CN207870971U - The surgical instrument and operating robot of operating robot - Google Patents
The surgical instrument and operating robot of operating robot Download PDFInfo
- Publication number
- CN207870971U CN207870971U CN201720948091.0U CN201720948091U CN207870971U CN 207870971 U CN207870971 U CN 207870971U CN 201720948091 U CN201720948091 U CN 201720948091U CN 207870971 U CN207870971 U CN 207870971U
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- Prior art keywords
- drive link
- rod
- drive
- operating robot
- driving portion
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Abstract
The utility model provides a kind of surgical instrument and operating robot of operating robot, and the surgical instrument of operating robot includes：First driving portion, support shaft and the first drive link；Support shaft is connected with the first driving portion, and first gear is provided in support shaft；One end of first drive link is provided with second gear, and the other end of the first drive link is connected by connector with operation enforcement division；Wherein, first gear is meshed with second gear, and support shaft is located above the side of the first drive link, first driving portion drives support shaft rotation, and then drives first gear rotation, and first gear drives second gear rotation, second gear drives the first drive rod rotation, and then drives operation enforcement division rotation.Surgical instrument of this kind for operating robot is simple in structure, the volume of surgical instrument can be effectively reduced, and rotating manner is flexible so that operation enforcement division in a limited space in the instruction execution surgical procedure that can rapidly and accurately be sent out according to doctor, it is ensured that operation is smoothed out.
Description
Technical field
The utility model is related to Medical robot technical fields, in particular to a kind of surgical device of operating robot
Tool and operating robot.
Background technology
With the development of minimally invasive surgery technology and artificial intelligence technology, robot assisted micro-wound surgical operation is increasingly becoming micro-
Create one of the development trend of surgical operation.On the one hand, robot assisted micro-wound surgical operation can largely eliminate tradition
The limitation of minimally invasive surgical techniques realizes the functions such as remote operation, and on the other hand, current robot assisted is minimally invasive
The operation cost of surgical operation is higher, and procedure efficiency has to be hoisted.Therefore, minimally invasive surgical operation robot operation behaviour how is promoted
The flexibility and accuracy of work, while the versatility with traditional Minimally Invasive Surgery instrument is improved, become robot assisted minimally invasive surgery
One of the technical problems that are urgent to solve during operation development is universal.
Utility model content
The utility model aims to solve at least one of technical problems existing in the prior art or related technologies.
For this purpose, first purpose of the utility model is to propose a kind of surgical instrument of operating robot.
Second purpose of the utility model is to propose a kind of operating robot.
In view of this, first purpose according to the present utility model, the utility model provides a kind of operating robot
Surgical instrument, is used for operating robot, and the surgical instrument of operating robot includes：First driving portion, support shaft and the first transmission
Bar；Support shaft is connected with the first driving portion, and first gear is provided in support shaft；One end of first drive link is provided with second
The other end of gear, the first drive link is connected by connector with operation enforcement division；Wherein, first gear and second gear phase
Engagement, support shaft are located above the side of the first drive link, and the first driving portion drives support shaft rotation, and then first gear is driven to turn
Dynamic, first gear drives second gear rotation, second gear to drive the first drive rod rotation, and then operation enforcement division is driven to turn
It is dynamic.
The surgical instrument of operating robot provided by the utility model passes through the first drive link and receipts operation enforcement division phase
Connection, and by the first driving portion drive the first drive rod rotation, and then band have an operation enforcement division rotation；This kind of operating robot
Surgical instrument it is simple in structure, the volume of the surgical instrument of operating robot can be effectively reduced, and rotating manner is flexible, made
The enforcement division that must perform the operation in a limited space in can rapidly and accurately complete the instruction that doctor is sent out, it is ensured that operation it is smooth into
Row；Support shaft rotation, support shaft is driven, by gear drive, to effectively ensure that the standard of transmission with the first drive link by driving portion
True property and stability, avoid support shaft from idle running phenomenon occur and the enforcement division that perform the operation can not turn to precalculated position；Also, the
One drive link can be connected with a variety of operation enforcement divisions, and then realize to the driving of a variety of operation enforcement divisions, effectively improve
The versatility of the surgical instrument of operating robot.
In addition, the surgical instrument of the operating robot in above-mentioned technical proposal provided by the utility model can also have such as
Lower additional technical feature：
In the above-mentioned technical solutions, it is preferable that connector includes：First connector, the first connecting pin and the second connector；
One end of first connector is at least partly sheathed on the first drive link；First connecting pin is plugged in along the radial direction of the first drive link
On first drive link and the first connector, to prevent the first connector relative to the first drive rod rotation；The one of second connector
End and the other end of the first connector are rotatablely connected by the first axis pin, and the other end of the second connector passes through the second axis pin and hand
Art enforcement division is connected；Wherein, the first axis pin is mutually perpendicular to the second axis pin.
In the technical scheme, by the way that one end of the first connector to be at least partly sheathed on the first drive link, and lead to
It crosses the first axis pin to be radially plugged on the first connector and the first drive link so that the first connector is relative to the first drive link
Both it will not relatively rotate, opposite will not slide, and have effectively achieved the fixation to the first connector, and pass through setting first
Connector reduces the processing capacity of the first drive link, is effectively guaranteed the straightness of the first drive link；Connected by setting second
Fitting and the first connector are rotatablely connected so that operation enforcement division does not interfere with the other of operation enforcement division during rotation
Motion mode；By the way that the first axis pin is set perpendicularly to the second axis pin so that there are two orthogonal for operation enforcement division tool
The degree of freedom in direction, so that operation enforcement division rotation is more flexible, the operation convenient for doctor to enforcement division of performing the operation.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：Second drive link and drive
Lever；Second drive link is embedded in the first drive link；One end of drive rod and one end of the second drive link are rotatablely connected, drive rod
The other end pass through third axis pin and the second connector and be rotatablely connected；Wherein, third axis pin is parallel with the first axis pin, when the second biography
When lever moves back and forth, the second connector is driven to be rotated around the first axis pin.
In the technical scheme, by the way that the second drive link in the first drive link, is reduced the hand of operating robot
The volume of art instrument, and then efficiently reduce occupancy of the surgical instrument to space of operating robot；By the way that drive rod is arranged,
And connect one end of drive rod with the second drive rod rotation, the other end of drive rod and the second connector are rotatablely connected, and
Second connector and the first connector are rotatablely connected by the first axis pin, so when the second drive link moves reciprocatingly, it can band
Dynamic drive rod moves reciprocatingly, and then the second connector is driven to be rotated around the first axis pin, and since third axis pin and first are sold
Axis is parallel, it is ensured that the flexibility of rotation.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：Guide pad, guide pad
In the first drive link；Guide pad is provided with guide groove along the axis direction of the first drive link, and drive rod is embedded in guide groove.
