CN117297783A - Quick-change device and portable minimally invasive laparoscopic surgery robot - Google Patents
Quick-change device and portable minimally invasive laparoscopic surgery robot Download PDFInfo
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- CN117297783A CN117297783A CN202311098028.9A CN202311098028A CN117297783A CN 117297783 A CN117297783 A CN 117297783A CN 202311098028 A CN202311098028 A CN 202311098028A CN 117297783 A CN117297783 A CN 117297783A
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- 238000002357 laparoscopic surgery Methods 0.000 title abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 33
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 28
- 239000012636 effector Substances 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 229910052742 iron Inorganic materials 0.000 claims description 14
- 238000004804 winding Methods 0.000 claims description 4
- 238000001356 surgical procedure Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000013011 mating Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention relates to a quick-change device and a portable minimally invasive laparoscopic surgery robot, which can realize the quick connection between a plurality of driving motors in different planes and the tail end of a surgical instrument, reduce instrument consumables, reduce surgery cost, meet the action requirements of different surgery operation tasks and improve surgery efficiency. The quick-change device comprises a mechanical arm body, a quick-change box and a rigid quick-change module; the mechanical arm body comprises a mechanical arm frame, an upper layer driving motor and a lower layer driving motor, an adjusting knob is arranged at the upper part of the upper cover of the quick-change box, and a quick-change box interface is arranged at the rear part of the upper cover of the quick-change box; limiting devices are arranged on two sides of the lower cover of the quick-change box and are matched with the fixed guide rails of the mechanical arm frame; the rigid quick-change module is fixed on the rear structure of the mechanical arm frame, the rear end of the rigid quick-change module is connected with the lower driving motor, the quick-change box is installed on the mechanical arm body through a limiting device, a quick-change box interface is connected with a motor interface of the upper driving motor, and the front end of the rigid quick-change module extends into a fixed guide rail of the quick-change box.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and relates to a quick-change device and a portable minimally invasive laparoscopic surgery robot.
Background
Minimally Invasive Surgery (MIS) is a procedure performed in a patient by extending a specially-made surgical instrument through a natural orifice or surgical foramen of the body to reach the lesion. At present, minimally invasive surgical instruments are mainly divided into traditional minimally invasive surgical instruments and large surgical robot systems.
The traditional minimally invasive surgical instrument has the advantages of simple structure, low cost, less freedom degree of the tail end, inflexible operation and difficulty in completing more complex operation; the large-scale operation robot system has high operation precision, multiple terminal degrees of freedom and flexible operation, but has high price and huge volume. For this reason, some researchers combine the advantages of both, and study a motor-driven portable minimally invasive laparoscopic surgical robot.
However, the existing handheld surgical instrument tail end and the mechanical arm body are of an integrated structure, one robot can only complete one surgical operation task, if the mechanical arm body and the surgical instrument tail end can be quickly replaced, one mechanical arm body is matched with different surgical instrument tail ends, consumable materials can be further reduced, surgical cost is reduced, and the action requirements of different surgical operation tasks are met.
Disclosure of Invention
In view of the above, the invention provides a quick-change device and a portable minimally invasive laparoscopic surgical robot, which can realize the quick connection between a plurality of driving motors with different planes and the tail end of a surgical instrument, reduce the consumable of the instrument, reduce the surgical cost, meet the action requirements of different surgical operation tasks and improve the surgical efficiency.
In order to solve the above problems, an embodiment of the present invention provides a quick-change device, which is characterized in that:
the mechanical arm comprises a mechanical arm body, a quick-change box and a rigid quick-change module;
the mechanical arm body comprises a mechanical arm frame, an upper driving motor and a lower driving motor, wherein the mechanical arm frame comprises a front part, a middle part and a rear part, the front part comprises a U-shaped structure, the position of the rear part is lower than that of the middle part, and two wings of the U-shaped structure are respectively provided with a guide groove; the upper driving motor is fixedly connected to the middle part of the mechanical arm frame along the axial direction of the mechanical arm body, and the lower driving motor is fixedly connected to the rear part of the mechanical arm frame along the axial direction of the mechanical arm body;
the quick-change box comprises a quick-change box upper cover and a quick-change box lower cover,
the upper part of the quick-change box upper cover is provided with an adjusting knob, the rear part of the quick-change box upper cover is provided with a quick-change box interface, the tail end of the adjusting knob is connected with a longitudinal transmission shaft, the tail end of the quick-change box interface is connected with an axial transmission shaft, the longitudinal transmission shaft and the axial transmission shaft are respectively provided with a longitudinal bevel gear and an axial bevel gear, the longitudinal bevel gear is meshed with the axial bevel gear, and the longitudinal transmission shaft is also provided with a winding wheel; limiting devices are arranged on two sides of the lower cover of the quick-change box and are matched with the guide grooves of the mechanical arm frame;
the rear end of the rigid quick-change module is fixed on the mechanical arm body and connected with the lower driving motor, the quick-change box is installed on the mechanical arm body through a limiting device, a quick-change box interface is connected with a motor interface of the upper driving motor, and the front end of the rigid quick-change module extends into a fixed guide rail of the quick-change box.
