CN206630633U

CN206630633U - One kind is used for minimally invasive surgical operation robot quick-changing mechanism

Info

Publication number: CN206630633U
Application number: CN201720005888.7U
Authority: CN
Inventors: 胡三元; 冯红光; 程晓林; 张光永; 田兆辉; 姜秀新
Original assignee: Qilu Hospital of Shandong University
Current assignee: Qilu Hospital of Shandong University
Priority date: 2017-01-04
Filing date: 2017-01-04
Publication date: 2017-11-14
Anticipated expiration: 2027-01-04

Abstract

The utility model discloses one kind to be used for minimally invasive surgical operation robot quick-changing mechanism, is made up of left finger drive mechanism, wrist joint drive mechanism, right finger drive mechanism, operation pipe drive mechanism and base housing, base outer cover, connector and retaining mechanism.Relative installation between base outer cover and base housing can be adjusted by the stay bolt hole elongated hole above base outer cover and base housing；The relative installation of operating theater instruments executing agency and interface pedestal can be accurately positioned by the guide chute above tool rest outer cover；Parallelogram locked by hooks mechanism accurately can also can be locked easily with unclamping operating theater instruments executing agency；Decoupling mechanism is arranged in interface pedestal, the structure design of operating theater instruments executing agency can be simplified, is advantageous to the volume production of operating theater instruments executing agency.Quick-changing mechanism easy disassembly of the present utility model for minimally invasive surgical operation robot, it is easy to larger adjustment, accurate positioning, rigidity, rationally distributed, miniaturization, light-weighted advantage.

Description

One kind is used for minimally invasive surgical operation robot quick-changing mechanism

Technical field

The Medical Devices in a kind of micro-wound surgical operation field are the utility model is related to, it can be in micro-wound surgical operation machine The different operating theater instruments of quick-replaceable and the motions of multiple frees degree can be provided for operating theater instruments during device people operation, especially It is related to a kind of quick-changing mechanism of the minimally invasive surgical operation robot for the Minimally Invasive Surgery operation for being suitable for thoracic cavity and abdominal cavity.

Background technology

Minimally invasive surgery using laparoscope as representative is described as 20th century medical science to one of significant contribution of human civilization, Minimally Invasive Surgery operation refers to that doctor is insinuated into by elongated operating theater instruments by the miniature incision of human body surface and carries out hand in vivo Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast The advantages that, reach the effect of identical with traditional open surgery.Manual Minimally Invasive Surgery apparatus is passive operation form, typically End only has a freedom of motion.Doctor applies driving by finger and realizes end apparatus movement in surgical procedure, and according to Various complex operations including suturing, knotting are smoothly completed by the kinematic dexterity of doctor's arm and wrist.But for For aiding in minimally-invasive surgery robot system, the operation due to operating theater instruments is completed by robot, and system of robot System does not possess the flexibility of people's operation in itself.Therefore, the design to micro-wound operation robot Special surgical instrument proposes higher Requirement.To adapt to the requirement of Minimally Invasive Surgery, the design of operating theater instruments should meet small volume, operation is flexible, various informative, is easy to Installed with robot arm, have enough rigidity and intensity, suitable for medical environment requirement (such as repeatedly sterilization).Particularly perform the operation Apparatus should have the more free degree to meet requirement on flexibility, just adapt to the complicated operation operation such as suture knotting.

Among micro-wound operation robot surgical procedure, operation tool is the portion being uniquely in contact with human lesion tissue Point, and the robot part of operation technique is directly performed, therefore, the performance of operation tool is that minimally-invasive surgery robot system is comprehensive Close the key point of performance.To adapt to the requirement of modernization Minimally Invasive Surgery, the design of operation tool should meet delicate structure, operation Flexibly, it is various informative, be easily changed, be adapted to medical environment etc. to require, particularly operation tool should have the more free degree with full Sufficient requirement on flexibility, and to be easily changed the operation technique that could realize complexity.Therefore, what is matched with operation tool changes planes soon The performance of structure is also the important component of minimally-invasive surgery robot system combination property, and its performance indications not only affects operation The use of instrument, also directly determine the design objective and layout type of main body system.In a word, operation tool and fast replacing device Performance is to embody the horizontal key factor of surgical robot system overall performance.

In the world, more set set model machines have reached commercial clinical application water to minimally-invasive surgery robot system research field It is flat, including da Vinci, Zeus, LAPROTEK system etc..Operation tool is found by the development for studying surgical robot system System is mainly made up of tool portion and fast replacing device.The development trend of tool portion be driven from bar, low degree-of-freedom to silk pass Dynamic, multiple degrees of freedom development, though its structure increasingly simplifies, function becomes stronger and stronger；Fast replacing device is then gradually to tight Gather type, integrated-type development, performance also become more and more efficiently, stably.Existing two sets are commercialized micro-wound operation robots The four-degree-of-freedom operation tool system being driven using silk, but these operation tool systems still suffer from topology layout and disperseed, profile chi The shortcomings of very little larger, so operation tool system still has very big development potentiality.

In China, the research and development of minimally invasive surgical operation robot are especially ground also in the starting stage to operation tool system Study carefully, the also larger gap compared with foreign technology, therefore, the transmission of exploitation silk, surgical instrument with degrees of freedom and the property to match Can more stability and high efficiency fast replacing device to filling the domestic gaps, promote related-art technology progress significant.Research Develop from existing system possess the surgical instrument with degrees of freedom system of different silk type of belt drive and quick change mode for lifting I State has far reaching significance in the science of the scientific research field, technology status.

Utility model content

The purpose of this utility model is overcome the deficiencies in the prior art, there is provided a kind of easy disassembly, is easy to adjust, positions Accurately, rigidity it is larger, it is rationally distributed minimize, the light-weighted quick-changing mechanism for minimally invasive surgical operation robot, its energy Enough clamp operation tool auxiliary doctor and implement Minimally Invasive Surgery operation.

The utility model provides a kind of easy disassembly, to be easy to adjustment, accurate positioning, rigidity larger, rationally distributed small Type, the light-weighted quick-changing mechanism for minimally invasive surgical operation robot, concrete scheme are as follows：

For minimally invasive surgical operation robot quick-changing mechanism, including an interface pedestal, pacify in described interface pedestal Equipped with left finger drive mechanism, wrist joint drive mechanism, right finger drive mechanism and operation pipe drive mechanism；Described left finger driving machine Structure, wrist joint drive mechanism, right finger drive mechanism and operation pipe drive mechanism are each via an interface clutch discs and base phase Even,

Described left finger drive mechanism is identical with the structure of right finger drive mechanism, each includes a motor, the motor leads to Cross shaft joint with sun wheel shaft to be connected, big sun gear and small sun gear be installed in described sun wheel shaft, big sun gear and Small sun gear engages with three planetary gears in installation planet carrier, described planet carrier and interface clutch discs corresponding thereto It is connected；

Described wrist joint drive mechanism is arranged between left finger drive mechanism and right finger drive mechanism, and it includes an electricity Machine, the motor are connected by shaft joint with gear shaft, and described gear shaft refers to drive mechanism and right finger drive mechanism with left respectively Big sun gear engagement；And gear shaft end is connected with interface clutch discs corresponding thereto；

Described operation pipe drive mechanism is arranged on the lower section of right finger drive mechanism, and it includes a motor, and the motor leads to Cross shaft joint with a power transmission shaft to be connected, described power transmission shaft is connected with interface clutch discs corresponding thereto.

Further, three bearing pins are stretched out in described planet carrier one end, and three bearing pins of planet carrier insert three rows respectively In the centre bore of star-wheel, the planet carrier other end is fixed on base housing by bearing axial restraint, bearing, and planet carrier should End forms with interface clutch discs and is interference fitted.

Further, described small sun gear and sun wheel shaft section are in " D " font, small sun gear and sun wheel shaft " D " shaped sections form interference fit, and small sun gear is circumferentially fixed by " D " shaped sections with sun wheel shaft.