In the technical scheme, by the way that guide pad is arranged, and by drive rod in the guide groove of guide pad, guide pad pair
Drive rod plays the role of guiding, is effectively guaranteed the accuracy of the drive rod direction of motion and the stability of movement.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：First screw rod, second
Driving portion and the first sliding block；First screw rod is parallel with the second drive link；Second driving portion is connected with the first screw rod, with driving
First screw rod rotates；First slide block set is set on the first screw rod, with the rotation of the first screw rod along the axis direction of the first screw rod
It moves back and forth；First sliding block is connected with the second drive link, to drive the second drive link to move reciprocatingly in the axial direction.
In the technical scheme, the rotation of the first screw rod, the first screw rod and the first sliding block is driven to coordinate by the second driving portion,
The first sliding block is driven to move reciprocatingly along the first screw rod, the first sliding block is connected with the second drive link, and the second drive link is with
The movement of one sliding block and move back and forth, realize to perform the operation enforcement division driving；Screw rod is connected through a screw thread with sliding block, passes through
The rotation of one screw rod drives the first sliding block to move back and forth, and the first screw rod often rotates one week, and the first sliding block only moves screw pitch
Distance, this ensures the accurate of the control to enforcement division of performing the operation but also more accurate to the control of the movement of the first sliding block
Property.First screw rod equally leading screw can be used to replace, and can reach effect same as the first screw rod.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：Third drive link and company
Extension bar；Third drive link is embedded in the second drive link；One end of connecting rod is connected with one end of third drive link, connecting rod
The other end is connected by transiting rod with operation enforcement division, to drive operation enforcement division.
In the technical scheme, by the way that third drive link in the second drive link, is further reduced surgical machine
The volume of the surgical instrument of people；Third drive link is connected by connecting rod with operation enforcement division, and connecting rod is soft bar, and
With some strength, certain axial force can be born, connecting rod is flexible when by radial load, when only by axial force not
It can be bent, this kind of connecting rod is that can avoid influencing rotating around the first axis pin for operation enforcement division, will not influence third drive link
Driving to enforcement division of performing the operation, it is ensured that the stability that operation enforcement division moves in each degree of freedom；Specifically, connecting rod can be
Steel wire.
In any of the above-described technical solution, it is preferable that be arranged with the first spring in connecting rod, be connected in the two of connecting rod
End.
In the technical scheme, by the way that the first spring is arranged in connecting rod so that connecting rod upon bending can be with diameter
It automatically resets to the disappearance of power, and ensures that connecting rod is in straight configuration always；When connecting rod is by axial force, can increase
The bending strength of strong connecting rod, it is ensured that the accuracy of the driving for enforcement division of performing the operation, avoid operation enforcement division because of the bending of connecting rod
And it is unable to reach precalculated position.
In any of the above-described technical solution, it is preferable that operation enforcement division is folding instrument, and folding instrument includes the first noumenon
With the second ontology, the first noumenon and the second ontology are arranged in a crossed manner, and the infall and the second axis pin of the first noumenon and the second ontology turn
Dynamic connection；Transiting rod includes First Transition bar and the second transiting rod, one end and connecting rod of First Transition bar and the second transiting rod
Rotation connection, the other end and the first noumenon of First Transition bar are rotatablely connected, and the other end of the second transiting rod and the second ontology turn
Dynamic connection；Wherein, folding instrument is opened or closed with the reciprocating motion of third drive link.
In the technical scheme, the first noumenon and the second ontology for opening and closing instrument are hinged by the second axis pin, First Transition
Bar and the second transiting rod are connected with the tail portion of the first noumenon and the second ontology respectively so that First Transition bar, the second transiting rod,
The first noumenon and the second ontology form a quadrangle, when third drive link moves reciprocatingly, drive First Transition bar and the
Two transiting rod open or closes, and then folding instrument open or close is driven, realize the driving to open and close device tool.
In any of the above-described technical solution, it is preferable that operation enforcement division is electric hook, and electric hook and the second axis pin are rotatablely connected；
Transiting rod includes：Third transiting rod, the 4th transiting rod and the 5th transiting rod；One end and company of third transiting rod and the 4th transiting rod
Extension bar is rotatablely connected, the other end and operation enforcement division rotation connection, the other end and the 5th of the 4th transiting rod of third transiting rod
One end of transiting rod is rotatablely connected, and the other end of the 5th transiting rod and the second axis pin are rotatablely connected wherein, when third drive link is done
When reciprocating motion, electric hook is driven to be rotated around the second axis pin.
In the technical scheme, when enforcement division of performing the operation is electric hook, third transiting rod, the 4th transiting rod, the 5th transiting rod
A quadrangle, third transiting rod and the 4th transiting rod are formed with operation enforcement division to be rotatablely connected with connecting rod, the 5th transiting rod
Hinged with the second axis pin with operation enforcement division, when connecting rod moves reciprocatingly, band has an operation enforcement division around the second axis pin turn
It is dynamic, further increase the degree of freedom of operation enforcement division so that the movement for enforcement division of performing the operation is more flexible, so that doctor couple
The operation for enforcement division of performing the operation is more convenient.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：Second screw rod, third
Driving portion and the second sliding block；Second screw rod is parallel with third drive link；Third driving portion is connected with the second screw rod, with driving
Second screw rod rotates；Second slide block set is set on the second screw rod, with the rotation of the second screw rod along the axis direction of the second screw rod
It moves back and forth；Second sliding block is connected with third drive link, to drive third drive link to move reciprocatingly in the axial direction.
In the technical scheme, third driving portion drives the rotation of the second screw rod, the second sliding block to be connect with the second screw flight,
With the rotation of the second screw rod, the axis along screw rod moves reciprocatingly, and the second sliding block is connected with third drive link, and then drives
Third drive link moves reciprocatingly in an axial direction；The second sliding block is driven to move back and forth by the rotation of the second screw rod, the second screw rod is every
Rotation one week, the second sliding block only moves the distance of a screw pitch, this but also more accurate to the control of the movement of the second sliding block,
And then ensure the accuracy of the control to enforcement division of performing the operation.