In some embodiments, the rigid quick-change module comprises a sliding guide rail, an electromagnet, a round iron sheet and a sliding pin, wherein the electromagnet, the round iron sheet and the sliding pin can axially slide in the sliding guide rail, the rear end of the sliding pin is fixedly connected with the round iron sheet, and the front end of the sliding pin is connected with the end effector through a steel wire rope; the rear end of the electromagnet is connected with the lower driving motor through a steel wire rope.
When the electromagnet is electrified, an adsorption force is generated on the round iron sheet and is connected with the sliding pin, at the moment, the end effector, the sliding pin, the electromagnet and the lower driving motor are connected into a whole through the steel wire rope, and when the lower driving motor rotates, the rigid quick-change module drives the end effector to generate corresponding movement.
In some embodiments, the limiting device comprises two limiting units with the same structure, wherein each limiting unit comprises a limiting spring, a limiting guide rod, a limiting pin and a fixed pin shaft; the fixed pin shaft is positioned in the lower cover of the quick-change box, the limiting spring is sleeved on the fixed pin shaft, the limiting guide rod is connected in the lower cover of the quick-change box through the limiting pin, the limiting spring reciprocates along the direction of the fixed pin shaft, and the outer end of the limiting guide rod is matched with the guide groove.
In some embodiments, the adjusting knob comprises an adjusting turntable, a positioning guide rod and an annular positioning hole, the surface of the adjusting turntable is provided with a through groove, the positioning guide rod comprises a middle boss and round pins at two ends, the annular positioning hole is uniformly distributed on the surface of the upper cover of the quick-change box in order to adjust the center of the turntable, and the adjusting turntable can be fixed by inserting the positioning guide rod into the adjusting turntable and the corresponding annular positioning hole.
In some embodiments, the quick-change cartridge upper cover and the quick-change cartridge lower cover are connected by four clamping grooves and buckles.
In some embodiments, the guide groove is provided with a limit notch, the outer end of the limit guide rod reaches the limit notch, and under the action of the elastic force of the limit spring, the limit guide rod extends out of the quick-change box shell and is tightly matched with the limit notch, so that the quick-change box is matched with the mechanical arm body.
In some embodiments, a guide wheel is arranged in the quick-change box and used for changing the transmission direction of the steel wire rope in the guide rod and the steel wire rope on the reel, so that abrasion and deformation in the stretching or shrinking process of the steel wire rope are avoided.
In some embodiments, the matching end of the motor interface is a through cuboid boss, one side of the cuboid boss is provided with a cylindrical boss, the matching end of the quick-change box interface is a through cuboid groove, one side of the cuboid groove is provided with a cylindrical groove, and the boss is matched with the groove.
In some embodiments, the longitudinal drive shaft and the axial drive shaft are both mounted on the quick-change cartridge upper cover by bearings.
In some embodiments, the upper driving motor comprises a first motor and a second motor, the first motor and the second motor are arranged in parallel at the middle part of the mechanical arm frame, the lower driving motor comprises a third motor, and the third motor is fixedly connected at the rear part of the mechanical arm frame.
