CN207870976U - Transmission component, the surgical instrument of operating robot and operating robot - Google Patents
Transmission component, the surgical instrument of operating robot and operating robot Download PDFInfo
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- CN207870976U CN207870976U CN201720948551.XU CN201720948551U CN207870976U CN 207870976 U CN207870976 U CN 207870976U CN 201720948551 U CN201720948551 U CN 201720948551U CN 207870976 U CN207870976 U CN 207870976U
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- terminal pad
- protrusion
- transmission
- operating robot
- surgical instrument
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Abstract
The utility model provides the surgical instrument and operating robot of a kind of transmission component, operating robot, and the surgical instrument of operating robot includes motor, and motor is provided with output shaft, and transmission component includes：Connecting shaft and transmission shaft；One end of the connecting shaft is connected with the output shaft of motor, and the other end of connecting shaft is provided with the first terminal pad；The second terminal pad is provided on transmission shaft；Wherein, the first terminal pad is provided at least one protrusion on one in the second terminal pad, and setting is fluted on another, protrusion and fit depressions, to realize the transmission between the first terminal pad and the second terminal pad.Coordinated by protrusion and groove, so that the transmission ratio between the first terminal pad and the second terminal pad is more stablized, ensure the accuracy of transmission, and the transmission component is simple in structure, it is easily installed positioning, can effectively promote the efficiency that doctor replaces surgical instrument, and then promote the efficiency of operation, the life for making the redemption patient that doctor can be much sooner, improves the success rate of operation.
Description
Technical field
The utility model is related to Medical robot technical fields, in particular to a kind of transmission component, operating robot
Surgical instrument and operating robot.
Background technology
Currently, in the related art, the development that robot assisted micro-wound surgical operation is increasingly becoming micro-wound surgical operation becomes
Gesture, in the course of surgery, the surgical instrument of operating robot are different from human hand, can not accomplish to replace surgical instrument at any time, but be
Improve the efficiency of operation so that much sooner to the treatment of patient, so rapidly replace surgical instrument be very necessaryly, this
That is, the surgical instrument for how designing a operating robot for being easily installed positioning is very necessary.
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 transmission component.
Second purpose of the utility model is to propose a kind of surgical instrument of operating robot.
The third 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 provide a kind of transmission component, are used for
The surgical instrument of the surgical instrument of operating robot, operating robot includes motor, and motor is provided with output shaft, transmission component packet
It includes：Connecting shaft and transmission shaft；One end of the connecting shaft is connected with the output shaft of motor, and the other end of connecting shaft is provided with the first connection
Disk；The second terminal pad is provided on transmission shaft；Wherein, the first terminal pad is provided at least one on one in the second terminal pad
A protrusion, setting is fluted on another, protrusion and fit depressions, to realize between the first terminal pad and the second terminal pad
Transmission.
Transmission component provided by the utility model, by be respectively set on connecting shaft and transmission shaft the first terminal pad with
Second terminal pad, and be provided with protrusion on one in the first terminal pad and the second terminal pad is provided on another recessed
Slot, protrusion and fit depressions so that the first terminal pad can drive the second terminal pad to rotate, realize connecting shaft and transmission shaft it
Between transmission；Coordinated by protrusion and groove so that the transmission ratio between the first terminal pad and the second terminal pad is more stablized, really
The accuracy of transmission is protected, and the transmission component is simple in structure, is easily installed positioning, can effectively promote doctor and replace surgical device
The efficiency of tool, and then promote the efficiency of operation so that the life of doctor can be much sooner redemption patient, improve operation at
Power.
In addition, the transmission component in above-mentioned technical proposal provided by the utility model can also have following supplementary technology special
Sign：
In the above-mentioned technical solutions, it is preferable that protrusion is to be prolonged from the center of the first terminal pad or the second terminal pad to edge
The "-" type structure stretched；The shape of groove is identical as protrusion.
In the technical scheme, by the way that protrusion to be set as being prolonged to edge from the center of the first terminal pad or the second terminal pad
The "-" type structure stretched increases the forced area of protrusion, significantly reduces the pressure that protrusion is born in transmission process,
Ensure the stabilization of transmission.
In any of the above-described technical solution, it is preferable that protrusion is to protrude from the first terminal pad or the second connection panel surface
Column construction；The shape of groove is identical as protrusion.