In any of the above-described technical solution, it is preferable that the first driving portion includes：Motor, connecting shaft and bail；Motor is set
It is equipped with output shaft；Connecting shaft is tubular structure, and one end of connecting shaft is sheathed on the output shaft of motor；Wherein, connecting shaft is arranged
In one end on output shaft at least one opening is offered along the axis direction of connecting shaft；Bail is sheathed in connecting shaft, with
Connecting shaft is clamped on output shaft.
In the technical scheme, connecting shaft is clamped on the output shaft of motor by bail, realize connecting shaft with
The connection of output shaft, and this kind of connection type makes connecting shaft and the concentricity of output shaft good, it is ensured that the stabilization that power transmits
Property, it efficiently avoids generating vibration and noise in transmission process, it is ensured that the stability of product.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：First terminal pad, the
One terminal pad is three, is connected respectively with one end of support shaft, the first screw rod and the second screw rod；First driving portion further includes：
Second terminal pad and the second connecting pin；Second terminal pad is sheathed on the other end of connecting shaft；Diameter of second connecting pin along connecting shaft
To across the second terminal pad and connecting shaft；Wherein, slideway is provided on the inner wall of the second terminal pad, the second connecting pin is embedded in slideway
It is interior, so that the second terminal pad can in the axial direction be slided with respect to connecting shaft；Second terminal pad is connected with the first terminal pad, and second
Terminal pad and one in the first terminal pad upper setting are fluted, are provided with protrusion on another, and groove is matched with protrusion, with
The second terminal pad is set to drive the rotation of the first terminal pad.
In the technical scheme, the second terminal pad is connected with connecting shaft, and passes through the second connection of the second connecting pin limitation
Disk is rotated relative to connecting shaft so that the second terminal pad can be rotated with the rotation of connecting shaft, and the second terminal pad is connect with first
One in disk upper setting is fluted, is provided with protrusion on another, groove is matched with protrusion so that the second terminal pad can band
Dynamic first terminal pad rotation, and then drive support shaft, the first screw rod or the rotation of the second screw rod；This kind of connection type is simple in structure,
It is easy to connect and easy for removal and installation, effectively improve the versatility of the first driving portion.Protrusion cross sectional shape can be
"-" type or cross, irregular figure also can, as long as can realize by the second terminal pad drive the first terminal pad rotation.
In any of the above-described technical solution, it is preferable that the first driving portion further includes：Second spring, second spring are sheathed on
It in connecting shaft, is connected between bail and the second terminal pad, so that the second terminal pad can automatically reset.
In the technical scheme, it by the way that second spring is arranged in connecting shaft, and is connected in bail and is connect with second
Between disk so that the installation between the first terminal pad and the second terminal pad need not manually adjust position, as long as protrusion and groove
After cooperation, under the thrust of second spring, the second terminal pad can fit with the first terminal pad automatically, and then drive first
Terminal pad rotates.
In any of the above-described technical solution, it is preferable that the second driving portion is identical as the first driving portion, third driving portion and
One driving portion is identical.
In the technical scheme, by setting the second driving portion and third driving portion to drive identical with the first driving portion
Dynamic portion, effectively improves the versatility between three driving portions.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：First support, first
Holder is U-shaped, and first support includes the first side wall, second sidewall and bottom wall；First drive link passes through after the first side wall with first
Connector is connected；One end of first screw rod pass through the first side wall after be connected with the first terminal pad, one end of the first screw rod with
Second sidewall is rotatablely connected；One end of second screw rod is connected after passing through the first side wall with the first terminal pad, and the one of the second screw rod
End is rotatablely connected with second sidewall；Support shaft is connected after passing through the first side wall with the first terminal pad.
In the technical scheme, the first screw rod, the second screw rod, the first drive link, the second transmission are supported by first support
Bar and third drive link so that the part-structure forms the driving section of an entirety, in the course of surgery, if necessary to more hand-off
Art enforcement division, doctor can directly replace the driving section equipped with different operation enforcement divisions, you can realize to operation enforcement division more
It changes, replacement speed is fast, and substitute mode is easy.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：Second support, first
Driving portion, the second driving portion and third driving portion are both secured in second support, and second support is clamped with first support, so that the
One driving portion drives support shaft, the second driving portion that the first screw rod, third driving portion is driven to drive the second screw rod.
In the technical scheme, by the way that the first driving portion, the second driving portion and third driving portion are fixed on second support
On so that first support during use, need to be only installed in second support by the surgical instrument of operating robot
It realizes the connection of driving section and driving portion, and can further promote the first driving portion, the second driving portion and third driving portion
Versatility.
In any of the above-described technical solution, it is preferable that the surgical instrument of operating robot further includes：Third holder, third
Holder is connected with second support, be provided on third holder along third holder length direction extension the first locating slot and to
Third internal stent recess third locating slot；The convex ribs and spring consistent with the first locating slot direction are provided in first support
Button；Snak link is connected in third locating slot after convex ribs in first support slide into the first locating slot.
In the technical scheme, by the way that the first locating slot and third locating slot are arranged on third holder, in first support
Upper setting convex ribs and snak link, convex ribs and the first locating slot coordinate, and realize the positioning to third locating slot, and snak link is connected in the
In three locating slots, the fixation of third holder and first support is realized；It is clamped by snak link and third locating slot so that first
The installation and removal of frame are more convenient, and then are replaced to operation enforcement division convenient for doctor.
In any of the above-described technical solution, it is preferable that operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, ultrasound
Knife and needle holder；Wherein, scissors, nipper, elastic separating plier and needle holder are folding instrument.
Second purpose according to the present utility model, the utility model provide a kind of operating robot, operating robot
Include the surgical instrument of the operating robot as described in any of the above-described technical solution, therefore, which includes as above-mentioned
Whole advantageous effects of the surgical instrument of operating robot described in any technical solution.
