CN208259766U - The surgical instrument and operating robot of operating robot - Google Patents
The surgical instrument and operating robot of operating robot Download PDFInfo
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- CN208259766U CN208259766U CN201720948591.4U CN201720948591U CN208259766U CN 208259766 U CN208259766 U CN 208259766U CN 201720948591 U CN201720948591 U CN 201720948591U CN 208259766 U CN208259766 U CN 208259766U
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- 230000007704 transition Effects 0.000 claims description 23
- 239000011324 bead Substances 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000014759 maintenance of location Effects 0.000 claims description 12
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
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- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
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Abstract
The utility model provides the surgical instrument and operating robot of a kind of operating robot, and the surgical instrument of operating robot includes: the first driving portion, support shaft and the first drive rod；Support shaft is connected with the first driving portion, and first gear is provided in support shaft；One end of first drive rod is provided with second gear, and the other end of the first drive rod is connected by connector with operation enforcement division；Wherein, first gear is meshed with the second gear, and the first driving portion drives support shaft rotation, and then drives first gear rotation, and first gear drives second gear rotation, and second gear drives the first drive rod rotation, and then drives operation enforcement division rotation.The surgical instrument structure of this kind of operating robot is simple, the volume of surgical instrument can be effectively reduced, and rotating manner is flexible, so that the enforcement division interior instruction execution surgical procedure that can be rapidly and accurately issued according to doctor in a limited space of performing the operation, it is ensured that operation is gone on smoothly.
Description
Technical field
The present invention relates to Medical robot technical field, a kind of surgical instrument in particular to operating robot and
Operating robot.
Background technique
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 higher cost of surgical operation, 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.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, first aspect present invention proposes a kind of surgical instrument of operating robot.
The second aspect of the present invention proposes a kind of operating robot.
In view of this, first aspect present invention provides a kind of surgical instrument of operating robot, it to be used for minimally invasive surgery hand
The surgical instrument of art robot, operating robot includes: the first driving portion, support shaft and the first drive rod；Support shaft and first
Driving portion is connected, and first gear is provided in support shaft；One end of first drive rod is provided with second gear, the first drive rod
The other end by connector with operation enforcement division be connected；Wherein, first gear is meshed with the second gear, the first driving portion
Support shaft rotation is driven, and then drives first gear rotation, first gear drives second gear rotation, and second gear drives first
Drive rod rotation, and then drive operation enforcement division rotation.
The surgical instrument of operating robot provided by the present invention is connected by the first drive rod with operation enforcement division,
And by the first driving portion drive the first drive rod rotation, and then band have an operation enforcement division rotation；The hand of this kind of operating robot
Art apparatus structure is simple, can effectively reduce the volume of the surgical instrument of operating robot, and rotating manner is flexible, makes to go smoothly
Art enforcement division is interior in a limited space can rapidly and accurately to complete the instruction that doctor is issued, it is ensured that operation is gone on smoothly；It is logical
Portion's driving support shaft of overdriving rotates, and support shaft and the first drive rod effectively ensure that the accuracy of transmission by gear drive
And stability, it avoids support shaft from idle running phenomenon occur and makes operation enforcement division that can not turn to predetermined position；Also, first passes
Lever can be connected with a variety of operation enforcement divisions, and then realize to the driving of a variety of operation enforcement divisions, and operation is effectively promoted
The versatility of the surgical instrument of robot.
In addition, the surgical instrument of the operating robot in above-mentioned technical proposal provided by the invention can also have it is following attached
Add technical characteristic:
In the above-mentioned technical solutions, it is preferable that one end of connector is at least partly sheathed on the first drive rod, and is inserted
Equipped with the first connecting pin, the other end is connected by the first pin shaft with operation enforcement division；Wherein, the first connecting pin is along the first transmission
The radial direction of bar is plugged on the first drive rod and connector, to prevent connector relative to the first drive rod rotation.
In the technical scheme, firstly, by the way that one end of connector to be at least partly sheathed on the first drive rod, and lead to
The first pin shaft is crossed radially to be plugged on the first connector and the first drive rod so that connector relative to the first drive rod neither
It can relatively rotate, opposite will not slide, have effectively achieved the fixation to the first connector；Secondly, by the another of connector
End is connected by the first pin shaft with operation enforcement division, and transmission of first drive rod to operation enforcement division is realized；Due to setting
Connector reduces the processing capacity of the first drive rod, is effectively guaranteed the straightness of the first drive rod, steady with ensure to be driven
It is qualitative, guarantee that operation enforcement division turns to predetermined position.