On the other hand, the invention also provides a portable minimally invasive laparoscopic surgery robot which is characterized by comprising a guide rod, an end effector and the quick-change device;
the end effector is connected with the quick-change device through a guide rod, a steel wire rope on the reel enters the guide rod after being changed in direction through a guide wheel, the tail end of the steel wire rope is connected with the end effector, and the front end of the sliding pin is connected with the end effector through the steel wire rope.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a quick-change device and a portable minimally invasive laparoscopic surgery robot, wherein the design mode of a quick-change box and a rigid quick-change module is adopted, and the power transmission of a transmission assembly and an upper motor is completed through the cooperation of the quick-change box and a mechanical arm body; through the cooperation of rigidity quick change module and arm body, accomplish the power transmission of drive assembly and lower floor's motor, realize the quick replacement of heterogeneous end effector and arm body, reduce the apparatus consumptive material, reduce operation cost, satisfy the action demand of different operation tasks (centre gripping, seam, knot etc.), improve operation efficiency to, driving motor dystopy arranges greatly reduced the moment of torsion of surgical instrument to doctor's wrist, reduces tired, has solved the too big problem of instrument local volume, has improved the operating efficiency of doctor's operation.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an overall schematic of a portable minimally invasive laparoscopic surgical robot connection;
FIG. 2 is a schematic view of a mechanical arm body;
FIG. 3 is a diagram of the positional relationship of the rigid quick change module, the quick change cartridge, and the robot body;
FIG. 4 is a schematic diagram of a rigid quick-change module;
FIG. 5 is an overall schematic of the quick change cartridge;
FIG. 6 is a schematic diagram of the structure of the drive assembly within the quick change cartridge;
FIG. 7 is a schematic diagram of the mating of the quick change cartridge interface;
FIG. 8 is a schematic structural view of a quick change cartridge stop device;
FIG. 9 is a state diagram of the quick change device prior to quick change of the instrument;
FIG. 10 is a state diagram of the quick change device after tuning the tuning knob;
FIG. 11 is a state diagram of the quick change device after the limit guide is pressed;
FIG. 12 is a state diagram of the quick change device after the quick change interface is mated;
fig. 13 is a state diagram of the quick change device after quick change of the instrument.
Wherein:
1. a robot arm body; 101. a robotic arm frame; 102-1, a guide groove; 102-2, limiting the notch; 103-1, a first motor; 103-2, a motor II; 103-3, a third motor; 104. a motor interface;
2. a rigid quick change module; 201. a sliding guide rail; 202. an electromagnet; 203. round iron sheet; 204. a sliding pin;
3. quick-change boxes; 301. a quick change cartridge housing; 301-1, quick-change box upper cover; 301-2, quickly replacing a lower cover of the box; 301-3, a clamping groove; 301-4, a buckle; 302. a transmission assembly; 302-1, a quick change box interface; 302-2, an axial transmission shaft; 302-3, axial bevel gears; 302-4, longitudinal bevel gears; 302-5, a longitudinal transmission shaft; 302-6, a reel; 302-7, a bearing; 302-8, a guide pulley; 303. an adjustment knob; 303-1, adjusting a turntable; 303-2, positioning a guide rod; 303-3, annular positioning holes; 304-1, a limiting spring; 304-2, limiting guide rods; 304-3, a limiting pin; 304-4, fixing a pin shaft; 305. a fixed guide rail;
4. a guide rod;
5. an end effector.
Detailed Description
In order to further describe the technical means and effects adopted for achieving the preset aim of the invention, the following detailed description refers to the specific implementation, structure, characteristics and effects according to the invention with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, the embodiment provides a quick-change device, which comprises a mechanical arm body 1, a quick-change box 3 and a rigid quick-change module 2, and is used in a portable laparoscopic surgery robot, so that the mechanical arm body of the portable laparoscopic surgery robot can be quickly replaced with different types of end effectors, the consumable of instruments is reduced, the surgery cost is reduced, the action requirements of different surgery operation tasks (clamping, stitching, knotting and the like) are met, and the surgery efficiency is improved.
Referring to fig. 2, the robot arm body 1 includes a robot arm frame 101, an upper driving motor, and a lower driving motor. The mechanical arm frame 101 comprises a front part, a middle part and a rear part structure, wherein the front part structure comprises a U-shaped structure, the position of the rear part structure is lower than that of the middle part structure, and two wings of the U-shaped structure are respectively provided with a guide groove 102-1; the upper driving motor is fixedly connected to the middle part of the mechanical arm frame 101 along the axial direction of the mechanical arm body 1, and the lower driving motor is fixedly connected to the rear part of the mechanical arm frame 101 along the axial direction of the mechanical arm body 1.