The additional aspect and advantage of the utility model will be set forth in part in the description, partly will be from following description
In become apparent, or recognized by the practice of the utility model.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the utility model will in the description from combination following accompanying drawings to embodiment
Become apparent and is readily appreciated that, wherein：
Fig. 1 shows the structural representation of the surgical instrument of the operating robot of one embodiment according to the present utility model
Figure；
Fig. 2 is the surgical instrument of the operating robot of one embodiment according to the present utility model shown in FIG. 1 at A
Partial enlarged view；
Fig. 3 is the surgical instrument of the operating robot of one embodiment according to the present utility model shown in FIG. 1 at B
Partial enlarged view；
Fig. 4 shows the driving part structure schematic diagram of one embodiment according to the present utility model；
Fig. 5 shows the sectional view of the driving portion of one embodiment according to the present utility model；
Fig. 6 shows the front view of the surgical instrument of the operating robot of one embodiment according to the present utility model；
Fig. 7 is the surgical instrument of the operating robot of one embodiment according to the present utility model shown in fig. 6 along C-C's
Sectional view；
Fig. 8 shows the drive mechanism schematic diagram of second drive link of one embodiment according to the present utility model；
Fig. 9 is the drive mechanism of second drive link of one embodiment according to the present utility model shown in Fig. 8 at D
Partial enlarged view；
Figure 10 shows the drive mechanism schematic diagram of the folding instrument of one embodiment according to the present utility model；
Figure 11 is partial enlargement of the folding instrument of one embodiment according to the present utility model shown in Fig. 10 at E
Figure；
Figure 12 shows the drive mechanism schematic diagram of the electric hook of one embodiment according to the present utility model；
Figure 13 is partial enlarged view of the electric hook of one embodiment according to the present utility model shown in Figure 12 at F；
Wherein, the reference numeral in Fig. 1 to Figure 13 and the correspondence between component names are：
102 first drive links, 104 first gears, 106 support shafts, 108 first sliding blocks, 110 first screw rods, 112 second slide
Block, 114 second screw rods, 116 second gears, 118 first terminal pads, 120 first connectors, 122 second connectors, 124 operations
Enforcement division, 126 first driving portions, 1,262 second terminal pads, 1264 connecting shafts, 1266 second springs, 1268 bails, 1269 electricity
Machine, 128 second driving portions, 130 third driving portions, 132 second drive links, 134 third drive links, 136 drive rods, 138 are oriented to
Block, 140 connecting rods, 142 first springs, 144 the first noumenons, 146 second ontologies, 148 First Transition bars, 150 second transiting rods,
152 electric hooks, 154 third transiting rods, 156 the 4th transiting rods, 158 the 5th transiting rods, 160 first supports, 162 second supports, 164
Snak link.
Specific implementation mode
In order to be more clearly understood that the above objects, features, and advantages of the utility model, below in conjunction with the accompanying drawings and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality
Novel to be implemented different from other modes described here using other, therefore, the scope of protection of the utility model is simultaneously
It is not limited by following public specific embodiment.
Referring to Fig. 1 to Figure 13 descriptions according to the surgical instrument of operating robot described in the utility model some embodiments
And operating robot.
In the utility model first aspect embodiment, as shown in Figures 1 to 5, the utility model provides a kind of operation
The surgical instrument of robot, is used for operating robot, and the surgical instrument of operating robot includes：First driving portion 126, support shaft
106 and first drive link 102；Support shaft 106 is connected with the first driving portion 126, and first gear is provided in support shaft 106
104；One end of first drive link 102 is provided with second gear 116, and the other end of the first drive link 102 passes through connector and hand
Art enforcement division 124 is connected；Wherein, first gear 104 is meshed with second gear 116, and support shaft 106 is located at the first drive link
Above 102 side, the first driving portion 126 drives support shaft 106 to rotate, and then first gear 104 is driven to rotate, first gear
104 drive second gear 116 to rotate, and second gear 116 drives the rotation of the first drive link 102, and then drive operation enforcement division 124
Rotation.
In this embodiment, it is connected with operation enforcement division 124 is received by the first drive link 102, and passes through the first driving
Portion 126 drive the first drive link 102 rotation, and then band have an operation enforcement division 124 rotation；The surgical instrument of this kind of operating robot
It is simple in structure, the volume of the surgical instrument of operating robot can be effectively reduced, and rotating manner is flexible so that operation executes
Portion 124 is interior in a limited space can rapidly and accurately to complete the instruction that doctor is sent out, it is ensured that operation is smoothed out；Pass through drive
Dynamic portion's driving support shaft 106 rotates, and support shaft 106 and the first drive link 102 effectively ensure that the standard of transmission by gear drive
True property and stability, avoid support shaft 106 from idle running phenomenon occur and the enforcement division 124 that perform the operation can not turn to precalculated position；
Also, the first drive link 102 can be connected with a variety of operation enforcement divisions 124, and then realize the drive to a variety of operation enforcement divisions 124
It is dynamic, effectively improve the versatility of the surgical instrument of operating robot.
In one embodiment of the utility model, it is preferable that as shown in Figure 6 and Figure 7, connector includes：First connection
Part 120, the first connecting pin and the second connector 122；One end of first connector 120 is at least partly sheathed on the first drive link
On 102；First connecting pin is plugged in along the radial direction of the first drive link 102 on the first drive link 102 and the first connector 120, with
Prevent the first connector 120 from being rotated relative to the first drive link 102；One end of second connector 122 and the first connector 120
The other end is rotatablely connected by the first axis pin, and the other end of the second connector 122 passes through the second axis pin and operation 124 phase of enforcement division
Connection；Wherein, the first axis pin is mutually perpendicular to the second axis pin.
In this embodiment, by the way that one end of the first connector 120 to be at least partly sheathed on the first drive link 102,
And radially it is plugged on the first connector 120 and the first drive link 102 by the first axis pin so that 120 phase of the first connector
First drive link 102 will not both have been relatively rotated, opposite will not slide, have effectively achieved to the first connector 120
It is fixed, and by the way that the first connector 120 is arranged, reduces the processing capacity of the first drive link 102, be effectively guaranteed the first biography
The straightness of lever 102；It is rotatablely connected by the way that the second connector 122 and the first connector 120 is arranged so that operation enforcement division
124 do not interfere with other motion modes of operation enforcement division 124 during rotation；By the way that the first axis pin is set as vertical
In the second axis pin so that there are two the degree of freedom of mutually orthogonal direction for operation enforcement division 124 tool, so that operation enforcement division
124 rotations are more flexible, the operation convenient for doctor to enforcement division 124 of performing the operation.
In one embodiment of the utility model, it is preferable that as shown in Figure 8 and Figure 9, the surgical instrument of operating robot
Further include：Second drive link 132 and drive rod 136；Second drive link 132 is embedded in the first drive link 102；Drive rod 136
One end and one end of the second drive link 132 are rotatablely connected, and the other end of drive rod 136 passes through third axis pin and the second connector
122 rotation connections；Wherein, third axis pin is parallel with the first axis pin, when the second drive link 132 moves back and forth, drives second to connect
Fitting 122 is rotated around the first axis pin.