In the above-mentioned technical solutions, it is preferable that the surgical instrument of operating robot further include: the second drive rod；Second passes
Lever is in the first drive rod；Second drive rod is connected by transiting rod with operation enforcement division, to drive operation enforcement division.
In the technical scheme, firstly, by the way that the second drive rod in the first drive rod, is reduced operating robot
Surgical instrument volume, and then efficiently reduce mechanical arm to the occupancy in space；Secondly, the second drive rod is passed through transition
Bar is connected with operation enforcement division, to realize driving of second drive rod to operation enforcement division.
In the above-mentioned technical solutions, it is preferable that operation enforcement division is folding instrument, and folding instrument includes the first noumenon and the
Two ontologies, the first noumenon and the second ontology are arranged in a crossed manner, and the infall and the rotation of the first pin shaft of the first noumenon and the second ontology connect
It connects；Transiting rod includes First Transition bar and the second transiting rod, one end and the second drive 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 the second drive rod.
In the technical scheme, firstly, it is the first noumenon and the second ontology that open and close instrument is arranged in a crossed manner；Then,
One ontology and the second ontology infall are inserted into the first pin shaft, are rotatablely connected the first noumenon and the second ontology and the first pin shaft；Again
Afterwards, one end of First Transition bar and the second transiting rod is connect with the second drive rod rotation；After again, by the another of First Transition bar
End is rotatablely connected with the first noumenon, meanwhile, the other end of the second transiting rod and the second ontology are rotatablely connected, so that First Transition
Bar, the second transiting rod, the first noumenon and the second ontology form a quadrangle；After again, when the second drive rod moves reciprocatingly,
First Transition bar and the rotation of the second transiting rod are driven, so that First Transition bar and the second transiting rod be made to push the first noumenon and second
Ontology open or close, and then folding instrument open or close is driven, realize the driving to open and close device tool.
In the above-mentioned technical solutions, it is preferable that operation enforcement division is electric hook, and electric hook and the first pin shaft are rotatablely connected；Transition
Bar includes: third transiting rod, the 4th transiting rod and the 5th transiting rod；One end of third transiting rod and the 4th transiting rod is passed with second
Lever rotation connection, the other end of third transiting rod and operation enforcement division rotation connection, the other end and the 5th of the 4th transiting rod
One end of transiting rod is rotatablely connected, and the other end of the 5th transiting rod and the first pin shaft are rotatablely connected；Wherein, when the second drive rod is done
When reciprocating motion, electric hook is driven to rotate around the first pin shaft.
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 is formed with operation enforcement division, third transiting rod and the 4th transiting rod are connect with the second drive rod rotation, the 5th mistake
It crosses bar and operation enforcement division and the first pin shaft is hinged, when the second drive rod moves reciprocatingly, band enforcement division of having an operation surrounds the
The rotation of one pin shaft, further increases the freedom degree of operation enforcement division, so that the movement of operation enforcement division is more flexible, and then makes
It is more convenient to the operation of operation enforcement division to obtain doctor.
In the above-mentioned technical solutions, it is preferable that the surgical instrument of operating robot further include: screw rod, the second driving portion and
Sliding block；Screw rod is parallel with the second drive rod；Second driving portion is connected with screw rod, to drive screw turns；Slide block set is set to
On screw rod, moved back and forth with the rotation of screw rod along the axis direction of screw rod；Sliding block is connected with the second drive rod, to drive
Two drive rods move reciprocatingly in the axial direction.
In the technical scheme, it is driven screw turns by the second driving portion, screw rod and sliding block cooperate, and band movable slider is along spiral shell
Bar axially moves reciprocatingly, and sliding block is connected with the second drive rod, and the second drive rod moves reciprocatingly with the movement of sliding block,
Realize the driving to operation enforcement division；Screw rod is connected through a screw thread with sliding block, is back and forth transported by the rotation band movable slider of screw rod
Dynamic, the every rotation of screw rod one week, sliding block only moves the distance of a screw pitch, this is but also more smart to the control of the movement of sliding block
Really, so ensure to operation enforcement division control accuracy.Screw rod equally lead screw can be used to replace, and can reach same as screw rod
Effect.