Specifically, the upper driving motor includes a first motor 103-1 and a second motor 103-2, the first motor 103-1 and the second motor 103-2 are disposed in parallel in the middle of the mechanical arm frame 101, the lower driving motor includes a third motor 103-3, and the third motor 103-1 is fixedly connected to the rear portion of the mechanical arm frame 101. The upper layer driving motor and the lower layer driving motor realize dislocation distribution in the horizontal direction and the vertical direction, thereby achieving the effect of reducing the local volume of the mechanical arm and the torque applied to the hands of doctors.
Referring to fig. 5 and 6, the quick-change case 3 includes a quick-change case housing 301, the quick-change case housing 301 includes a quick-change case upper cover 301-1 and a quick-change case lower cover 301-2, and the quick-change case upper cover 301-1 and the quick-change case lower cover 301-2 are connected through four clamping grooves 301-3 and clamping buckles 301-4. The quick-change box interface 302-1 and the axial transmission shaft 302-2 are connected with the front end of the quick-change box 3 through a bearing 302-7, and integrally rotate around the axial direction of the quick-change box 3; the adjusting turntable 303-1 and the longitudinal transmission shaft 302-5 are connected with the upper cover 301-1 of the quick-change box through a bearing 302-7, and integrally rotate longitudinally around the quick-change box 3;
the upper part of the quick-change box upper cover 301-1 is provided with an adjusting knob 303, the rear part is provided with a quick-change box interface 302-1, the tail end of the adjusting knob 303 is connected with a longitudinal transmission shaft 302-5, the tail end of the quick-change box interface 302-1 is connected with an axial transmission shaft 302-2, the longitudinal transmission shaft 302-5 and the axial transmission shaft 302-2 are respectively provided with a longitudinal bevel gear 302-4 and an axial bevel gear 302-3, the longitudinal bevel gear 302-4 is meshed with the axial bevel gear 302-3, two reels 302-6 are fixed on the longitudinal transmission shaft 302-5 through bolts, the directions of winding steel ropes of the two reels are opposite, when the transmission shaft 302-5 rotates, the steel rope on one of the reels 302-6 is tightened, and the steel rope on the other reel 302-6 is loosened, so that the pitching and deflecting functions of the end effector are realized. When the quick-change box interface 302-1 rotates, the adjusting turntable 303-1 rotates correspondingly; when the adjustment dial 303-1 rotates, the quick change cartridge interface 302-1 also rotates in a corresponding proportion, the specific transmission ratio depends on the transmission ratio of the axial bevel gear 302-3 and the longitudinal bevel gear 302-4, and the smaller the transmission ratio, the higher the transmission accuracy.
As a preferred embodiment of the present invention, referring to fig. 6, the quick-change box 3 is internally provided with guide wheels 302-8, and two pairs of guide wheels 302-8 are disposed in the extending direction of the guide rod 4, so as to change the transmission direction of the wire rope in the guide rod 4 and the wire rope on the reel 302-6, and avoid abrasion and deformation during the stretching or shrinking process of the wire rope.
As a preferred embodiment of the present invention, referring to fig. 6, the mating end of the motor interface 104 is formed by a through cuboid boss and a cylindrical boss disposed at one side thereof, and the mating end of the quick-change box interface 302-1 is formed by a through cuboid groove and a cylindrical groove disposed at one side thereof, and the cuboid boss is matched with the cuboid groove. When the motor interface 104 is matched, the angle of the motor interface 104 is fixed, and the quick-change box interface 302-1 is driven to reach a specified angle by adjusting the angle of the adjusting turntable 303-1, so that the transmission of the motor No. 1, the motor No. 2 and the quick-change box 3 is completed.
Referring to fig. 3, 4 and 12, the rigid quick-change module 2 is fixedly connected with the mechanical arm main body 1 through bolts, the rear end of the rigid quick-change module is connected with the lower driving motor, the quick-change box 3 is mounted on the mechanical arm main body 1 through a limiting device, the quick-change box interface 302-1 is connected with the motor interface 104 of the upper driving motor, and the front end of the rigid quick-change module 2 extends into the fixed guide rail 305 of the quick-change box 3.
Specifically, referring to fig. 4, the rigid quick-change module 2 includes a sliding rail 201, an electromagnet 202, a circular iron sheet 203 and a sliding pin 204, the diameter of the sliding rail 201 is slightly smaller than that of the fixed rail 305, the diameter of the electromagnet 202, the diameter of the circular iron sheet 203 and the diameter of the rear end of the sliding pin 204 are all the same, and all the three can slide axially in the sliding rail 201. The rear end of the sliding pin 204 is fixedly connected with the round iron sheet 203, and the front end is connected with the end effector 5 through a steel wire rope; the rear end of the electromagnet 202 is connected with a third motor 103-3 through a steel wire rope.