In this embodiment, by the way that the second drive link 132 in the first drive link 102, is reduced operating robot
Surgical instrument volume, and then efficiently reduce occupancy of the surgical instrument to space of operating robot；It is driven by being arranged
Lever 136, and one end of drive rod 136 and the second drive link 132 are rotatablely connected, the other end of drive rod 136 and second connects
Fitting 122 is rotatablely connected, and the second connector 122 and the first connector 120 are rotatablely connected by the first axis pin, so ought the
When two drive links 132 move reciprocatingly, drive rod 136 can be driven to move reciprocatingly, and then drive the second connector 122 around first
Axis pin rotates, and since third axis pin is parallel with the first axis pin, it is ensured that the flexibility of rotation.
In one embodiment of the utility model, it is preferable that as shown in fig. 7, the surgical instrument of operating robot is also wrapped
It includes：Guide pad, guide pad are embedded in the first drive link 102；Guide pad is provided with guiding along the axis direction of the first drive link 102
Slot, drive rod 136 are embedded in guide groove.
In this embodiment, by the way that guide pad is arranged, and by drive rod 136 in the guide groove of guide pad, guide pad
Play the role of guiding to drive rod 136, is effectively guaranteed the accuracy of 136 direction of motion of drive rod and the stabilization of movement
Property.
In one embodiment of the utility model, it is preferable that as shown in Fig. 2, Fig. 4 and Fig. 7, the operation of operating robot
Instrument further includes：First screw rod 110, the second driving portion 128 and the first sliding block 108；First screw rod 110 and the second drive link 132
It is parallel；Second driving portion 128 is connected with the first screw rod 110, to drive the rotation of the first screw rod 110；First sliding block 108 is arranged
In on the first screw rod 110, moved back and forth along the axis direction of the first screw rod 110 with the rotation of the first screw rod 110；First sliding block
108 are connected with the second drive link 132, to drive the second drive link 132 to move reciprocatingly in the axial direction.
In this embodiment, the rotation of the first screw rod 110, the first screw rod 110 and first is driven to slide by the second driving portion 128
Block 108 coordinates, and drives the first sliding block 108 to move reciprocatingly along the first screw rod 110, the first sliding block 108 and 132 phase of the second drive link
Connection, the second drive link 132 are moved back and forth with the movement of the first sliding block 108, realize the drive to enforcement division 124 of performing the operation
It is dynamic；Screw rod is connected through a screw thread with sliding block, drives the first sliding block 108 to move back and forth by the rotation of the first screw rod 110, the first spiral shell
Bar 110 often rotates one week, the distance of the first one screw pitch of movement of sliding block 108, this is but also to the movement of the first sliding block 108
Control is more accurate, and then ensures the accuracy of the control to enforcement division 124 of performing the operation.The equally usable leading screw of first screw rod 110
Instead of can reach effect same as the first screw rod 110.
In one embodiment of the utility model, it is preferable that as shown in Fig. 2, Fig. 4 and Fig. 7, the operation of operating robot
Instrument further includes：Third drive link 134 and connecting rod 140；Third drive link 134 is embedded in the second drive link 132；Connecting rod
140 one end is connected with one end of third drive link 134, and the other end of connecting rod 140 passes through transiting rod and operation enforcement division
124 are connected, with driving operation enforcement division 124.
In this embodiment, by the way that third drive link 134 in the second drive link 132, is further reduced operation
The volume of the surgical instrument of robot；Third drive link 134 is connected by connecting rod 140 with operation enforcement division 124, connecting rod
140 be soft bar, and has some strength, can bear certain axial force, bendable when by radial load of connecting rod 140
Song will not be bent when only by axial force, this kind of connecting rod 140 is that can avoid influencing selling around first for operation enforcement division 124
Shaft rotation is dynamic, will not influence driving of the third drive link 134 to enforcement division 124 of performing the operation, it is ensured that operation enforcement division 124 it is each from
By the stability moved on degree；Connecting rod 140 can be steel wire.
In one embodiment of the utility model, it is preferable that as shown in fig. 7, being arranged with the first spring in connecting rod 140
142, it is connected in the both ends of connecting rod 140.
In this embodiment, by the way that the first spring 142 is arranged in connecting rod 140 so that connecting rod 140 upon bending may be used
It automatically resets with the disappearance of radial load, and ensures that connecting rod 140 is in straight configuration always；Connecting rod 140 by
When axial force, the bending strength of connecting rod can be enhanced, it is ensured that the accuracy of the driving for enforcement division 124 of performing the operation, operation is avoided to execute
Portion 124 is unable to reach precalculated position because of the bending of connecting rod 140.
In one embodiment of the utility model, it is preferable that as shown in FIG. 10 and 11, operation enforcement division 124 is folding
Instrument, folding instrument includes the first noumenon 144 and the second ontology 146, and the first noumenon 144 and the second ontology 146 are arranged in a crossed manner, the
The infall and the second axis pin of one ontology 144 and the second ontology 146 are rotatablely connected；Transiting rod includes First Transition bar 148 and
One end of two transiting rods 150, First Transition bar 148 and the second transiting rod 150 is rotatablely connected with connecting rod 140, First Transition bar
148 other end is rotatablely connected with the first noumenon 144, and the other end of the second transiting rod 150 and the second ontology 146 are rotatablely connected；
Wherein, folding instrument is opened or closed with the reciprocating motion of third drive link 134.
In this embodiment, the first noumenon 144 and the second ontology 146 for opening and closing instrument are hinged by the second axis pin, and first
Transiting rod 148 and the second transiting rod 150 are connected with the tail portion of the first noumenon 144 and the second ontology 146 respectively so that the first mistake
It crosses bar 148, the second transiting rod 150, the first noumenon 144 and the second ontology 146 and forms a quadrangle, when third drive link 134
When moving reciprocatingly, First Transition bar 148 and 150 open or close of the second transiting rod are driven, and then folding instrument is driven to open
Or be closed, realize the driving to open and close device tool.
In one embodiment of the utility model, it is preferable that as shown in Figure 12 and Figure 13, operation enforcement division 124 is electricity
Hook 152, electric hook 152 and the second axis pin are rotatablely connected；Transiting rod includes：Third transiting rod 154, the 4th transiting rod 156 and the 5th
Transiting rod 158；One end of third transiting rod 154 and the 4th transiting rod 156 is rotatablely connected with connecting rod 140, third transiting rod 154
The other end be rotatablely connected with operation enforcement division 124, the other end of the 4th transiting rod 156 and one end of the 5th transiting rod 158 turn
Dynamic connection, the other end of the 5th transiting rod 158 and the second axis pin are rotatablely connected wherein, when third drive link 134 moves reciprocatingly
When, drive electric hook 152 to be rotated around the second axis pin.