Further, the both ends of the drive shaft is fixed on base shell by bearing axial restraint, the bearing of wherein one end On body, the bearing of the other end is fixed on connector, and described power transmission shaft is formed with interface clutch discs connection end and is interference fitted.

Further, described interface pedestal includes base housing and base outer cover, and described base housing is provided with two Road positioning boss, base housing two sides are respectively equipped with two stay bolt holes, and described stay bolt hole is connected with base outer cover.

Further, described base outer cover has two, is mounted and fixed to the both sides of base housing respectively；Base outer cover Shaping-orientation chute above, guide chute top is in " horn mouth " shape, to facilitate the installation of operating theater instruments executing agency, base Guide chute end and intermediate channel bottom are in " circular arc " shape chute bottom land of " circular arc " shape, guide chute end and middle part above outer cover Opening direction is vertical with guide chute axis direction, and is somebody's turn to do guide chute end and the intermediate channel bottom and surgical device of " circular arc " shape The fixed pin shaft of tool executing agency forms " interference " and coordinated, to prevent the fixed pin shaft of operating theater instruments executing agency from base outer cover " skidded off " in guide chute end and intermediate channel bottom above, cause operating theater instruments executing agency " to be separated " with quick-changing mechanism；

Further, operating theater instruments executing agency can be installed to quick-changing mechanism along the guide chute above base outer cover On；It is designed with two stay bolt holes on base outer cover, two stay bolt holes above base outer cover and the length above base housing The long axially bored line of bolt hole is vertical, facilitates base outer cover to adjust base outer cover and base housing when being mounted and fixed on base housing Relative mounting positions.

Further, it is described to be used for minimally invasive surgical operation robot quick-changing mechanism, in addition to one is used for surgical device Tool executing agency is fixed to the retaining mechanism in interface pedestal, specifically there is two ways：

Mode one：

Described retaining mechanism includes two groups, and every group includes two locking hooks and a locking pull bar, and two lockings are hung One end of hook is rotatably mounted on same base outer cover, and the locking hook other end is used for fixation surgical instrument executing agency；Two The other end of individual locking hook is connected on the locking pull bar of the group；Two locking hooks above same base outer cover Pivot and be rotatably mounted on this two locking hook on locking pull bars pivots formed " parallelogram ".

Mode two：

Two arc-shaped slots are opened on the base outer cover, the locking hook both ends are hinged two with base outer cover In individual arc chute, the axis direction of the locking hook and the guide chute end and intermediate channel bottom on the base outer cover The line of centres it is parallel, the locking hook both ends can be slided in two arc chutes of the base outer cover, described Locking hook has two hooks above, for fixing two fixed pin shafts above the operating theater instruments executing agency.

Specific locking mode is as follows：

Mode one：When operating theater instruments executing agency is installed in base, rotate above same base outer cover wherein One locking hook, makes locking hook catch on a fixed pin shaft above operating theater instruments executing agency, same base outer cover Another locking hook above does identical spinning movement in the presence of pull bar is locked with locking hook, and another locking is hung Hook catches on another fixed pin shaft above operating theater instruments executing agency simultaneously；Another two locking above another base outer cover Link up with and carry out same operation, the another two locking hook above another base outer cover is caught in operating theater instruments executing agency simultaneously The another two fixed pin shaft in face；When operating theater instruments executing agency separates from base, rotate above same base outer cover One of locking hook, makes locking hook depart from a fixed pin shaft above operating theater instruments executing agency, same base Another locking hook above outer cover does identical spinning movement in the presence of pull bar is locked with locking hook, another lock Tight hook departs from another fixed pin shaft above operating theater instruments executing agency simultaneously；Another two above another base outer cover Locking, which is linked up with, carries out same operation, and the another two locking hook above another base outer cover departs from operating theater instruments execution machine simultaneously Another two fixed pin shaft above structure.

Mode two：When operating theater instruments executing agency is installed in base, link up with both ends in base outer cover two are locked Slided in arc chute, locking is linked up with two hooks above while catch on two above operating theater instruments executing agency admittedly Rationed marketing axle；Another locking above another base outer cover, which is linked up with, carries out same operation, another above another base outer cover One locking hook catches on the another two fixed pin shaft above operating theater instruments executing agency simultaneously；When operating theater instruments executing agency from When being separated in base, locking hook both ends slided in two arc chutes of base outer cover, make locking hook above two Individual hook departs from two fixed pin shafts above operating theater instruments executing agency simultaneously；Another lock above another base outer cover Tight link up with carries out same operation, and another locking hook above another base outer cover departs from operating theater instruments executing agency simultaneously Another two fixed pin shaft above.

Operation principle of the present utility model：

The axis around sun wheel shaft of the left interface clutch discs for referring to drive mechanism, which is realized, to be rotated clockwise：Start left refer to drive Motor in mechanism, its output shaft is rotated clockwise, drive the left shaft coupling referred in drive mechanism, sun wheel shaft, Sunny Wheel rotates clockwise, and three planetary gears rotate counterclockwise same with small sun gear external toothing, each planetary gear around own axes When rotated around the axis both clockwise of sun wheel shaft, three planetary gears drive planet carriers to be rotated around the axis both clockwise of sun wheel shaft, Planet carrier rotates with axis both clockwise of the mobile interface clutch discs around sun wheel shaft.The external tooth of big sun gear in left finger drive mechanism Wheel and the gear shaft external toothing of wrist joint drive mechanism, now, the left big sun gear referred in drive mechanism do not rotate.

The axis around sun wheel shaft of the left interface clutch discs for referring to drive mechanism, which is realized, to be rotated counterclockwise：Start left refer to drive Motor in mechanism, its output shaft is rotated counterclockwise, drive the left shaft coupling referred in drive mechanism, sun wheel shaft, Sunny Wheel rotates counterclockwise, and three planetary gears rotate clockwise same with small sun gear external toothing, each planetary gear around own axes When rotated counterclockwise around the axis of sun wheel shaft, three planetary gears drive planet carriers to be rotated counterclockwise around the axis of sun wheel shaft, Planet carrier rotates counterclockwise with axis of the mobile interface clutch discs around sun wheel shaft.The external tooth of big sun gear in left finger drive mechanism Wheel and the gear shaft external toothing of wrist joint drive mechanism, now, the left big sun gear referred in drive mechanism do not rotate.

The axis around sun wheel shaft of the right interface clutch discs for referring to drive mechanism, which is realized, to be rotated clockwise：Start right refer to drive Motor in mechanism, its output shaft is rotated clockwise, drive the right shaft coupling referred in drive mechanism, sun wheel shaft, Sunny Wheel rotates clockwise, and three planetary gears rotate counterclockwise same with small sun gear external toothing, each planetary gear around own axes When rotated around the axis both clockwise of sun wheel shaft, three planetary gears drive planet carriers to be rotated around the axis both clockwise of sun wheel shaft, Planet carrier rotates with axis both clockwise of the mobile interface clutch discs around sun wheel shaft.The external tooth of big sun gear in right finger drive mechanism Wheel and the gear shaft external toothing of wrist joint drive mechanism, now, the right big sun gear referred in drive mechanism do not rotate.

The axis around sun wheel shaft of the right interface clutch discs for referring to drive mechanism, which is realized, to be rotated counterclockwise：Start right refer to drive Motor in mechanism, its output shaft is rotated counterclockwise, drive the right shaft coupling referred in drive mechanism, sun wheel shaft, Sunny Wheel rotates counterclockwise, and three planetary gears rotate clockwise same with small sun gear external toothing, each planetary gear around own axes When rotated counterclockwise around the axis of sun wheel shaft, three planetary gears drive planet carriers to be rotated counterclockwise around the axis of sun wheel shaft, Planet carrier rotates counterclockwise with axis of the mobile interface clutch discs around sun wheel shaft.The external tooth of big sun gear in right finger drive mechanism Wheel and the gear shaft external toothing of wrist joint drive mechanism, now, the right big sun gear referred in drive mechanism do not rotate.