When the electromagnet 202 is electrified, an adsorption force is generated on the round iron sheet 203 so as to be connected with the sliding pin 204, at this time, the end effector 5, the sliding pin 204, the electromagnet 202 and the lower driving motor are connected into a whole through a steel wire rope, and when the lower driving motor rotates, the rigid quick-change module 2 drives the end effector 5 to generate corresponding movement.
As a preferred embodiment of the present invention, referring to fig. 8, both sides of the lower cover 301-2 of the quick change case are provided with a stopper which is engaged with the guide groove 102-1 of the arm frame 101. The limiting device comprises two limiting units with the same structure, wherein each limiting unit comprises a limiting spring 304-1, a limiting guide rod 304-2, a limiting pin 304-3 and a fixed pin shaft 304-4; the fixed pin shaft 304-4 is positioned in the quick-change box lower cover 301-2, the limit spring 304-1 is sleeved on the fixed pin shaft 304-4, the limit guide rod 304-2 is connected in the quick-change box lower cover 301-2 through the limit pin 304-3, the limit guide rod 304-1 reciprocates along the direction of the fixed pin shaft 304-4, and the outer end of the limit guide rod 304-2 is matched with the guide groove 102-1.
As a preferred embodiment of the present invention, the guide groove 102-1 is provided with a diamond-shaped limit notch 102-2, the outer end of the limit guide rod 304-2 reaches the limit notch 102-2, and under the action of the elastic force of the limit spring 304-1, the limit guide rod extends out of the casing 301 of the quick-change box 3 and is tightly matched with the limit notch 102-2, so as to complete the matching of the quick-change box 3 and the mechanical arm body 11.
As a preferred embodiment of the present invention, referring to fig. 5, the adjusting knob 303 includes an adjusting turntable 303-1, a positioning guide rod 303-2 and an annular positioning hole 303-3, the surface of the adjusting turntable 303-1 is provided with a through groove, the positioning guide rod 303-2 includes a middle boss and two circular pins at two ends, the annular positioning hole 303-3 is used for adjusting the center of the turntable, and is uniformly distributed on the surface of the upper cover 301-1 of the quick-change box, the number is even, and the greater the number, the higher the positioning accuracy; wherein, the middle boss size of the positioning guide rod 303-2 is slightly smaller than the size of the through groove of the adjusting turntable 303-1, and the size of the round pin shafts at the two ends of the positioning guide rod 303-2 is slightly smaller than the size of the annular positioning hole 303-3. The drive assembly 302 is secured by inserting the positioning guide 303-2 into the adjustment dial 303-1 and corresponding annular positioning hole 303-3.
In addition, the invention also provides a portable minimally invasive laparoscopic surgery robot which comprises a guide rod 4, an end effector 5 and the quick-change device.
The end effector 5 is connected with the quick-change device through a guide rod 4, a wire rope on a reel 302-6 is redirected through a guide wheel 302-8 and then enters the guide rod 4, the tail end of the wire rope is connected with the end effector 5, and the front end of the sliding pin 204 is connected with the end effector 5 through the wire rope.