In the above-mentioned technical solutions, it is preferable that the first driving portion includes: motor, connecting shaft and bail；Motor is provided with
Output shaft；Connecting shaft is tubular structure, and one end of connecting shaft is sheathed on the output shaft of motor；Wherein, connecting bushing is set to defeated
One end on shaft offers at least one opening along the axis direction of connecting shaft；Bail is sheathed in connecting shaft, will be connected
Spindle holder is 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 of power transmitting
Property, it efficiently avoids generating vibration and noise in transmission process, it is ensured that the stability of product.
In the above-mentioned technical solutions, it is preferable that the surgical instrument of operating robot further include: the first terminal pad；First connects
Connecing disk is two, is connected respectively with one end of support shaft and screw rod；First driving portion further include: the second terminal pad and second connects
Outbound；Second terminal pad is sheathed on the other end of connecting shaft；Second connecting pin along connecting shaft radially across second terminal pad and
Connecting shaft；Wherein, slideway is provided on the inner wall of the second terminal pad, the second connecting pin is in slideway, so that the second terminal pad
It can be slided in the axial direction with respect to connecting shaft；Second terminal pad is connected with the first terminal pad, and the second terminal pad is connect with first
It is provided with link slot on one in disk, is provided with connection bump on another, link slot is matched with connection bump, so that
Two terminal pads 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；Meanwhile the second connecting pin being embedded in
Slipping for second terminal pad is interior, so that the second terminal pad can be slided in the axial direction with respect to connecting shaft；Secondly, the second terminal pad with
It is provided with link slot on one in first terminal pad, connection bump is provided on another, link slot and connection bump match
It closes, so that the second terminal pad can drive the first terminal pad to rotate, and then drives support shaft, the first screw rod or the rotation of the second screw rod；
This kind of connection type structure is simple, easy to connect and easy for removal and installation, and the general of the first driving portion is effectively promoted
Property.The cross sectional shape of connection bump can be "-" type or cross, irregular figure can also, as long as be able to achieve by second connection
Disk drives the rotation of the first terminal pad.
In the above-mentioned technical solutions, it is preferable that the first driving portion further include: the first spring；First spring pocket is set to connection
It on axis, 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 the first 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 does not need to manually adjust position, as long as connection bump with
After link slot cooperation, under the thrust of the first spring, the second terminal pad can fit with the first terminal pad automatically, and then band
Dynamic first terminal pad rotation.
In the above-mentioned technical solutions, it is preferable that the second driving portion is identical as the first driving portion.
In the technical scheme, by setting driving portion identical with the first driving portion for the second driving portion, effectively
Improve the versatility between two driving portions.
In the above-mentioned technical solutions, it is preferable that the surgical instrument of operating robot further include: first support；First support
To be U-shaped, first support includes the first side wall, second sidewall and bottom wall；First drive rod pass through the first side wall after with connector phase
Connection；One end of screw rod is connected after passing through the first side wall with the first terminal pad, and one end of screw rod and second sidewall are rotatablely connected；
Support shaft is connected after passing through the first side wall with the first terminal pad.
In the technical scheme, by first support studdle, the first drive rod and support shaft, so that the part is tied
It is configured to the driving section of an entirety, in the course of surgery, if necessary to replacement operation enforcement division, doctor directly can more change the outfit
There is the driving section of different operation enforcement divisions, the replacement to operation enforcement division can be realized, replacement speed is fast, and substitute mode is easy.
In the above-mentioned technical solutions, it is preferable that the surgical instrument of operating robot further include: second support；First driving
Portion and the second driving portion are fixed in second support, and second support and first support are clamped, so that the driving support of the first driving portion
Axis, the second driving portion drive screw rod.
In the technical scheme, by the way that the first driving portion and the second driving portion to be fixed in second support, so that operation
The surgical instrument of robot during use, only first support need to be installed in second support can be realized driving section with
The connection of driving portion, and can further promote the first driving portion and the second driving portion versatility.
In the above-mentioned technical solutions, it is preferable that limiting section is provided in second support, limiting section is L-type, is located at second
The edge of frame extends along the length direction of second support, and the bottom wall of limiting section and second support surrounds one and opens to second support inside
The limiting slot of mouth；The retention bead matched with limiting slot is provided in first support, retention bead is in limiting slot.