The axis around gear shaft of the interface clutch discs of wrist joint drive mechanism, which is realized, to be rotated clockwise：Start wrist joint to drive Motor on motivation structure, rotate clockwise its output shaft, the shaft coupling, gear shaft in drive wrist joint drive mechanism are around gear The axis both clockwise of axle rotates, and gear shaft rotates with axis both clockwise of the mobile interface clutch discs around gear shaft.Wrist joint driving machine The external gear external toothing of the gear shaft of structure and the big sun gear in left finger drive mechanism, now, the gear of wrist joint drive mechanism Axle drives the left external gear for referring to the big sun gear in drive mechanism to rotate counterclockwise；Big sun gear in left finger drive mechanism drives Three planetary gears rotate counterclockwise, and for three planetary gears with small sun gear external toothing, each planetary gear is counterclockwise around own axes Axis while rotation around sun wheel shaft rotates counterclockwise, and three planetary gears drive planet carrier around the axis inverse time of sun wheel shaft Pin rotates, and planet carrier rotates counterclockwise with axis of the mobile interface clutch discs around sun wheel shaft.Sunny in left finger drive mechanism Wheel, sun wheel shaft and motor, shaft coupling in left finger drive mechanism are connected, now, the left small sun gear referred in drive mechanism, the sun Wheel shaft does not rotate.The external gear external toothing of the gear shaft of wrist joint drive mechanism and the big sun gear in right finger drive mechanism, this When, the gear shaft of wrist joint drive mechanism drives the right external gear for referring to the big sun gear in drive mechanism to rotate counterclockwise；Right finger Big sun gear in drive mechanism drives three planetary gears to rotate counterclockwise, three planetary gears with small sun gear external toothing, often Individual planetary gear around own axes rotate counterclockwise while rotate counterclockwise around the axis of sun wheel shaft, three planetary gears drive row Carrier rotates counterclockwise around the axis of sun wheel shaft, and planet carrier turns counterclockwise with axis of the mobile interface clutch discs around sun wheel shaft It is dynamic.Small sun gear, sun wheel shaft in right finger drive mechanism are connected with motor, shaft coupling in right finger drive mechanism, now, right finger Small sun gear, sun wheel shaft in drive mechanism do not rotate.

The axis around gear shaft of the interface clutch discs of wrist joint drive mechanism, which is realized, to be rotated counterclockwise：Start wrist joint to drive Motor on motivation structure, rotate counterclockwise its output shaft, the shaft coupling, gear shaft in drive wrist joint drive mechanism are around gear The axis of axle rotates counterclockwise, and gear shaft rotates counterclockwise with axis of the mobile interface clutch discs around gear shaft.Wrist joint driving machine The external gear external toothing of the gear shaft of structure and the big sun gear in left finger drive mechanism, now, the gear of wrist joint drive mechanism Axle drives the left external gear for referring to the big sun gear in drive mechanism to rotate clockwise；Big sun gear in left finger drive mechanism drives Three planetary gears rotate clockwise, and three planetary gears are clockwise around own axes with small sun gear external toothing, each planetary gear Axis both clockwise while rotation around sun wheel shaft rotates, and three planetary gears drive planet carrier around the axis up time of sun wheel shaft Pin rotates, and planet carrier rotates with axis both clockwise of the mobile interface clutch discs around sun wheel shaft.Sunny in left finger drive mechanism Wheel, sun wheel shaft and motor, shaft coupling in left finger drive mechanism are connected, now, the left small sun gear referred in drive mechanism, the sun Wheel shaft does not rotate.The external gear external toothing of the gear shaft of wrist joint drive mechanism and the big sun gear in right finger drive mechanism, this When, the gear shaft of wrist joint drive mechanism drives the right external gear for referring to the big sun gear in drive mechanism to rotate clockwise；Right finger Big sun gear in drive mechanism drives three planetary gears to rotate clockwise, three planetary gears with small sun gear external toothing, often Individual planetary gear around own axes rotate clockwise while rotate around the axis both clockwise of sun wheel shaft, three planetary gears drive row Carrier rotates around the axis both clockwise of sun wheel shaft, and planet carrier turns with axis both clockwise of the mobile interface clutch discs around sun wheel shaft It is dynamic.Small sun gear, sun wheel shaft in right finger drive mechanism are connected with motor, shaft coupling in right finger drive mechanism, now, right finger Small sun gear, sun wheel shaft in drive mechanism do not rotate.

The axis around power transmission shaft of the interface clutch discs of operation pipe drive mechanism, which is realized, to be rotated clockwise：Start-up operation pipe drives Motor on motivation structure, rotate clockwise its output shaft, the shaft coupling, power transmission shaft in drive operation pipe drive mechanism are around transmission The axis both clockwise of axle rotates, and power transmission shaft rotates with axis both clockwise of the mobile interface clutch discs around power transmission shaft.

The axis around power transmission shaft of the interface clutch discs of operation pipe drive mechanism, which is realized, to be rotated counterclockwise：Start-up operation pipe drives Motor on motivation structure, rotate counterclockwise its output shaft, the shaft coupling, power transmission shaft in drive operation pipe drive mechanism are around transmission The axis of axle rotates counterclockwise, and power transmission shaft rotates counterclockwise with axis of the mobile interface clutch discs around power transmission shaft.

The adjustment of relative installation between base outer cover and base housing：

Two stay bolt holes are designed with base outer cover, base housing two sides are respectively designed with two stay bolt holes, bottom Two stay bolt holes above seat outer cover are vertical with the long axially bored line in stay bolt hole above base housing, by two base outer covers When being fixed on base housing, it can be adjusted by the fixed position relative in the stay bolt hole for adjusting base outer cover and base housing The relative mounting positions of base outer cover and base housing.

Installation and dismounting between operating theater instruments executing agency M and quick-changing mechanism N：

When operating theater instruments executing agency M is installed in quick-changing mechanism N, operating theater instruments executing agency M is along on base outer cover Guide chute end and intermediate channel bottom, base outer cover above base outer cover are slipped into the guide chute top of " horn mouth " shape in face Guide chute end and intermediate channel bottom above and operating theater instruments executing agency M fixed pin shaft form " interference " and coordinated, simultaneously One of locking hook above same base outer cover is rotated, locking hook is caught on above operating theater instruments executing agency M A fixed pin shaft, another locking hook above same base outer cover in the presence of pull bar lock with locking extension Hook does identical spinning movement, and another locking hook catches on another fixed pin shaft above operating theater instruments executing agency M simultaneously； Another two locking above another base outer cover, which is linked up with, carries out same operation, the another two locking above another base outer cover Hook catches on the another two fixed pin shaft above operating theater instruments executing agency M simultaneously；To prevent consolidating for operating theater instruments executing agency M Rationed marketing axle " skids off " from the guide chute above base outer cover, causes operating theater instruments executing agency M and quick-changing mechanism N " to divide From ".Meanwhile the twice positioning boss on base housing, operating theater instruments executing agency M can be positioned with being fixed；

When operating theater instruments executing agency M separates from quick-changing mechanism N, wherein one above same base outer cover is rotated Individual locking hook, locking hook is set to depart from a fixed pin shaft above operating theater instruments executing agency M, on same base outer cover Another locking hook in face does identical spinning movement in the presence of pull bar is locked with locking hook, another locking hook Depart from another fixed pin shaft above operating theater instruments executing agency M simultaneously；Another two locking above another base outer cover Link up with and carry out same operation, the another two locking hook above another base outer cover departs from operating theater instruments executing agency M simultaneously Another two fixed pin shaft above.Operating theater instruments executing agency M is along the guide chute end above base outer cover and intermediate channel Bottom skids off base outer cover from the guide chute top of " horn mouth " shape, operating theater instruments executing agency M and quick-changing mechanism N " is divided From ".

Quick-changing mechanism of the present utility model for minimally invasive surgical operation robot has with following compared with prior art Beneficial effect：

1. quick-changing mechanism easy disassembly of the present utility model for minimally invasive surgical operation robot, being easy to adjust, position Accurately, rigidity it is larger, it is rationally distributed, miniaturization, lightweight.