In this embodiment, when perform the operation enforcement division 124 be electric hook 152 when, third transiting rod 154, the 4th transiting rod 156,
5th transiting rod 158 and operation enforcement division 124 form a quadrangle, third transiting rod 154 and the 4th transiting rod 156 and connect
Bar 140 is rotatablely connected, and the 5th transiting rod 158 and operation enforcement division 124 and the second axis pin are hinged, when connecting rod 140 does reciprocal fortune
When dynamic, band has an operation enforcement division 124 around the rotation of the second axis pin, further increases the degree of freedom of operation enforcement division 124 so that
The movement for enforcement division 124 of performing the operation is more flexible, so that doctor is more convenient to the operation for enforcement division 124 of performing the operation.
In one embodiment of the utility model, it is preferable that as shown in Figures 1 to 5, the surgical instrument of operating robot
Further include：Second screw rod 114, third driving portion 130 and the second sliding block 112；Second screw rod 114 is equal with third drive link 134
Row；Third driving portion 130 is connected with the second screw rod 114, to drive the rotation of the second screw rod 114；Second sliding block 112 is sheathed on
On two screw rods 114, moved back and forth along the axis direction of the second screw rod 114 with the rotation of the second screw rod 114；Second sliding block 112
It is connected with third drive link 134, to drive third drive link 134 to move reciprocatingly in the axial direction.
In this embodiment, third driving portion 130 drives the rotation of the second screw rod 114, the second sliding block 112 and the second screw rod
114 are threadedly coupled, and with the rotation of the second screw rod 114, the axis along screw rod moves reciprocatingly, and the second sliding block 112 is driven with third
Bar 134 is connected, and then third drive link 134 is driven to move reciprocatingly in an axial direction；The is driven by the rotation of the second screw rod 114
Two sliding blocks 112 move back and forth, and the second screw rod 114 often rotates one week, the distance of the second one screw pitch of movement of sliding block 112, this
So that it is more accurate to the control of the movement of the second sliding block 112, and then ensure the accuracy of the control to enforcement division 124 of performing the operation.
In one embodiment of the utility model, it is preferable that as shown in Figure 4 and Figure 5, the first driving portion 126 includes：Electricity
Machine 1269, connecting shaft 1264 and bail 1268；Motor 1269 is provided with output shaft；Connecting shaft 1264 is tubular structure, connection
One end of axis 1264 is sheathed on the output shaft of motor 1269；Wherein, connecting shaft 1264 is sheathed on one end on output shaft along even
The axis direction of spindle 1264 offers at least one opening；Bail 1268 is sheathed in connecting shaft 1264, by connecting shaft
1264 are clamped on output shaft.
In this embodiment, connecting shaft 1264 is clamped on the output shaft of motor 1269 by bail 1268, is realized
The connection of connecting shaft 1264 and output shaft, and this kind of connection type make connecting shaft 1264 and the concentricity of output shaft good,
Ensure the stability that power transmits, efficiently avoids generating vibration and noise in transmission process, it is ensured that the stabilization of product
Property.
In one embodiment of the utility model, it is preferable that as shown in figure 4, the surgical instrument of operating robot is also wrapped
It includes：First terminal pad 118, the first terminal pad 118 be three, respectively with support shaft 106, the first screw rod 110 and the second screw rod 114
One end be connected；First driving portion 126 further includes：Second terminal pad 1262 and the second connecting pin；Second 1262 sets of terminal pad
Set on the other end of connecting shaft 1264；Second connecting pin is along connecting shaft 1264 radially across the second terminal pad 1262 and connecting shaft
1264；Wherein, slideway is provided on the inner wall of the second terminal pad 1262, the second connecting pin is in slideway, so that the second connection
Disk 1262 can in the axial direction be slided with respect to connecting shaft 1264；Second terminal pad 1262 is connected with the first terminal pad 118, and second
Terminal pad 1262 and one in the first terminal pad 118 upper setting are fluted, are provided with protrusion, groove and protrusion phase on another
Cooperation, so that the second terminal pad 1262 drives the rotation of the first terminal pad 118.
In this embodiment, the second terminal pad 1262 is connected with connecting shaft 1264, and passes through the second connecting pin limitation the
Two terminal pads 1262 are rotated relative to connecting shaft 1264 so that the second terminal pad 1262 can turn with the rotation of connecting shaft 1264
Dynamic, the second terminal pad 1262 and one in the first terminal pad 118 is upper to be arranged fluted, is provided with protrusion, groove on another
It is matched with protrusion so that the second terminal pad 1262 can drive the first terminal pad 118 to rotate, and then drive support shaft 106, first
Screw rod 110 or the rotation of the second screw rod 114；This kind of connection type is simple in structure, easy to connect, and easy for removal and installation, has
Improve to effect the versatility of the first driving portion 126.The cross sectional shape of protrusion can be "-" type or cross, irregular figure
Can, the rotation of the first terminal pad 118 is driven by the second terminal pad 1262 as long as can realize.
In one embodiment of the utility model, it is preferable that as shown in figure 5, the first driving portion 126 further includes：Second
Spring 1266, second spring 1266 are sheathed in connecting shaft 1264, are connected between bail 1268 and the second terminal pad 1262,
So that the second terminal pad 1262 can automatically reset.
In this embodiment, by the way that second spring 1266 is arranged in connecting shaft 1264, and it is connected in bail 1268
Between the second terminal pad 1262 so that the installation between the first terminal pad 118 and the second terminal pad 1262 need not adjust manually
Whole position, if protrusion with groove cooperation after, under the thrust of second spring 1266, the second terminal pad 1262 can automatically with
First terminal pad 118 fits, and then drives the rotation of the first terminal pad 118.
In one embodiment of the utility model, it is preferable that as shown in figure 4, the second driving portion 128 and the first driving portion
126 is identical, and third driving portion 130 is identical as the first driving portion 126.
In this embodiment, by setting and the first driving portion 126 second driving portion 128 and third driving portion 130 to
Identical driving portion effectively improves the versatility between three driving portions.