The working process of the quick-change device is as follows:
as shown in fig. 9, before the quick change, the adjustment dial 303-1 is placed at an arbitrary angle, and the corresponding quick change box interface 302-1 is also placed at an arbitrary angle; the limit guide rod 304-2 naturally stretches out of the quick-change box shell 301 under the elastic force of the limit spring 304-1;
as shown in FIG. 10, in preparation for quick change, the angle of the adjustment dial 303-1 is adjusted to reach the initial setting angle, and the adjustment dial angle is fixed by the positioning guide 303-2. At this time, the angle between the quick-change box interface 302-1 and the motor interface 104 is consistent, and the preparation work before quick change is completed;
as shown in fig. 11-13, during quick-change, two fingers press the limit guide rod 304-2 to expose the matching part of the limit guide rod and the guide groove 102-1 to the quick-change box shell 301, and then the quick-change box 3 axially slides into the guide groove 102-1 along the mechanical arm main body 1; when the quick-change box interface 302-1 and the motor interface 104 are in complete matching, and the limit guide rod 304-2 reaches the limit notch of 102-2, the limit guide rod 304-2 is released by two fingers, and at the moment, under the action of the elastic force of the limit spring 304-1, the limit guide rod naturally stretches out of the quick-change box shell 301 and is in close matching with the limit notch 102-2, so that the matching of the quick-change box 3 and the mechanical arm body 1 is completed;
at the same time, the rigid quick-change module 2 is inserted into the fixed rail 305 of the quick-change case 3, and the electromagnet 202 is in contact with the sliding pin 204 and the circular iron piece 203. At this time, the electromagnet 202 is tightly connected with the sliding pin 204 and the circular iron sheet 203 under the action of magnetic force when the power is turned on, so that the configuration of the rigid quick-change module 2 is completed;
so far, the quick-change device is matched with the mechanical arm body 1. When the first motor 103-1 and the second motor 103-2 rotate, the motor interface 104 is driven to rotate, so that the transmission assembly 302 is driven to rotate through the quick-change box interface 302-1, and finally, the winding wheel drives the wire rope to shrink and stretch to complete pitching and deflection movements of the end effector; when the third motor 103-1 rotates, the electromagnet 202 is driven to axially move, so that the sliding pin 204 is driven, and finally, the opening and closing movement of the end effector clamp is completed by driving the stretching of the steel wire rope.
In summary, the invention provides a quick-change device and a portable minimally invasive laparoscopic surgery robot, which adopt the design mode of a quick-change box and a rigid quick-change module to realize the quick-change of different types of end effectors and mechanical arm bodies of the portable laparoscopic surgery robot, reduce instrument consumables, reduce surgery cost, meet the action requirements of different surgery operation tasks (clamping, suturing, knotting and the like) and improve surgery efficiency.
In summary, it is easily understood by those skilled in the art that the above-mentioned advantageous features can be freely combined and overlapped without conflict.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in any way, and any simple modification, equivalent variation and modification made to the above embodiment according to the technical substance of the present invention still falls within the scope of the technical solution of the present invention.
Claims (10)
1. A quick change device, characterized in that:
comprises a mechanical arm body (1), a quick-change box (3) and a rigid quick-change module (2);
the mechanical arm body (1) comprises a mechanical arm frame (101), an upper layer driving motor and a lower layer driving motor, wherein the mechanical arm frame (101) comprises a front part, a middle part and a rear part structure, the front part structure comprises a U-shaped structure, the position of the rear part structure is lower than that of the middle part structure, and guide grooves (102-1) are respectively formed in two wings of the U-shaped structure; the upper driving motor is fixedly connected to the middle part of the mechanical arm frame (101) along the axial direction of the mechanical arm body (1), and the lower driving motor is fixedly connected to the rear part of the mechanical arm frame (101) along the axial direction of the mechanical arm body (1);
the quick-change box (3) comprises a quick-change box upper cover (301-1) and a quick-change box lower cover (301-2),
the upper part of the quick-change box upper cover (301-1) is provided with an adjusting knob (303), the rear part is provided with a quick-change box interface (302-1), the tail end of the adjusting knob (303) is connected with a longitudinal transmission shaft (302-5), the tail end of the quick-change box interface (302-1) is connected with an axial transmission shaft (302-2), the longitudinal transmission shaft (302-5) and the axial transmission shaft (302-2) are respectively provided with a longitudinal bevel gear (302-4) and an axial bevel gear (302-3), the longitudinal bevel gear (302-4) is meshed with the axial bevel gear (302-3), and a winding wheel (302-6) is further arranged on the longitudinal transmission shaft (302-5); two sides of the quick-change box lower cover (301-2) are provided with limiting devices which are matched with the guide grooves (102-1) of the mechanical arm frame (101);
the rear end of the rigid quick-change module (2) is fixed on the mechanical arm body (1) and connected with the lower-layer driving motor, the quick-change box (3) is installed on the mechanical arm body (1) through a limiting device, the quick-change box interface (302-1) is connected with the motor interface (104) of the upper-layer driving motor, and the front end of the rigid quick-change module (2) stretches into the fixed guide rail (305) of the quick-change box (3).