2. by adjusting relative installation between base outer cover and base housing, leading above base outer cover can be adjusted To relative installation between the interface clutch discs above chute and base housing, so that operating theater instruments executing agency M is installed When on to quick-changing mechanism N, the interface clutch discs above operating theater instruments executing agency M can be with the interface clutch above base housing Disk can coordinate just to be driven in place, and the interface clutch above operating theater instruments executing agency M will not be caused because of interference Disk can not coordinate with the interface clutch discs above base housing.

3. operating theater instruments executing agency M, when carrying out surgical operation, operating theater instruments executing agency M is needed with human body insertion point O is pivoted about, and by adjusting relative installation between base outer cover and base housing, can be adjusted on base outer cover Relative installation between the guide chute and base housing in face, so as to adjust operating theater instruments executing agency M and quick-changing mechanism N it Between relative installation, the convenient operating theater instruments executing agency M that adjusts is above with human body insertion point O.

4. operating theater instruments executing agency M, when carrying out surgical operation, operating theater instruments executing agency M needs the company with mechanical arm Bar forms a parallelogram OPQR and does oscillating motion, and operating theater instruments executing agency M needs to enter centered on the O of human body insertion point Row rotation, by adjusting relative installation between base outer cover and base housing, can adjust the guiding above base outer cover Relative installation between chute and base housing, so as to adjust relative peace between operating theater instruments executing agency M and quick-changing mechanism N Holding position, a parallelogram OPQR is formed so as to adjust operating theater instruments executing agency M and mechanical arm connecting rod.

5. making horn mouth at the top of the guide chute above tool rest outer cover, operating theater instruments executing agency M is set to be fit into soon More convenient and quicker during converting mechanism N；Guide chute curve can ensure that cutter driving disk slides naturally and be docked without interfering；Lead Operating theater instruments executing agency M and quick-changing mechanism N phase can be accurately positioned using interference fit to chute end and intermediate channel bottom To installation site.Operating theater instruments executing agency M is fit into and pulled down from quick-changing mechanism N front upper places, meets custom operation direction, Reduce installation and pull down difficulty.

6. operating theater instruments executing agency M can accurately and reliably be fixed to and change planes soon by parallelogram locked by hooks mechanism Above structure N；Can also easily it lock with unclamping operating theater instruments executing agency M.

7. the interface clutch discs above quick-changing mechanism N use single-row arrangement, make operating theater instruments executing agency M in interface pedestal The arm of force between fixing point above is longer, is more beneficial in guarantee operating theater instruments executing agency M consolidating on interface pedestal It is fixed.

8. the interface clutch discs above quick-changing mechanism N use single-row arrangement, motor and interface clutch discs " coaxially arranged ", can It is empty so that the motor being fixed on the connector Q that quick-changing mechanism moves back and forth along mechanical arm Z axis is placed among two slide rail P Between connection and reasonable arrangement.

9. the design of " differential gear train " decoupling mechanism is not designed on operating theater instruments executing agency M on quick-changing mechanism N, Operating theater instruments executing agency M structure design can so be simplified, be advantageous to operating theater instruments executing agency M and largely produce.

Brief description of the drawings

, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description differ Determine proportionally, be only to be illustratively described the utility model, drawings discussed below is only some in the utility model Embodiment, it is not limitation the utility model, for those of ordinary skill in the art, before creative labor is not paid Put, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is the installation schematic front view that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism.

Fig. 2 is the installation schematic top plan view that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism.

Fig. 3 is that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism and operating theater instruments executing agency assembling master Depending on schematic diagram.

Fig. 4 is that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism and operating theater instruments executing agency and tool rest Assemble schematic top plan view.

Fig. 5 is that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism cut-away view.

Fig. 6 is the left finger drive mechanism and floor installation that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism Partial top view.

Fig. 7 is that the utility model is used for minimally invasive surgical operation robot quick-changing mechanism decoupling mechanism schematic front view.

Fig. 8, Fig. 9, Figure 10 are a kind of interface pedestals for minimally invasive surgical operation robot quick-changing mechanism of the utility model Shell structure three-view diagram.

Figure 11, Figure 12, Figure 13, Figure 14 are a kind of connecing for minimally invasive surgical operation robot quick-changing mechanism of the utility model The schematic diagram of mouth base outer cover structure.

Figure 15, Figure 16, Figure 17, Figure 18 are a kind of connecing for minimally invasive surgical operation robot quick-changing mechanism of the utility model Mouth clutch discs structural representation.

Figure 19, Figure 20, Figure 21 are a kind of locking machines for minimally invasive surgical operation robot quick-changing mechanism of the utility model The structural representation of structure one.

Figure 22 is that a kind of structure of retaining mechanism two for minimally invasive surgical operation robot quick-changing mechanism of the utility model is shown It is intended to.

Figure 23, Figure 24 are that a kind of operating theater instruments for minimally invasive surgical operation robot quick-changing mechanism of the utility model performs Mechanism M rotates schematic diagram centered on the O of human body insertion point.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clear, complete description, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, belong to the scope of the utility model protection.

Embodiment one

Illustrate present embodiment with reference to Fig. 3~Fig. 6, the quick-changing mechanism N is by left finger drive mechanism 1, wrist joint driving machine The composition such as structure 2, right finger drive mechanism 3, operation pipe drive mechanism 4 and interface pedestal, connector 7, connector 8 and retaining mechanism 9.

The left finger drive mechanism 1 is by big sun gear 1-1, small sun gear 1-2, planetary gear 1-3, planet carrier 1-4, sun gear Axle 1-5, interface clutch discs 1-6, bearing 1-7, bearing 1-8, shaft coupling 1-9 and motor 1-10 etc. are formed.The motor 1-10 consolidates It is connected on the connector 7, the motor 1-10 output shafts are connected with described shaft coupling 1-9 one end, and the shaft coupling 1-9 is another End is connected with the sun wheel shaft 1-5；The big sun gear 1-1 Internal and external cycles have gear, and the big sun gear 1-1 is set in institute State on sun wheel shaft 1-5 and keep radial clearance with sun wheel shaft 1-5, described big sun gear 1-1 one end passes through bearing 1-8 axial directions Fixed, the bearing 1-8 is fixed on connector 8；The small sun gear 1-2 is set on the sun wheel shaft 1-5, described small Sun gear 1-2 and " D " that the sun wheel shaft 1-5 sections are in " D " font, the small sun gear 1-2 and the sun wheel shaft 1-5 Shaped sections form interference fit, and the small sun gear 1-2 and sun wheel shaft 1-5 is circumferentially fixed by " D " shaped sections； The left finger drive mechanism 1 sets three planetary gears 1-3, the planetary gear 1-3 with being nibbled in the big sun gear 1-1 internal gears Close, the planetary gear 1-3 and the small sun gear 1-2 external toothings；Three bearing pins, the row are stretched out in described planet carrier 1-4 one end Carrier 1-4 three bearing pins insert in three planetary gear 1-3 centre bore respectively, and the planet carrier 1-4 other ends pass through Bearing 1-7 axial restraints, the bearing 1-7 are fixed on base housing 5；The other end of the planet carrier 1-4 and the interface Clutch discs 1-6 sections are in " D " font, and the planet carrier 1-4 and interface clutch discs 1-6 " D " shaped sections form interference Coordinate, the planet carrier 1-4 and the interface clutch discs 1-6 is circumferentially fixed by " D " shaped sections, the planet carrier 1-4 and The interface clutch discs 1-6 passes through bolt axial restraint；

The wrist joint drive mechanism 2 is by gear shaft 2-1, interface clutch discs 2-2, bearing 2-3, bearing 2-4, shaft coupling 2- 5 and motor 2-6 etc. form.The motor 2-6 is connected on the connector 7, the motor 2-6 output shafts and the shaft coupling 2-5 one end is connected, and the shaft coupling 2-5 other ends are connected with the gear shaft 2-1；Described gear shaft 2-1 one end passes through bearing 2-3 axial restraints, the gear shaft 2-1 other ends are fixed on base housing 5 by bearing 2-4 axial restraints, the bearing 2-3 On, the bearing 2-4 is fixed on connector 8；The gear shaft 2-1 and the interface clutch discs 2-2 sections are in " D " font, The gear shaft 2-1 and the interface clutch discs 2-2 " D " shaped sections, which are formed, to be interference fitted, the gear shaft 2-1 with it is described Interface clutch discs 2-2 is circumferentially fixed by " D " shaped sections, and the gear shaft 2-1 and interface clutch discs 2-2 passes through bolt Axial restraint.