In the technical scheme, the cylindricality by being set as protrusion to protrude from the first terminal pad or the second connection panel surface
Structure, when protrusion is in the groove, it can be achieved that diametrical positioning between the first terminal pad and the second terminal pad, further
Ensure transmission stability.
In any of the above-described technical solution, it is preferable that the end set of column construction has the guide part of taper, guide part
Sectional area is gradually reduced from the one end being connected with column construction to the other end.
In the technical scheme, by the way that guide part is arranged, since the sectional area of the end of guide part is less than the section of groove
Product, so protrusion, at the position where turning to groove, the end of guide part and the side wall of groove have larger gap, just
In protruding out into groove.
In any of the above-described technical solution, it is preferable that when protrusion is multiple, multiple protrusions are with the first terminal pad or second
It is circumferentially distributed centered on the center of terminal pad.
In the technical scheme, multiple protrusions are circumferentially distributed centered on the center of the first terminal pad or the second terminal pad,
The angle needed for the first connection disc spins to precalculated position is reduced, is realized fast between the first terminal pad and the second terminal pad
Speed cooperation.
In any of the above-described technical solution, it is preferable that transmission component further includes elastic component, and one end of elastic component is connected in company
In spindle, the other end of elastic component is connected with the first terminal pad.
In the technical scheme, due to being provided with elastic component, and one end is connected with the first terminal pad, the other end and company
Spindle is clamped, and after connecting driving section with driving portion, elastic component is compressed, and the first terminal pad of elastic component pair generates one and pushes away
Power, when the first terminal pad turns to precalculated position matched with the second terminal pad, elastic component can push the first terminal pad certainly
It is dynamic to enter precalculated position, the second terminal pad and the first terminal pad are positioned manually when without replacing surgery mechanical again,
The step of simplifying assembly so that the installation positioning of the surgical instrument of operating robot is more convenient, simplifies the operation of doctor
Step.
In any of the above-described technical solution, it is preferable that elastic component is spring or rubber parts, and elastic component is sheathed on connecting shaft
On.
In the technical scheme, it by setting elastic component to spring or rubber parts, and is sheathed in connecting shaft, it can be effective
Ground prevents elastic component from generating deformation radially, it is ensured that the stability of the thrust of the second terminal pad, and then ensures the second connection
Disk can enter precisely into precalculated position.
In any of the above-described technical solution, it is preferable that the depth of groove is more than the height of protrusion.
In the technical scheme, by the way that the depth of groove to be set greater than to raised height so that groove is matched with protrusion
When conjunction, protrusion can be embedded in groove completely, it is ensured that the compactness coordinated between the first terminal pad and the second terminal pad.
Second purpose according to the present utility model, the utility model provide a kind of surgical instrument of operating robot,
Include the transmission component as described in any of the above-described technical solution, therefore, the surgical instrument of the operating robot includes any of the above-described
Whole advantageous effects of transmission component described in technical solution.
Third purpose according to the present utility model, the utility model provide a kind of operating robot, including such as above-mentioned
The surgical instrument of operating robot described in technical solution, therefore, the surgical instrument of the operating robot includes above-mentioned technical side
Whole advantageous effects of the surgical instrument of operating robot described in case.
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 surgical instrument structural schematic diagram of the operating robot of one embodiment according to the present utility model；
Fig. 2 shows the second terminal pad structural schematic diagrams of one embodiment according to the present utility model；
Fig. 3 shows the first terminal pad structural schematic diagram of one embodiment according to the present utility model；
Fig. 4 shows the running part knot of the surgical instrument of the operating robot of one embodiment according to the present utility model
Structure schematic diagram；
Fig. 5 shows the drive part knot of the surgical instrument of the operating robot of one embodiment according to the present utility model
Structure schematic diagram；
Wherein, the reference numeral in Fig. 1 to Fig. 5 and the correspondence between component names are：
102 transmission shafts, 104 second terminal pads, 1042 protrusions, 106 first terminal pads, 1062 grooves, 108 connecting shafts, 110
Motor, 112 elastic components.
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 Fig. 5 descriptions according to transmission component, operating robot described in the utility model some embodiments
Surgical instrument and operating robot.
