimally invasive surgical instrument |
| CN113855251A (en) * | 2021-10-12 | 2021-12-31 | 浙江理工大学 | Multi-degree-of-freedom minimally invasive surgical instrument |
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