The right finger drive mechanism 3 is by big sun gear 3-1, small sun gear 3-2, planetary gear 3-3, planet carrier 3-4, sun gear Axle 3-5, interface clutch discs 3-6, bearing 3-7, bearing 3-8, shaft coupling 3-9 and motor 3-10 etc. are formed.The motor 3-10 consolidates It is connected on the connector 7, the motor 3-10 output shafts are connected with described shaft coupling 3-9 one end, and the shaft coupling 3-9 is another End is connected with the sun wheel shaft 3-5；The big sun gear 3-1 Internal and external cycles have gear, and the big sun gear 3-1 is set in institute State on sun wheel shaft 3-5 and keep radial clearance with sun wheel shaft 3-5, described big sun gear 3-1 one end passes through bearing 3-8 axial directions Fixed, the bearing 3-8 is fixed on connector 8；The small sun gear 3-2 is set on the sun wheel shaft 3-5, described small Sun gear 3-2 and " D " that the sun wheel shaft 3-5 sections are in " D " font, the small sun gear 3-2 and the sun wheel shaft 3-5 Shaped sections form interference fit, and the small sun gear 3-2 and sun wheel shaft 3-5 is circumferentially fixed by " D " shaped sections； The left finger drive mechanism 1 sets three planetary gears 3-3, the planetary gear 3-3 with being nibbled in the big sun gear 3-1 internal gears Close, the planetary gear 3-3 and the small sun gear 3-2 external toothings；3 bearing pins, the planet are stretched out in described planet carrier 3-4 one end Frame 3-4 three bearing pins insert in three planetary gear 3-3 centre bore respectively, and the planet carrier 3-4 other ends pass through axle 3-7 axial restraints are held, the bearing 3-7 is fixed on base housing 5；The planet carrier 3-4 and interface clutch discs 3-6 is cut Face is in " D " font, and the planet carrier 3-4 and interface clutch discs 3-6 " D " shaped sections, which are formed, to be interference fitted, the row The carrier 3-4 and interface clutch discs 3-6 is circumferentially fixed by " D " shaped sections, the planet carrier 3-4 and the interface clutch Disk 3-6 passes through bolt axial restraint；

The operation pipe drive mechanism 4 is by power transmission shaft 4-1, interface clutch discs 4-2, bearing 4-3, bearing 4-4, shaft coupling 4- 5 and motor 4-6 etc. form.The motor 4-6 is connected on the connector 7, the motor 4-6 output shafts and the shaft coupling 4-5 one end is connected, and the shaft coupling 4-5 other ends are connected with the power transmission shaft 4-1；Described power transmission shaft 4-1 one end passes through bearing 4-3 axial restraints, the power transmission shaft 4-1 other ends are fixed on base housing 5 by bearing 4-4 axial restraints, the bearing 4-3 On, the bearing 4-4 is fixed on connector 8；The power transmission shaft 4-1 is in " D " word with the interface clutch discs 4-2 sections Shape, the power transmission shaft 4-1 and interface clutch discs 4-2 " D " shaped sections, which are formed, to be interference fitted, the power transmission shaft 4-1's It is circumferentially fixed by " D " shaped sections with the interface clutch discs 4-2, the power transmission shaft 4-1 with the interface clutch discs 4-2 Pass through bolt axial restraint.

Above-mentioned interface clutch discs 1-6,2-2,3-6,4-2 structure is as shown in figure Figure 15, Figure 16, Figure 17, Figure 18.

Described interface pedestal includes base housing 5, base outer cover 6；The connector 7 is connected with the base housing 5； The connector 8 is connected with the base housing 5.

Illustrate the base housing of present embodiment with reference to Fig. 3, Fig. 4, Fig. 8, Fig. 9, Figure 10, designed on base housing 5 There is twice positioning boss, when being easy to the operating theater instruments executing agency M to be installed on the quick-changing mechanism N, to the surgical device Tool executing agency M is positioned with being fixed；The two sides of base housing 5 are respectively designed with two stay bolt holes, to adjust Relative mounting positions and the fixed base outer cover 6 of the base outer cover 6 with the seat shell body 5.

Illustrate the structure of the base outer cover 6 of present embodiment, the bottom with reference to Fig. 3, Fig. 4, Figure 11, Figure 12, Figure 13, Figure 14 Seat outer cover 6 has two, is mounted and fixed to the both sides of the base housing 5 respectively；The base outer cover 6 above slide by shaping-orientation Groove, the guide chute top is in " horn mouth " shape, to facilitate the installation of the operating theater instruments executing agency M, the base The guide chute end described above of outer cover 6 and intermediate channel bottom are in " circular arc " shape, " circular arc " of the guide chute end and middle part Shape chute bottom land opening direction is vertical with guide chute axis direction, and should " circular arc " shape the guide chute end and in Portion's bottom land and the operating theater instruments executing agency M fixed pin shaft form " interference " and coordinated, to prevent the operating theater instruments from performing Mechanism M fixed pin shaft " skids off " from the guide chute end and intermediate channel bottom above the base outer cover 6, causes institute Operating theater instruments executing agency M is stated " to separate " with quick-changing mechanism N；The operating theater instruments executing agency M can be along the base outer cover 6 Guide chute above is installed on the quick-changing mechanism N；Two stay bolt holes, the bottom are designed with the base outer cover 6 Two stay bolt holes above seat outer cover 6 are vertical with the long axially bored line in stay bolt hole above the base housing 5, facilitate the bottom Seat outer cover 6 adjusts the base outer cover 6 position relative with the installation of base housing 5 when being mounted and fixed on the base housing 5 Put.

Illustrate the structure of the retaining mechanism 9 of present embodiment, the locking machine with reference to Fig. 3, Fig. 4, Figure 19, Figure 20, Figure 21 Structure 9 is used to the operating theater instruments executing agency M being fixed to above the quick-changing mechanism N.The retaining mechanism 9 is by four lockings 9-1 and two locking pull bar 9-2 composition of hook.The locking hook 9-1 shares 4, described locking hook two components of 9-1 Other one end is rotatably mounted on each base outer cover 6, and the locking hook 9-1 other ends are held for fixing the operating theater instruments Row mechanism M；One of them described locking pull bar 9-2 both ends is rotatably mounted on two locking hooks positioned at same group respectively On 9-1；Two above the same base outer cover 6 locking hook 9-1 pivots and be rotatably mounted on this two The pivot of the locking pull bar 9-2 on the individual locking hook 9-1 forms " parallelogram "；When the operating theater instruments When executing agency M is installed in the quick-changing mechanism N, one of them described lock above the same base outer cover 6 is rotated Tight hook 9-1, the locking hook 9-1 is set to catch on a fixed pin shaft above operating theater instruments executing agency M, it is same described Another described locking hook 9-1 above base outer cover 6 links up with 9-1 in the presence of the locking pull bar 9-2 with the locking Do identical spinning movement, another described locking hook 9-1 catch on above operating theater instruments executing agency M simultaneously another fix Bearing pin；Locking hook 9-1 carries out same operation, another described bottom described in another two above another described base outer cover 6 Locking hook 9-1 catches on the another two steady pin above operating theater instruments executing agency M simultaneously described in another two above seat outer cover 6 Axle；When the operating theater instruments executing agency M separates from the quick-changing mechanism N, rotate above the same base outer cover 6 One of them described locking hook 9-1, make the locking hook 9-1 depart from above operating theater instruments executing agency M one is solid Rationed marketing axle, the effect of another described locking hook 9-1 above the same base outer cover 6 in the locking pull bar 9-2 Lower and locking hook 9-1 does identical spinning movement, and another described locking hook 9-1 departs from operating theater instruments executing agency simultaneously Another fixed pin shaft above M；Locking hook 9-1 is carried out identical described in another two above another described base outer cover 6 Operate, locking hook 9-1 departs from operating theater instruments executing agency M simultaneously described in the another two above another described base outer cover 6 Another two fixed pin shaft above.