In the utility model first aspect embodiment, as shown in Figures 1 to 5, the utility model provides a kind of transmission
Component is used for the surgical instrument of operating robot, and the surgical instrument of operating robot includes motor 110, and motor 110 is provided with defeated
Shaft, transmission component include：Connecting shaft 108 and transmission shaft 102；108 one end of connecting shaft is connected with the output shaft of motor 110,
The other end of connecting shaft 108 is provided with the first terminal pad 106；The second terminal pad 104 is provided on transmission shaft 102；Wherein, first
At least one raised 1042 are provided on one in terminal pad 106 and the second terminal pad 104, setting is fluted on another
1062, protrusion 1042 is matched with groove 1062, to realize the transmission between the first terminal pad 106 and the second terminal pad 104.
Transmission component provided by the utility model, by the way that the first company is respectively set in connecting shaft 108 and transmission shaft 102
Disk 106 and the second terminal pad 104 are connect, and protrusion is provided on one in the first terminal pad 106 and the second terminal pad 104
1042, setting fluted 1062 on another, protrusion 1042 is matched with groove 1062 so that the first terminal pad 106 can drive
Second terminal pad 104 rotates, and realizes the transmission between connecting shaft 108 and transmission shaft 102；Pass through protrusion 1042 and groove 1062
Cooperation so that the transmission ratio between the first terminal pad 106 and the second terminal pad 104 is more stablized, it is ensured that the accuracy of transmission, and
And the transmission component is simple in structure, is easily installed positioning, can effectively promote the efficiency that doctor replaces surgical instrument, and then promoted
The efficiency of operation so that the life for the redemption patient that doctor can be much sooner improves the success rate of operation.
In one embodiment of the utility model, it is preferable that as shown in Figures 2 and 3, protrusion 1042 is by the first connection
The "-" type structure that the center of disk 106 or the second terminal pad 104 extends to edge；The shape of groove 1062 and raised 1042 phases
Together.
In this embodiment, by setting protrusion 1042 at the center by the first terminal pad 106 or the second terminal pad 104
The "-" type structure extended to edge, increases the forced area of protrusion 1042, significantly reduces protrusion 1042 and had been driven
The pressure born in journey, it is ensured that the stabilization of transmission.
In one embodiment of the utility model, it is preferable that protrusion 1042 is to protrude from the first terminal pad 106 or the second
The column construction on 104 surface of terminal pad；The shape of groove 1062 is identical as protrusion 1042.
In this embodiment, by being set as protrusion 1042 to protrude from 104 table of the first terminal pad 106 or the second terminal pad
The column construction in face, when protrusion 1042 is in the groove 1062, it can be achieved that the first terminal pad 106 and the second terminal pad 104 it
Between diametrical positioning, further ensure that transmission stability.
In one embodiment of the utility model, it is preferable that the end set of column construction has the guide part of taper, leads
It is gradually reduced to the sectional area in portion from the one end being connected with column construction to the other end.
In this embodiment, by the way that guide part is arranged, since the sectional area of the end of guide part is less than cutting for groove 1062
Area, so protrusion 1042 is at the position where turning to groove 1062, the end of guide part has with the side wall of groove 1062
There is larger gap, enters in groove 1062 convenient for protrusion 1042.
In one embodiment of the utility model, it is preferable that as shown in Fig. 2, when protrusion 1042 is multiple, it is multiple convex
It is circumferentially distributed centered on the center of the first terminal pad 106 or the second terminal pad 104 to play 1042.
In this embodiment, multiple raised 1042 is all centered on the center of the first terminal pad 106 or the second terminal pad 104
To distribution, the rotation of the first terminal pad 106 is reduced to the angle needed for precalculated position, realizes the first terminal pad 106 and second
Quick-fit between terminal pad 104.
In one embodiment of the utility model, it is preferable that as shown in figure 4, transmission component further includes elastic component 112,
One end of elastic component 112 is connected in connecting shaft 108, and the other end of elastic component 112 is connected with the first terminal pad 106.