In the technical scheme, cooperated by limiting slot and retention bead, realize and erected between first support and second support
When the upward positioning of histogram, first support and second support are assembled, the extending direction by retention bead along limiting slot slides into limit
In slot, the positioning to first support can be realized, structure is simple, convenient for doctor to the installation of the surgical instrument of operating robot with
Disassembly；Limiting slot equally may be provided in first support, and retention bead is arranged on the secondary support bracket.
In the above-mentioned technical solutions, it is preferable that the following table of the bottom wall of the upper surface and first support of the bottom wall of second support
Face matches, and is provided with and protrudes from one in the lower surface of the bottom wall of the upper surface and first support of the bottom wall of second support
The positioning protrusion on surface is provided with the locating slot matched with positioning protrusion on another.
In the technical scheme, first is realized by setting positioning protrusion and locating slot, positioning protrusion and locating slot cooperation
Horizontal location between bracket and second support, it is ensured that the accuracy of first support position in the horizontal direction.
In the above-mentioned technical solutions, it is preferable that positioning pin is provided in first support, positioning pin is clamped by second spring
In in first support；Location hole is provided in second support, positioning pin is in location hole；Handle is provided on positioning pin,
Hand is used for plug positioning pin.
In the technical scheme, it by the way that positioning pin is arranged in first support, and is embedded in and is arranged on the secondary support bracket
In location hole, avoid first support by deviating from limiting slot and locating slot, it is ensured that it is accurate that second support positions first support
Property；Positioning pin is connected in first support by spring, when so that positioning pin is not under the action of by external force, remains at
In location hole on two brackets, avoid positioning pin by deviating from location hole；By the way that handle is arranged, it is convenient for plug positioning pin.
In the above-mentioned technical solutions, it is preferable that operation enforcement division include 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 aspect of the present invention provides a kind of operating robot, and operating robot includes such as any of the above-described technical solution institute
The surgical instrument for the operating robot stated, therefore, the operating robot include the surgical engine as described in any of the above-described technical solution
Whole beneficial effects of the surgical instrument of device people.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of the surgical instrument of operating robot according to an embodiment of the invention；
Fig. 2 is part of the surgical instrument of operating robot according to an embodiment of the invention shown in FIG. 1 at A
Enlarged drawing；
Fig. 3 is part of the surgical instrument of operating robot according to an embodiment of the invention shown in FIG. 1 at B
Enlarged drawing；
Fig. 4 shows the structural schematic diagram of the surgical instrument of operating robot according to another embodiment of the invention；
Fig. 5 is part of the surgical instrument of operating robot according to an embodiment of the invention shown in Fig. 4 at C
Enlarged drawing；
Fig. 6 shows the structural schematic diagram of the surgical instrument of the operating robot of still another embodiment in accordance with the present invention；
Fig. 7 is part of the surgical instrument of operating robot according to an embodiment of the invention shown in fig. 6 at D
Enlarged drawing；
Fig. 8 shows the structural schematic diagram of the surgical instrument of the operating robot of still another embodiment in accordance with the present invention；
Fig. 9 is surgical instrument the cuing open along E-E of the operating robot of still another embodiment in accordance with the present invention shown in Fig. 8
View；
Figure 10 shows the structural schematic diagram of connecting shaft according to an embodiment of the invention；
Figure 11 shows the structural schematic diagram of the second terminal pad according to an embodiment of the invention；
Figure 12 shows the structural schematic diagram of the first terminal pad according to an embodiment of the invention；
Figure 13 shows the structural schematic diagram of first support according to an embodiment of the invention；
Figure 14 shows the structural schematic diagram of first support according to an embodiment of the invention；
Figure 15 shows the schematic diagram of bracket according to an embodiment of the invention；
Figure 16 is cross-sectional view of the bracket according to an embodiment of the invention shown in figure 15 along F-F；
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Figure 16 are as follows:
102 first driving portions, 1022 motors, 1024 connecting shafts, 10242 openings, 1026 bails, 1,028 second connections
Disk, 10282 slideways, 10284 link slots, 1,029 first springs, 104 support shafts, 106 first gears, 108 first drive rods, 110
Second gear, 112 connectors, 114 operation enforcement divisions, 1142 the first noumenons, 1,144 second ontologies, 116 first connecting pins, 118
Second drive rod, 120 transiting rods, 1202 First Transition bars, 1,204 second transiting rods, 1206 third transiting rods, 1208 the 4th mistakes
Cross bar, 1210 the 5th transiting rods, 122 first pin shafts, 124 screw rods, 126 second driving portions, 128 sliding blocks, 130 first terminal pads,
1302 connection bumps, 132 first supports, 1322 the first side walls, 1324 second sidewalls, 1326 bottom walls, 134 second supports, 1342
Limiting section, 1344 positioning protrusion, 1346 location holes, 136 handles, 138 positioning pins, 140 second springs.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The surgical instrument and hand of the operating robot described according to some embodiments of the invention are described referring to Fig. 1 to Figure 16
Art robot.