The left external gear referred in drive mechanism 1 and the gear shaft 2-1 external toothings of wrist joint drive mechanism 2, right finger drive mechanism 3 On external gear and the gear shaft 2-1 external toothings of wrist joint drive mechanism 2.

Operation principle of the present utility model：

The left interface clutch discs 1-6 for referring to drive mechanism 1 axis around sun wheel shaft 1-5, which is realized, to be rotated clockwise：Start The left motor 1-10 referred in drive mechanism 1, rotates clockwise its output shaft, drives the left shaft coupling 1- referred in drive mechanism 1 9th, sun wheel shaft 1-5, small sun gear 1-2 are rotated clockwise, three planetary gear 1-3 with small sun gear 1-2 external toothings, Mei Gehang Star-wheel 1-3 around own axes rotate counterclockwise while around sun wheel shaft 1-5 axis both clockwise rotate, three planetary gear 1-3 Planet carrier 1-4 is driven to be rotated around sun wheel shaft 1-5 axis both clockwise, planet carrier 1-4 bands mobile interface clutch discs 1-6 is around sun gear Axle 1-5 axis both clockwise rotates.The left external gear for referring to the big sun gear 1-1 in drive mechanism 1 and wrist joint drive mechanism 2 Gear shaft 2-1 external toothings, now, the left big sun gear 1-1 referred in drive mechanism 1 do not rotate.

The left interface clutch discs 1-6 for referring to drive mechanism 1 axis around sun wheel shaft 1-5, which is realized, to be rotated counterclockwise：Start The left motor 1-10 referred in drive mechanism 1, rotates counterclockwise its output shaft, drives the left shaft coupling 1- referred in drive mechanism 1 9th, sun wheel shaft 1-5, small sun gear 1-2 are rotated counterclockwise, three planetary gear 1-3 with small sun gear 1-2 external toothings, Mei Gehang Star-wheel 1-3 around own axes rotate clockwise while rotate counterclockwise around sun wheel shaft 1-5 axis, three planetary gear 1-3 Planet carrier 1-4 is driven to be rotated counterclockwise around sun wheel shaft 1-5 axis, planet carrier 1-4 bands mobile interface clutch discs 1-6 is around sun gear Axle 1-5 axis rotates counterclockwise.The left external gear for referring to the big sun gear 1-1 in drive mechanism 1 and wrist joint drive mechanism 2 Gear shaft 2-1 external toothings, now, the left big sun gear 1-1 referred in drive mechanism 1 do not rotate.

The right interface clutch discs 3-6 for referring to drive mechanism 3 axis around sun wheel shaft 3-5, which is realized, to be rotated clockwise：Start The right motor 3-10 referred in drive mechanism 3, rotates clockwise its output shaft, drives the right shaft coupling 3- referred in drive mechanism 3 9th, sun wheel shaft 3-5, small sun gear 3-2 are rotated clockwise, three planetary gear 3-3 with small sun gear 3-2 external toothings, Mei Gehang Star-wheel 3-3 around own axes rotate counterclockwise while around sun wheel shaft 3-5 axis both clockwise rotate, three planetary gear 3-3 Planet carrier 3-4 is driven to be rotated around sun wheel shaft 3-5 axis both clockwise, planet carrier 3-4 bands mobile interface clutch discs 3-6 is around sun gear Axle 3-5 axis both clockwise rotates.The right external gear for referring to the big sun gear 3-1 in drive mechanism 3 and wrist joint drive mechanism 2 Gear shaft 2-1 external toothings, now, the right big sun gear 3-1 referred in drive mechanism 3 do not rotate.

The right interface clutch discs 3-6 for referring to drive mechanism 3 axis around sun wheel shaft 3-5, which is realized, to be rotated counterclockwise：Start The right motor 3-10 referred in drive mechanism 3, rotates counterclockwise its output shaft, drives the right shaft coupling 3- referred in drive mechanism 3 9th, sun wheel shaft 3-5, small sun gear 3-2 are rotated counterclockwise, three planetary gear 3-3 with small sun gear 3-2 external toothings, Mei Gehang Star-wheel 3-3 around own axes rotate clockwise while rotate counterclockwise around sun wheel shaft 3-5 axis, three planetary gear 3-3 Planet carrier 3-4 is driven to be rotated counterclockwise around sun wheel shaft 3-5 axis, planet carrier 3-4 bands mobile interface clutch discs 3-6 is around sun gear Axle 3-5 axis rotates counterclockwise.The right external gear for referring to the big sun gear 3-1 in drive mechanism 3 and wrist joint drive mechanism 2 Gear shaft 2-1 external toothings, now, the right big sun gear 3-1 referred in drive mechanism 3 do not rotate.

The interface clutch discs 2-2 of wrist joint drive mechanism 2 axis around gear shaft 2-1, which is realized, to be rotated clockwise：Start Motor 2-6 in wrist joint drive mechanism 2, rotates clockwise its output shaft, drives the shaft coupling in wrist joint drive mechanism 2 2-5, gear shaft 2-1 rotate around gear shaft 2-1 axis both clockwise, and gear shaft 2-1 bands mobile interface clutch discs 2-2 is around gear shaft 2- 1 axis both clockwise rotates.The gear shaft 2-1 of wrist joint drive mechanism 2 is with the big sun gear 1-1's in left finger drive mechanism 1 External gear external toothing, now, the gear shaft 2-1 of wrist joint drive mechanism 2 drive the left big sun gear 1-1 referred in drive mechanism 1 External gear rotate counterclockwise；The left big sun gear 1-1 referred in drive mechanism 1 drives three planetary gear 1-3 to rotate counterclockwise, and three Individual planetary gear 1-3 with small sun gear 1-2 external toothings, each planetary gear 1-3 around own axes rotate counterclockwise while around too Positive wheel shaft 1-5 axis rotates counterclockwise, and three planetary gear 1-3 drive planet carrier 1-4 counterclockwise around sun wheel shaft 1-5 axis Rotate, planet carrier 1-4 rotates counterclockwise with mobile interface clutch discs 1-6 around sun wheel shaft 1-5 axis.In left finger drive mechanism 1 Small sun gear 1-2, sun wheel shaft 1-5 with it is left finger drive mechanism 1 on motor 1-10, shaft coupling 1-9 be connected, now, it is left refer to drive Small sun gear 1-2, sun wheel shaft 1-5 on motivation structure 1 are not rotated.The gear shaft 2-1 of wrist joint drive mechanism 2 drives with right refer to The external gear external toothing of big sun gear 3-1 in mechanism 3, now, the gear shaft 2-1 of wrist joint drive mechanism 2 drive right refer to drive The external gear of big sun gear 3-1 on motivation structure 3 rotates counterclockwise；The right big sun gear 3-1 referred in drive mechanism 3 drives three Planetary gear 3-3 is rotated counterclockwise, and three planetary gear 3-3 are with small sun gear 3-2 external toothings, and each planetary gear 3-3 is around itself axle Axis while line rotates counterclockwise around sun wheel shaft 3-5 rotates counterclockwise, three planetary gear 3-3 drive planet carrier 3-4 around Sun wheel shaft 3-5 axis rotates counterclockwise, axis inverse times of the planet carrier 3-4 with mobile interface clutch discs 3-6 around sun wheel shaft 3-5 Pin rotates.Right small sun gear 3-2, the sun wheel shaft 3-5 referred in drive mechanism 3 and motor 3-10, shaft coupling in right finger drive mechanism 1 Device 3-9 is connected, and now, right small sun gear 3-2, the sun wheel shaft 3-5 referred in drive mechanism 3 is not rotated.