In one embodiment of the utility model, it is preferable that as shown in Fig. 2, the surgical instrument of operating robot is also wrapped
It includes：First support 160, first support 160 are U-shaped, and first support 160 includes the first side wall, second sidewall and bottom wall；First passes
Lever 102 is connected after passing through the first side wall with the first connector 120；One end of first screw rod 110 pass through the first side wall after with
First terminal pad 118 is connected, and one end and the second sidewall of the first screw rod 110 are rotatablely connected；One end of second screw rod 114 passes through
It is connected with the first terminal pad 118 after the first side wall, one end and the second sidewall of the second screw rod 114 are rotatablely connected；Support shaft 106
It is connected with the first terminal pad 118 after the first side wall.
In this embodiment, the first screw rod 110, the second screw rod 114, the first drive link are supported by first support 160
102, the second drive link 132 and third drive link 134 so that the part-structure forms the driving section of an entirety, is performing the operation
Cheng Zhong, if necessary to replace operation enforcement division 124, doctor can directly replace the driving section equipped with different operation enforcement divisions 124,
The replacement to enforcement division 124 of performing the operation can be realized, replacement speed is fast, and substitute mode is easy.
In one embodiment of the utility model, it is preferable that as shown in figure 4, the surgical instrument of operating robot is also wrapped
It includes：Second support 162, the first driving portion 126, the second driving portion 128 and third driving portion 130 are both secured to second support 162
On, second support 162 is clamped with first support 160, so that the first driving portion 126 drives support shaft 106, the second driving portion 128
The first screw rod 110, third driving portion 130 is driven to drive the second screw rod 114.
In this embodiment, by the way that the first driving portion 126, the second driving portion 128 and third driving portion 130 are fixed on
On two holders 162 so that first support 160 during use, need to be only installed on the by the surgical instrument of operating robot
The connection of driving section and driving portion can be realized on two holders 162, and can further promote the drive of the first driving portion 126, second
The versatility in dynamic portion 128 and third driving portion 130.
In one embodiment of the utility model, it is preferable that the surgical instrument of operating robot further includes：Third branch
Frame, third holder are connected with second support 162, and first of the length direction extension along third holder is provided on third holder
Locating slot and to third internal stent be recessed third locating slot；It is provided in first support 160 consistent with the first locating slot direction
Convex ribs and snak link 164；Snak link 164 is connected in third positioning after convex ribs in first support 160 slide into the first locating slot
In slot.
In this embodiment, by the way that the first locating slot and third locating slot are arranged on third holder, in first support 160
Upper setting convex ribs and snak link 164, convex ribs and the first locating slot coordinate, and realize that the positioning to third locating slot, snak link 164 block
It is connected in third locating slot, realizes the fixation of third holder and first support 160；Pass through snak link 164 and third locating slot card
It connects so that the installation and removal of first support 160 are more convenient, and then are replaced to operation enforcement division 124 convenient for doctor.
In one embodiment of the utility model, it is preferable that operation enforcement division includes scissors, nipper, electric hook, separation
Pincers, ultrasound knife and needle holder；Wherein, scissors, nipper, elastic separating plier and needle holder are folding instrument.
In the utility model second aspect embodiment, the utility model provides a kind of operating robot, surgical machine
People includes the surgical instrument of the operating robot as described in above-mentioned any embodiment, and therefore, which includes as above-mentioned
Whole advantageous effects of the surgical instrument of operating robot described in any embodiment.
Term " multiple " then refers to two or more in the description of the present invention, unless otherwise restricted clearly,
The orientation or positional relationship of the instructions such as term "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the utility model and simplify description, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention；Term " connection ", " installation ",
" fixation " etc. shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally
Connection；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Term " one embodiment ", " some embodiments ", " specific embodiment " etc. are retouched in the description of the present invention,
It states and means that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in the utility model at least
In one embodiment or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical reality
Apply example or example.Moreover, the particular features, structures, materials, or characteristics of description can in any one or more embodiments or
It can be combined in any suitable manner in example.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (19)
1. a kind of surgical instrument of operating robot is used for operating robot, which is characterized in that the operation of the operating robot
Instrument includes：
First driving portion；
Support shaft, the support shaft are connected with first driving portion, and first gear is provided in the support shaft；
One end of first drive link, first drive link is provided with second gear, and the other end of first drive link passes through
Connector is connected with operation enforcement division；
Wherein, the first gear is meshed with the second gear, and the support shaft is located on the side of first drive link
Side, first driving portion drive the support shaft rotation, and then drive the first gear rotation, and the first gear drives
The second gear rotation, the second gear drives first drive rod rotation, and then the operation enforcement division is driven to turn
It is dynamic.
2. the surgical instrument of operating robot according to claim 1, which is characterized in that the connector includes：
One end of first connector, first connector is at least partly sheathed on the first drive link；
First connecting pin, first connecting pin are plugged in first drive link and described along the radial direction of first drive link
On first connector, to prevent first connector relative to first drive rod rotation；
The other end of second connector, one end of second connector and first connector is rotated by the first axis pin to be connected
It connects, the other end of second connector is connected by the second axis pin with the operation enforcement division；
Wherein, first axis pin is mutually perpendicular to second axis pin.
3. the surgical instrument of operating robot according to claim 2, which is characterized in that further include：
Second drive link, second drive link are embedded in first drive link；
Drive rod, one end of the drive rod and one end of second drive link are rotatablely connected, the other end of the drive rod
It is rotatablely connected by third axis pin and second connector；
Wherein, the third axis pin is parallel with first axis pin, when second drive link moves back and forth, drives described the
Two connectors are rotated around first axis pin.
4. the surgical instrument of operating robot according to claim 3, which is characterized in that further include：
Guide pad, the guide pad are embedded in first drive link；
The guide pad is provided with guide groove along the axis direction of first drive link, and the drive rod is embedded in the guide groove
In.
5. the surgical instrument of operating robot according to claim 3, which is characterized in that further include：
First screw rod, first screw rod are parallel with second drive link；
Second driving portion, second driving portion are connected with first screw rod, to drive first screw rod to rotate；
First sliding block, first slide block set are set on first screw rod, with the rotation of first screw rod along described the
The axis direction of one screw rod moves back and forth；
First sliding block is connected with second drive link, to drive second drive link to do reciprocal fortune in the axial direction
It is dynamic.
6. the surgical instrument of operating robot according to claim 5, which is characterized in that further include：
Third drive link, the third drive link are embedded in second drive link；
Connecting rod, one end of the connecting rod are connected with one end of the third drive link, and the other end of the connecting rod is logical
It crosses transiting rod with the operation enforcement division to be connected, to drive the operation enforcement division.