In this embodiment, due to being provided with elastic component 112, and one end is connected with the first terminal pad 106, the other end
It is clamped with connecting shaft 108, after connecting driving section with driving portion, elastic component 112 is compressed, and elastic component 112 is connected to first
Disk 106 generates a thrust, when the first terminal pad 106 is turned to the second 104 matched precalculated position of terminal pad, elasticity
Part 112 can push the first terminal pad 106 automatically into precalculated position, connect manually to second when without replacing surgery mechanical again
Connect the step of disk 104 is positioned with the first terminal pad 106, simplifies assembly so that the peace of the surgical instrument of operating robot
It sets that position is more convenient, simplifies the operating procedure of doctor.
In one embodiment of the utility model, it is preferable that elastic component 112 is spring or rubber parts, 112 sets of elastic component
In connecting shaft 108.
In this embodiment, it by setting elastic component 112 to spring or rubber parts, and is sheathed in connecting shaft 108, it can
It is effectively prevented elastic component 112 and generates deformation radially, it is ensured that the stability of the thrust of the second terminal pad 104, and then really
Precalculated position can be enter precisely intoed by protecting the second terminal pad 104.
In one embodiment of the utility model, it is preferable that the depth of groove 1062 is more than the height of protrusion 1042.
In this embodiment, by by the depth of groove 1062 be set greater than protrusion 1042 height so that groove
1062 with protrusion 1042 coordinate when, protrusion 1042 can completely be embedded in groove 1062 in, it is ensured that the first terminal pad 106 is connect with second
The compactness coordinated between disk 104.
In the utility model second aspect embodiment, the utility model provides a kind of surgical device of operating robot
Tool includes the transmission component as described in any of the above-described technical solution, and therefore, the surgical instrument of the operating robot includes above-mentioned
Whole advantageous effects of transmission component described in one technical solution.
In the utility model third aspect embodiment, the utility model provides a kind of operating robot, including as above
The surgical instrument of the operating robot described in technical solution is stated, therefore, the surgical instrument of the operating robot includes above-mentioned technology
Whole advantageous effects of the surgical instrument of operating robot described in scheme.
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 (10)
1. a kind of transmission component is used for the surgical instrument of operating robot, the surgical instrument of the operating robot includes motor,
The motor is provided with output shaft, which is characterized in that the transmission component includes：
Connecting shaft, the one end of the connecting shaft are connected with the output shaft of the motor, and the other end of the connecting shaft is provided with
One terminal pad；
Transmission shaft is provided with the second terminal pad on the transmission shaft；
Wherein, it is provided at least one protrusion on one in first terminal pad and second terminal pad, on another
Fluted, the protrusion and the fit depressions, to realize between first terminal pad and second terminal pad are set
Transmission.
2. transmission component according to claim 1, which is characterized in that
The protrusion is the "-" type structure extended from the center of first terminal pad or second terminal pad to edge；
The shape of the groove is identical as the protrusion.
3. transmission component according to claim 1, which is characterized in that
The protrusion is to protrude from the column construction of first terminal pad or the second connection panel surface；
The shape of the groove is identical as the protrusion.
4. transmission component according to claim 3, which is characterized in that the end set of the column construction has leading for taper
To portion, the sectional area of the guide part is gradually reduced from the one end being connected with the column construction to the other end.
5. transmission component according to any one of claim 1 to 4, which is characterized in that more when the protrusion is multiple
A protrusion is circumferentially distributed centered on the center of first terminal pad or second terminal pad.
6. transmission component according to any one of claim 1 to 4, which is characterized in that further include elastic component, the elasticity
One end of part is connected in the connecting shaft, and the other end of the elastic component is connected with first terminal pad.
7. transmission component according to claim 6, which is characterized in that the elastic component is spring or rubber parts, the bullet
Property part is sheathed in the connecting shaft.
8. transmission component according to any one of claim 1 to 4, which is characterized in that the depth of the groove is more than institute
State the height of protrusion.
9. a kind of surgical instrument of operating robot, which is characterized in that including biography such as described in any item of the claim 1 to 8
Dynamic component.
10. a kind of operating robot, which is characterized in that include the surgical instrument of operating robot as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948551.XU CN207870976U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948551.XU CN207870976U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207870976U true CN207870976U (en) | 2018-09-18 |
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ID=63500335
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948551.XU Active CN207870976U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207870976U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374734A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
-
2017
- 2017-07-31 CN CN201720948551.XU patent/CN207870976U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374734A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating 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. |