The interface clutch discs 2-2 of wrist joint drive mechanism 2 axis around gear shaft 2-1, which is realized, to be rotated counterclockwise：Start Motor 2-6 in wrist joint drive mechanism 2, rotates counterclockwise its output shaft, drives the shaft coupling in wrist joint drive mechanism 2 2-5, gear shaft 2-1 rotate counterclockwise around gear shaft 2-1 axis, and gear shaft 2-1 bands mobile interface clutch discs 2-2 is around gear shaft 2- 1 axis rotates counterclockwise.The gear shaft 2-1 of wrist joint drive mechanism 2 is with the big sun gear 1-1's in left finger drive mechanism 1 External gear external toothing, now, the gear shaft 2-1 of wrist joint drive mechanism 2 drive the left big sun gear 1-1 referred in drive mechanism 1 External gear rotate clockwise；The left big sun gear 1-1 referred in drive mechanism 1 drives three planetary gear 1-3 to rotate clockwise, and three Individual planetary gear 1-3 with small sun gear 1-2 external toothings, each planetary gear 1-3 around own axes rotate clockwise while around too Positive wheel shaft 1-5 axis both clockwise rotates, and three planetary gear 1-3 drive planet carrier 1-4 around sun wheel shaft 1-5 axis both clockwise Rotate, planet carrier 1-4 rotates with mobile interface clutch discs 1-6 around sun wheel shaft 1-5 axis both clockwise.In left finger drive mechanism 1 Small sun gear 1-2, sun wheel shaft 1-5 with it is left finger drive mechanism 1 on motor 1-10, shaft coupling 1-9 be connected, now, it is left refer to drive Small sun gear 1-2, sun wheel shaft 1-5 on motivation structure 1 are not rotated.The gear shaft 2-1 of wrist joint drive mechanism 2 drives with right refer to The external gear external toothing of big sun gear 3-1 in mechanism 3, now, the gear shaft 2-1 of wrist joint drive mechanism 2 drive right refer to drive The external gear of big sun gear 3-1 on motivation structure 3 rotates clockwise；The right big sun gear 3-1 referred in drive mechanism 3 drives three Planetary gear 3-3 is rotated clockwise, and three planetary gear 3-3 are with small sun gear 3-2 external toothings, and each planetary gear 3-3 is around itself axle Axis both clockwise while line rotates clockwise around sun wheel shaft 3-5 rotates, three planetary gear 3-3 drive planet carrier 3-4 around Sun wheel shaft 3-5 axis both clockwise rotates, axis up times of the planet carrier 3-4 with mobile interface clutch discs 3-6 around sun wheel shaft 3-5 Pin rotates.Right small sun gear 3-2, the sun wheel shaft 3-5 referred in drive mechanism 3 and motor 3-10, shaft coupling in right finger drive mechanism 1 Device 3-9 is connected, and now, right small sun gear 3-2, the sun wheel shaft 3-5 referred in drive mechanism 3 is not rotated.

The interface clutch discs 4-2 of operation pipe drive mechanism 4 axis around power transmission shaft 4-1, which is realized, to be rotated clockwise：Start Motor 4-6 in operation pipe drive mechanism 4, rotates clockwise its output shaft, drives the shaft coupling in operation pipe drive mechanism 4 4-5, power transmission shaft 4-1 rotate around power transmission shaft 4-1 axis both clockwise, and power transmission shaft 4-1 bands mobile interface clutch discs 2-2 is around power transmission shaft 2- 1 axis both clockwise rotates.

The interface clutch discs 4-2 of operation pipe drive mechanism 4 axis around power transmission shaft 4-1, which is realized, to be rotated counterclockwise：Start Motor 4-6 in operation pipe drive mechanism 4, rotates counterclockwise its output shaft, drives the shaft coupling in operation pipe drive mechanism 4 4-5, power transmission shaft 4-1 rotate counterclockwise around power transmission shaft 4-1 axis, and power transmission shaft 4-1 bands mobile interface clutch discs 2-2 is around power transmission shaft 2- 1 axis rotates counterclockwise.

The adjustment of relative installation between base outer cover 6 and base housing 5：

Two stay bolt holes are designed with base outer cover 6, the two sides of base housing 5 are respectively designed with two stay bolts Hole, two stay bolt holes above the base outer cover 6 are vertical with the long axially bored line in stay bolt hole above the base housing 5, , can be by adjusting the base outer cover 6 and the bottom when two base outer covers 6 are fixed on the base housing 5 The fixed position relative in the stay bolt hole of seat shell body 5 adjusts the base outer cover 6 position relative with the installation of the base housing 5 Put.

The adjustable advantage of relative installation between base outer cover 6 and base housing 5：

1. by adjusting relative installation between the base outer cover 6 and the base housing 5, the bottom can be adjusted The interface clutch discs 1-6 above guide chute and the base housing 5, interface clutch discs 2-2, interface above seat outer cover 6 from Close relative installation between disk 3-6, interface clutch discs 4-2 so that the operating theater instruments executing agency M be installed to it is described fast When on converting mechanism N, the interface clutch discs above the operating theater instruments executing agency M can be with connecing above the base housing 5 Mouth clutch discs can coordinate just to be driven in place, will not be caused because of interference above the operating theater instruments executing agency M Interface clutch discs can not coordinate with the interface clutch discs above the base housing 5.

2. the operating theater instruments executing agency M, when carrying out surgical operation, the operating theater instruments executing agency M is needed with people Body insertion point O is pivoted about, by adjusting relative installation between the base outer cover 6 and the base housing 5, Relative installation between the guide chute and the base housing 5 above the base outer cover 6 can be adjusted, so as to adjust hand Relative installation between art apparatus executing agency M and the quick-changing mechanism N, it is convenient to adjust the operating theater instruments executing agency M Above with human body insertion point O.

3. the operating theater instruments executing agency M is when carrying out surgical operation, with reference to Figure 23,24, the operating theater instruments performs Mechanism M needs to be oscillating motion, the operating theater instruments executing agency M with one parallelogram OPQR of the connecting rod of mechanical arm composition Need to pivot about with human body insertion point O, it is relative between the base outer cover 6 and the base housing 5 by adjusting Installation site, relative installation between the guide chute and the base housing 5 above the base outer cover 6 can be adjusted, So as to adjust relative installation between operating theater instruments executing agency M and the quick-changing mechanism N, so as to adjust the operating theater instruments The connecting rod of executing agency M and mechanical arm forms a parallelogram OPQR.

When the operating theater instruments executing agency M is installed in the quick-changing mechanism N, the operating theater instruments executing agency M edges The base outer cover 6 guide chute above is slipped on the guide chute top for " horn mouth " shape above the base outer cover 6 End and intermediate channel bottom, the guide chute end and intermediate channel bottom above the base outer cover 6 are held with the operating theater instruments Row mechanism M fixed pin shaft forms " interference " and coordinated, while rotates described in one of them above the same base outer cover 6 Locking hook 9-1, the locking hook 9-1 is set to catch on a fixed pin shaft above operating theater instruments executing agency M, same institute State another described locking hook 9-1 above base outer cover 6 and link up with 9- with the locking in the presence of the locking pull bar 9-2 1 does identical spinning movement, another described locking hook 9-1 catch on simultaneously above operating theater instruments executing agency M another is solid Rationed marketing axle；Locking hook 9-1 carries out same operation described in another two above another described base outer cover 6, described in another The another two that locking hook 9-1 described in another two above base outer cover 6 is caught on above operating theater instruments executing agency M simultaneously is fixed Bearing pin；To prevent the fixed pin shaft of the operating theater instruments executing agency M from the guide chute above the base outer cover 6 " skidding off ", the operating theater instruments executing agency M is caused " to be separated " with quick-changing mechanism N.Meanwhile the twice on the base housing 5 Positioning boss, the operating theater instruments executing agency M can be positioned with being fixed；

When the operating theater instruments executing agency M separates from the quick-changing mechanism N, the same base outer cover is rotated One of them described locking hook 9-1 above 6, makes the locking hook 9-1 depart from one above operating theater instruments executing agency M Individual fixed pin shaft, another described locking hook 9-1 above the same base outer cover 6 is the locking pull bar 9-2's Effect is lower and locking hook 9-1 does identical spinning movement, and another described locking hook 9-1 departs from operating theater instruments execution simultaneously Another fixed pin shaft above mechanism M；Locking hook 9-1 is carried out described in another two above another described base outer cover 6 Same operation, locking hook 9-1 described in the another two above another described base outer cover 6 depart from operating theater instruments and perform machine simultaneously Another two fixed pin shaft above structure M.The operating theater instruments executing agency M is along the guide chute above the base outer cover 6 End and intermediate channel bottom skid off the base outer cover 6 from the guide chute top of " horn mouth " shape, hold the operating theater instruments Row mechanism M " is separated " with quick-changing mechanism N.