7. the surgical instrument of operating robot according to claim 6, which is characterized in that be arranged in the connecting rod
One spring is connected in the both ends of the connecting rod.
8. the surgical instrument of operating robot according to claim 6, which is characterized in that
The operation enforcement division is folding instrument, and the folding instrument includes the first noumenon and the second ontology, the first noumenon
Arranged in a crossed manner with second ontology, the infall of the first noumenon and second ontology connects with second axis pin rotation
It connects；
The transiting rod includes First Transition bar and the second transiting rod, one end of the First Transition bar and second transiting rod
It is rotatablely connected with the connecting rod, the other end and the first noumenon of the First Transition bar are rotatablely connected, second mistake
The other end and second ontology for crossing bar are rotatablely connected；
Wherein, the folding instrument is opened or closed with the reciprocating motion of the third drive link.
9. the surgical instrument of operating robot according to claim 6, which is characterized in that
The operation enforcement division is electric hook, and the electric hook is rotatablely connected with second axis pin；
The transiting rod includes：Third transiting rod, the 4th transiting rod and the 5th transiting rod；
One end of the third transiting rod and the 4th transiting rod is rotatablely connected with the connecting rod, the third transiting rod
The other end is rotatablely connected with the operation enforcement division, and the other end of the 4th transiting rod turns with one end of the 5th transiting rod
Dynamic connection, the other end and second axis pin of the 5th transiting rod are rotatablely connected；
Wherein, when the third drive link moves reciprocatingly, the electric hook is driven to be rotated around second axis pin.
10. the surgical instrument of operating robot according to claim 6, which is characterized in that further include：
Second screw rod, second screw rod are parallel with the third drive link；
Third driving portion, the third driving portion are connected with second screw rod, to drive second screw rod to rotate；
Second sliding block, second slide block set are set on second screw rod, with the rotation of second screw rod along described the
The axis direction of two screw rods moves back and forth；
Second sliding block is connected with the third drive link, to drive the third drive link to do reciprocal fortune in the axial direction
It is dynamic.
11. the surgical instrument of operating robot according to claim 10, which is characterized in that the first driving portion packet
It includes：
Motor, the motor are provided with output shaft；
Connecting shaft, the connecting shaft are tubular structure, and one end of the connecting shaft is sheathed on the output shaft of the motor；
Wherein, one end that the connecting bushing is set on the output shaft offers at least one along the axis direction of the connecting shaft
A opening；
Bail, the bail are sheathed in the connecting shaft, the connecting shaft are clamped on the output shaft.
12. the surgical instrument of operating robot according to claim 11, which is characterized in that further include：
First terminal pad, first terminal pad be three, respectively with the support shaft, first screw rod and second spiral shell
One end of bar is connected；
First driving portion further includes：
Second terminal pad, second terminal pad are sheathed on the other end of the connecting shaft；
Second connecting pin, second connecting pin is along the connecting shaft radially across second terminal pad and the connection
Axis；
Wherein, slideway is provided on the inner wall of second terminal pad, second connecting pin is in the slideway, so that institute
State the second terminal pad can the relatively described connecting shaft slide in the axial direction；
Second terminal pad is connected with first terminal pad, second terminal pad and one in first terminal pad
A upper setting is fluted, is provided with protrusion on another, and the groove is matched with the protrusion, so that the drive of the second terminal pad
First terminal pad rotates.
13. the surgical instrument of operating robot according to claim 12, which is characterized in that first driving portion also wraps
It includes：
Second spring, the second spring are sheathed in the connecting shaft, are connected in the bail and second terminal pad
Between, so that the second terminal pad can automatically reset.
14. the surgical instrument of operating robot according to claim 13, which is characterized in that second driving portion and institute
It is identical to state the first driving portion, the third driving portion is identical as first driving portion.
15. the surgical instrument of operating robot according to claim 14, which is characterized in that further include：
First support, the first support are U-shaped, and the first support includes the first side wall, second sidewall and bottom wall；
First drive link is connected after passing through the first side wall with first connector；
One end of first screw rod is connected after passing through the first side wall with first terminal pad, first screw rod
One end is rotatablely connected with the second sidewall；
One end of second screw rod is connected after passing through the first side wall with first terminal pad, second screw rod
One end is rotatablely connected with the second sidewall；
The support shaft is connected after passing through the first side wall with first terminal pad.
16. the surgical instrument of operating robot according to claim 15, which is characterized in that further include：
Second support, first driving portion, second driving portion and the third driving portion are both secured to described second
On frame, the second support is clamped with the first support, so that first driving portion driving support shaft, described second
Driving portion drives first screw rod, third driving portion to drive second screw rod.
17. the surgical instrument of operating robot according to claim 16, which is characterized in that further include：
Third holder, the third holder are connected with the second support, are provided with along the third on the third holder
The first locating slot that the length direction of holder extends and it is recessed third locating slot to the third internal stent；
The convex ribs and snak link consistent with first locating slot direction are provided in the first support；
The snak link is connected in the third locating slot after convex ribs in the first support slide into first locating slot.
18. the surgical instrument of the operating robot according to any one of claim 1 to 17, which is characterized in that
The operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, ultrasound knife and needle holder；
Wherein, the scissors, the nipper, the elastic separating plier and the needle holder are folding instrument.
19. a kind of operating robot, which is characterized in that the operating robot includes such as any one of claim 1 to 18 institute
The surgical instrument for the operating robot stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948091.0U CN207870971U (en) | 2017-07-31 | 2017-07-31 | The surgical instrument and operating robot of operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948091.0U CN207870971U (en) | 2017-07-31 | 2017-07-31 | The surgical instrument and operating robot of operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207870971U true CN207870971U (en) | 2018-09-18 |
Family
ID=63500416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948091.0U Withdrawn - After Issue CN207870971U (en) | 2017-07-31 | 2017-07-31 | The surgical instrument and operating robot of operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207870971U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260309A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN107334539A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN110840524A (en) * | 2019-12-01 | 2020-02-28 | 杨锐 | Tumor clamp for surgical robot |
-
2017
- 2017-07-31 CN CN201720948091.0U patent/CN207870971U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260309A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN107334539A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN110840524A (en) * | 2019-12-01 | 2020-02-28 | 杨锐 | Tumor clamp for surgical robot |
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Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Patentee after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Patentee before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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Granted publication date: 20180918 Effective date of abandoning: 20210507 |
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