In first aspect present invention embodiment, as depicted in figs. 1 and 2, the present invention provides a kind of operating robots
Surgical instrument is used for minimally invasive surgical operation robot, and the surgical instrument of operating robot includes: the first driving portion 102, support shaft
104 and first drive rod 108；Support shaft 104 is connected with the first driving portion 102, is provided with first gear in support shaft 104
106；One end of first drive rod 108 is provided with second gear 110, the other end of the first drive rod 108 by connector 120 with
Operation enforcement division 114 is connected；Wherein, first gear 106 is meshed with second gear 110, the driving support of the first driving portion 102
Axis 104 rotates, and then first gear 106 is driven to rotate, and first gear 106 drives second gear 110 to rotate, second gear 110
It drives the first drive rod 108 to rotate, and then operation enforcement division 114 is driven to rotate.
In this embodiment, it is connected by the first drive rod 108 with operation enforcement division 114 is received, and passes through the first driving
Portion 102 drive the first drive rod 108 rotation, and then band have an operation enforcement division 114 rotation；The surgical instrument of this kind of operating robot
Structure is simple, can effectively reduce the volume of the surgical instrument of operating robot, and rotating manner is flexible, so that operation executes
Portion 114 is interior in a limited space can rapidly and accurately to complete the instruction that doctor is issued, it is ensured that operation is gone on smoothly；Pass through drive
Dynamic portion's driving support shaft 104 rotates, and support shaft 104 and the first drive rod 108 effectively ensure that the standard of transmission by gear drive
True property and stability, avoid support shaft 104 from idle running phenomenon occur and make operation enforcement division 114 that can not turn to predetermined position；
Also, the first drive rod 108 can be connected with a variety of operation enforcement divisions 114, and then realize the drive to a variety of operation enforcement divisions 114
It is dynamic, the versatility of the surgical instrument of operating robot is effectively promoted.
In one embodiment of the invention, as shown in Figure 3, it is preferable that one end of connector 120 is at least partly sheathed on
On first drive rod 108, and it is inserted with the first connecting pin 116, the other end passes through the first pin shaft 122 and operation enforcement division 114
It is connected；Wherein, the first connecting pin 116 is plugged in the first drive rod 108 and connector 120 along the radial direction of the first drive rod 108
On, to prevent connector 120 from rotating relative to the first drive rod 108.
In this embodiment, firstly, by the way that one end of connector 120 is at least partly sheathed on the first drive rod 108,
And be radially plugged on the first connector 120 and the first drive rod 108 by the first pin shaft 122, so that connector 120 is opposite
It will not both have been relatively rotated in the first drive rod 108, and opposite will not slide, have effectively achieved consolidating to the first connector 120
It is fixed；Secondly, the other end of connector 120 is connected by the first pin shaft 122 with operation enforcement division 114, the first biography is realized
The transmission of 108 pairs of lever operation enforcement divisions 114；Since connector 120 is arranged, reduces the processing capacity of the first drive rod 108, have
It ensure that effect the straightness of the first drive rod 108, to ensure the stability being driven, it is pre- to guarantee that operation enforcement division 114 turns to
Positioning is set.
In one embodiment of the invention, it is preferable that as shown in Figure 4 and Figure 5, the surgical instrument of operating robot is also wrapped
It includes: the second drive rod 118；Second drive rod 118 is in the first drive rod 108；Second drive rod 118 passes through transiting rod 120
It is connected with operation enforcement division 114, with driving operation enforcement division 114.
In this embodiment, firstly, by the way that the second drive rod 118 in the first drive rod 108, is reduced surgical engine
The volume of the surgical instrument of device people, and then efficiently reduce occupancy of the surgical instrument to space of operating robot；Secondly, will
Second drive rod 118 is connected by transiting rod 120 with operation enforcement division 114, to realize that the 118 pairs of operations of the second drive rod execute
The driving in portion 114.