Embodiment 2

Illustrate present embodiment with reference to Figure 22, can be by the quick-changing mechanism N on the basis of the technical scheme of embodiment one Retaining mechanism be changed to chute-type locked by hooks mechanism in accompanying drawing 12, its concrete structure is：

Two arc-shaped slots are respectively opened on each described base outer cover 6,10 both ends of locking hook are articulated with In two arc chutes of base outer cover 6, the axis direction of the locking hook 10 is slided with the guiding on the base outer cover 6 The line of centres at groove end and intermediate channel bottom is parallel, it is described locking hook 10 both ends can be in two circles of the base outer cover 6 Slided in arc chute, the locking hook 10 there are two hooks above, for fixing above the operating theater instruments executing agency M Two fixed pin shafts.

When the operating theater instruments executing agency M is installed in the quick-changing mechanism N, the operating theater instruments executing agency M edges The base outer cover 6 guide chute above is slipped on the guide chute top for " horn mouth " shape above the base outer cover 6 End and intermediate channel bottom, the guide chute end and intermediate channel bottom above the base outer cover 6 are held with the operating theater instruments Row mechanism M fixed pin shaft forms " interference " and coordinated, two circular arcs of locking 10 both ends of hook in the base outer cover 6 Slided in chute, make two hooks above the locking hook 10 while catch on above the operating theater instruments executing agency M Two fixed pin shafts；Another described locking hook 10 above another described base outer cover 6 carries out same operation, another Another described locking hook 10 above the base outer cover 6 catches on the another two above operating theater instruments executing agency M simultaneously Fixed pin shaft；To prevent the fixed pin shaft of the operating theater instruments executing agency M from being slided from the guiding above the base outer cover 6 " skidded off " in groove, cause the operating theater instruments executing agency M " to be separated " with quick-changing mechanism N.Meanwhile on the base housing 5 Twice positioning boss, the operating theater instruments executing agency M can be positioned with being fixed；

When the operating theater instruments executing agency M separates from the quick-changing mechanism N, 10 both ends of locking hook are in institute State and slided in two arc chutes of base outer cover 6, made described in two hooks while the disengaging above the locking hook 10 Two fixed pin shafts above operating theater instruments executing agency M；Another described locking above another described base outer cover 6 is hung Hook 10 carries out same operation, and another described locking hook 10 above another described base outer cover 6 departs from surgical device simultaneously Another two fixed pin shaft above tool executing agency M.The operating theater instruments executing agency M is along above the base outer cover 6 Guide chute end and intermediate channel bottom skid off the base outer cover 6 from the guide chute top of " horn mouth " shape, make the hand Art apparatus executing agency M " is separated " with quick-changing mechanism N.

Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model In the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., it should be included in of the present utility model In protection domain.

It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model Within enclosing.

Claims

1. it is used for minimally invasive surgical operation robot quick-changing mechanism, it is characterised in that including an interface pedestal, in described interface Left finger drive mechanism, wrist joint drive mechanism, right finger drive mechanism and operation pipe drive mechanism are installed on base；A described left side Refer to drive mechanism, wrist joint drive mechanism, right finger drive mechanism and operation pipe drive mechanism each via an interface clutch discs It is connected with base；

Described left finger drive mechanism is identical with the structure of right finger drive mechanism, each includes a motor, the motor passes through company Axle device is connected with sun wheel shaft, is provided with big sun gear and small sun gear in described sun wheel shaft, big sun gear and small too Sun wheel engages with installing three planetary gears in planet carrier, described planet carrier and interface clutch discs phase corresponding thereto Even；

Described wrist joint drive mechanism is arranged between left finger drive mechanism and right finger drive mechanism, and it includes a motor, The motor is connected by shaft joint with gear shaft, described gear shaft respectively with it is left finger drive mechanism and it is right refer to drive mechanism it is big Sun gear engages；And gear shaft end is connected with interface clutch discs corresponding thereto；

Described operation pipe drive mechanism is arranged on the lower section of right finger drive mechanism, and it includes a motor, and the motor passes through company Axle device is connected with a power transmission shaft, and described power transmission shaft is connected with interface clutch discs corresponding thereto.

2. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 1, it is characterised in that described planet carrier Three bearing pins are stretched out in one end, and three bearing pins of planet carrier insert in the centre bore of three planetary gears respectively, and the planet carrier other end leads to Bearing axial restraint is crossed, bearing is fixed on base housing, and the end of planet carrier forms with interface clutch discs and is interference fitted.

3. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 1, it is characterised in that described Sunny The shaft section of wheel and sun gear is in " D " font, and " D " shaped sections formation of small sun gear and sun wheel shaft is interference fitted, small too Sun wheel is circumferentially fixed by " D " shaped sections with sun wheel shaft.

4. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 1, it is characterised in that the power transmission shaft two End is fixed on base housing by bearing axial restraint, the bearing of wherein one end, and the bearing of the other end is fixed on connector On, described power transmission shaft is formed with interface clutch discs connection end and is interference fitted.

5. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 1, it is characterised in that described interface bottom Seat includes base housing and base outer cover, and described base housing is provided with twice positioning boss, base housing two sides difference Provided with two stay bolt holes, described stay bolt hole is connected with base outer cover.

6. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 5, it is characterised in that outside described base Two are covered with, is mounted and fixed to the both sides of base housing respectively；Shaping-orientation chute above base outer cover, guide chute top In " horn mouth " shape；Guide chute end and intermediate channel bottom are in " circular arc " shape above base outer cover, guide chute end and in " circular arc " shape chute bottom land opening direction in portion is vertical with guide chute axis direction, and is somebody's turn to do the guide chute end of " circular arc " shape The fixed pin shaft of end and intermediate channel bottom and operating theater instruments executing agency forms " interference " and coordinated.

7. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 6, it is characterised in that outside described base It is designed with two stay bolt holes on cover, two stay bolt holes above base outer cover and the stay bolt hole elongated hole above base housing Axis is vertical, facilitates base outer cover to be mounted and fixed to adjustment base outer cover when on base housing relative with the installation of base housing Position.

8. it is used for minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 5, it is characterised in that also including a use In the retaining mechanism being fixed to operating theater instruments executing agency in interface pedestal, described retaining mechanism includes two groups, every group of bag Two locking hooks and a locking pull bar are included, one end of two locking hooks is rotatably mounted on same base outer cover, locked The tight hook other end is used for fixation surgical instrument executing agency；The other end of two locking hooks is connected to the locking of the group On pull bar；The pivot of two locking hooks above same base outer cover is with being rotatably mounted on this two locking hooks Locking pull bar pivot formed " parallelogram ".

9. minimally invasive surgical operation robot quick-changing mechanism as claimed in claim 5, it is characterised in that being also used for including one will Operating theater instruments executing agency is fixed to the retaining mechanism in interface pedestal, and two arc-shaped slots are opened on the base outer cover Hole, in be hinged two arc chutes with base outer cover in locking hook both ends, the axis direction of the locking hook with The line of centres of guide chute end and intermediate channel bottom on the base outer cover is parallel, it is described locking hook both ends can be in institute State and slided in two arc chutes of base outer cover, the locking hook there are two hooks above, for fixing the operation Two fixed pin shafts above apparatus executing agency.