2. A quick change device according to claim 1, characterized in that:
the rigid quick-change module (2) comprises a sliding guide rail (201), an electromagnet (202), a round iron sheet (203) and a sliding pin (204), wherein the electromagnet (202), the round iron sheet (203) and the sliding pin (204) can axially slide in the sliding guide rail (201), and the rear end of the sliding pin (204) is fixedly connected with the round iron sheet (203); the rear end of the electromagnet (202) is connected with the lower driving motor through a steel wire rope.
3. A quick change device according to claim 2, characterized in that:
the limiting device comprises two limiting units with the same structure, wherein each limiting unit comprises a limiting spring (304-1), a limiting guide rod (304-2), a limiting pin (304-3) and a fixed pin shaft (304-4); the fixed pin shaft (304-4) is positioned in the quick-change box lower cover (301-2), the limiting spring (304-1) is sleeved on the fixed pin shaft (304-4), the limiting guide rod (304-2) is connected in the quick-change box lower cover (301-2) through the limiting pin (304-3), the limiting spring (304-1) reciprocates along the direction of the fixed pin shaft (304-4), and the outer end of the limiting guide rod (304-2) is matched with the guide groove (102-1).
4. A quick change device according to claim 3, wherein:
the adjusting knob (303) comprises an adjusting rotary disc (303-1), a positioning guide rod (303-2) and annular positioning holes (303-3), through grooves are formed in the surface of the adjusting rotary disc (303-1), the positioning guide rod (303-2) comprises a middle boss and round pins at two ends, the annular positioning holes (303-3) are uniformly distributed in the center of the adjusting rotary disc and are formed in the surface of the quick-change box upper cover (301-1), and the adjusting rotary disc (303-1) can be fixed by inserting the positioning guide rod (303-2) into the adjusting rotary disc (303-1) and the corresponding annular positioning holes (303-3).
5. A quick change device according to claim 4, wherein:
the quick-change box upper cover (301-1) and the quick-change box lower cover (301-2) are connected through 4 clamping grooves (301-3) and buckles (301-4).
6. A quick change device according to claim 5, wherein:
the guide groove (102-1) is provided with a limit notch (102-2), the outer end of the limit guide rod (304-2) reaches the limit notch (102-2), and under the action of elastic force of the limit spring (304-1), the limit guide rod (304-2) extends out of the quick-change box lower cover (301-2) and is tightly matched with the limit notch (102-2), so that the quick-change box (3) is matched with the mechanical arm body (1).
7. A quick change device according to claim 6, wherein:
the quick-change box (3) is internally provided with a guide wheel (302-8) for changing the transmission direction of the steel wire rope in the guide rod (4) and the steel wire rope on the reel (302-6).
8. A quick change device according to claim 7, wherein:
the matching end of the motor interface (104) is a through cuboid boss, one side of the cuboid boss is provided with a cylindrical boss, the matching end of the quick-change box interface (302-1) is a through cuboid groove, one side of the cuboid groove is provided with a cylindrical groove, and the boss is matched with the groove.
9. A quick change device according to claim 8, wherein:
the upper driving motor comprises a motor (103-1) and a motor (103-2), the motor (103-1) and the motor (103-2) are arranged in parallel at the middle of the mechanical arm frame (101), the lower driving motor comprises a motor (103-3), and the motor (103-1) is fixedly connected to the rear portion of the mechanical arm frame (101).
10. A portable minimally invasive laparoscopic surgical robot, characterized in that:
comprising a guide rod (4), an end effector (5) and a quick change device according to any of claims 7-9;
the end effector (5) is connected with the quick-change device through a guide rod (4), a steel wire rope on the reel (302-6) enters the guide rod (4) after being changed in direction through a guide wheel (302-8), the tail end of the steel wire rope is connected with the end effector (5), and the front end of the sliding pin (204) is connected with the end effector (5) through the steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311098028.9A CN117297783A (en) | 2023-08-29 | 2023-08-29 | Quick-change device and portable minimally invasive laparoscopic surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311098028.9A CN117297783A (en) | 2023-08-29 | 2023-08-29 | Quick-change device and portable minimally invasive laparoscopic surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117297783A true CN117297783A (en) | 2023-12-29 |
Family
ID=89283827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311098028.9A Pending CN117297783A (en) | 2023-08-29 | 2023-08-29 | Quick-change device and portable minimally invasive laparoscopic surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117297783A (en) |
-
2023
- 2023-08-29 CN CN202311098028.9A patent/CN117297783A/en active Pending
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