In one embodiment of the invention, it is preferable that as shown in Figure 4 and Figure 5, operation enforcement division 114 is folding instrument,
Opening and closing instrument includes the first noumenon 1142 and the second ontology 1144, and the first noumenon 1142 and the second ontology 1144 are arranged in a crossed manner, the
The infall and the first pin shaft 122 of one ontology 1142 and the second ontology 1144 are rotatablely connected；Transiting rod 120 includes First Transition bar
1202 and second transiting rod 1204, one end and the second drive rod 118 of First Transition bar 1202 and the second transiting rod 1204 rotate
Connection, the other end of First Transition bar 1202 and the first noumenon 1142 are rotatablely connected, the other end of the second transiting rod 1204 and the
The rotation connection of two ontologies 1144；Wherein, folding instrument is opened or closed with the reciprocating motion of the second drive rod 118.
In this embodiment, firstly, it is the first noumenon 1142 and the second ontology 1144 that open and close instrument is arranged in a crossed manner；So
Afterwards, it is inserted into the first pin shaft 122 in the first noumenon 1142 and 1144 infall of the second ontology, makes the first noumenon 1142 and the second ontology
1144 and first pin shaft 122 be rotatablely connected；After again, one end of First Transition bar 1202 and the second transiting rod 1204 is passed with second
Lever 118 is rotatablely connected；After again, the other end of First Transition bar 1202 and the first noumenon 1142 are rotatablely connected, meanwhile, by
The other end of two transiting rods 1204 and the second ontology 1144 are rotatablely connected so that First Transition bar 1202, the second transiting rod 1204,
The first noumenon 1142 and the second ontology 1144 form a quadrangle；After again, when the second drive rod 118 moves reciprocatingly, band
Dynamic First Transition bar 1202 and the rotation of the second transiting rod 1204, so that First Transition bar 1202 and the second transiting rod 1204 be made to push
1144 open or close of the first noumenon 1142 and the second ontology, and then folding instrument open or close is driven, it realizes to folding
The driving of instrument.
In one embodiment of the invention, it is preferable that as shown in Figure 6 and Figure 7, operation enforcement division 114 is electric hook, electric hook
It is rotatablely connected with the first pin shaft 122；Transiting rod 120 includes: third transiting rod 1206, the 4th transiting rod 1208 and the 5th transiting rod
1210；One end of third transiting rod 1206 and the 4th transiting rod 1208 and the second drive rod 118 are rotatablely connected, third transiting rod
1206 other end and operation enforcement division 114 are rotatablely connected, the other end of the 4th transiting rod 1208 and the 5th transiting rod 1210
One end rotation connection, the other end of the 5th transiting rod 1210 and the first pin shaft 122 are rotatablely connected；Wherein, when the second drive rod 118
When moving reciprocatingly, electric hook is driven to rotate around the first pin shaft 122.
In this embodiment, when enforcement division 114 of performing the operation is electric hook, third transiting rod 1206, the 4th transiting rod 1208, the
Five transiting rods 1210 and surgical instrument 114 form a quadrangle, third transiting rod 1206 and the 4th transiting rod 1208 and second
The rotation connection of drive rod 118, the 5th transiting rod 1210 and operation enforcement division 114 and the first pin shaft 122 are hinged, when the second drive rod
118 when moving reciprocatingly, and band enforcement division 114 of having an operation is rotated around the first pin shaft 122, further increases operation enforcement division
114 freedom degree, so that the movement of operation enforcement division 114 is more flexible, so that operation of the doctor to operation enforcement division 114
It is more convenient.
In one embodiment of the invention, it is preferable that as shown in Figure 8 and Figure 9, the surgical instrument of operating robot is also wrapped
It includes: screw rod 124, the second driving portion 126 and sliding block 124；Screw rod 124 is parallel with the second drive rod 118；Second driving portion 126
It is connected with screw rod 124, to drive screw rod 124 to rotate；Sliding block 124 is sheathed on screw rod 124, the edge with the rotation of screw rod 124
The axis direction of screw rod 124 moves back and forth；Sliding block 124 is connected with the second drive rod 118, to drive 118 edge of the second drive rod
Axis direction moves reciprocatingly.
In this embodiment, screw rod 124 is driven to rotate by the second driving portion 126, screw rod 124 and sliding block 124 cooperate, band
Movable slider 124 moves reciprocatingly along screw rod 124 is axial, and sliding block 124 is connected with the second drive rod 118, the second drive rod 118 with
The movement of sliding block 124 and move reciprocatingly, realize to operation enforcement division 114 driving；Screw rod 124 passes through with sliding block 124
It is threadedly coupled, is moved back and forth by the rotation band movable slider 124 of screw rod 124, the every rotation of screw rod 124 one week, 124 movements of sliding block
The distance of one screw pitch, this ensures to operation enforcement division 114 but also more accurate to the control of the movement of sliding block 124
Control accuracy.The equally usable lead screw of screw rod 124 replaces, and can reach effect same as screw rod 124.
In one embodiment of the invention, it is preferable that as shown in Fig. 8 to Figure 10, the first driving portion 102 includes: motor
1022, connecting shaft 1024 and bail 1026；Motor 1022 is provided with output shaft；Connecting shaft 1024 is tubular structure, connecting shaft
1024 one end is sheathed on the output shaft of motor 1022；Wherein, connecting shaft 1024 is sheathed on one end on output shaft along connection
The axis direction of axis 1024 offers at least one opening 10242；Bail 1026 is sheathed in connecting shaft 1024, will be connected
Axis 1024 is clamped on output shaft.
In this embodiment, connecting shaft 1024 is clamped on the output shaft of motor 1022 by bail 1026, is realized
The connection of connecting shaft 1024 and output shaft, and this kind of connection type make connecting shaft 1024 and the concentricity of output shaft good,
The stability for ensuring power transmitting, efficiently avoids generating vibration and noise in transmission process, it is ensured that the stabilization of product
Property.
In one embodiment of the invention, there are four one end that connecting shaft 1024 is connected with output shaft is axially disposed
Opening 10242.The end of connecting shaft 1024 is divided into four elastic portions, in assembling process, output shaft by four openings 10242
When being inserted into connecting shaft 1024, the radial force as needed for making four elastic portion flexible deformations is smaller, and between adjacent spring portion
With opening 10242, therefore convenient for output shaft to be fitted into connecting shaft 1024；In clamping process, bail 1026 is arranged
At the opening of connecting shaft 1,024 10242, since there are four openings 10242 for the tool of connecting shaft 1024, when connecting shaft 1024 is by even
When radial force inside spindle 1024, internal diameter will reduce, therefore connecting shaft 1024 can be clamped in output by bail 1026
On axis.
In one embodiment of the invention, it is preferable that as shown in Fig. 8 to Figure 12, the surgical instrument of operating robot is also
It include: the first terminal pad 130；First terminal pad 130 is two, is connected respectively with one end of support shaft 104 and screw rod 124；
First driving portion 102 further include: the second terminal pad 1028 and the second connecting pin；Second terminal pad 1028 is sheathed on connecting shaft 1024
The other end；Second connecting pin is along connecting shaft 1024 radially across the second terminal pad 1028 and connecting shaft 1024；Wherein, second
It is provided on the inner wall of terminal pad 1028 and slips 10282, the second connecting pin is embedded in slipping in 10282, so that the second terminal pad
1028 can slide in the axial direction with respect to connecting shaft 1024；Second terminal pad 1028 is connected with the first terminal pad 130, and first connects
It connects and is provided with link slot 10284 on disk 130, connection bump 1302, link slot 10284 and company are provided in the second terminal pad 1028
It connects protrusion 1302 to match, so that the second terminal pad 1028 drives the rotation of the first terminal pad 130.
In this embodiment, the second terminal pad 1028 is connected with connecting shaft 1024, and passes through the second connecting pin limitation the
Two terminal pads 1028 are rotated relative to connecting shaft 1024, so that the second terminal pad 1028 can turn with the rotation of connecting shaft 1024
It is dynamic；Meanwhile the second connecting pin is interior embedded in slipping for the second terminal pad 1028, so that the second terminal pad 1028 can be with respect to connecting shaft
1024 slide in the axial direction；Secondly, being provided with link slot 10284 in the first terminal pad 130, it is arranged in the second terminal pad 1028
There is connection bump 1302, link slot 10284 is matched with connection bump 1302, so that the second terminal pad 1028 can drive the first company
The rotation of disk 130 is connect, and then drives support shaft 104, the first screw rod 124 or the rotation of the second screw rod 124；This kind of connection type structure letter
It is single, it is easy to connect and easy for removal and installation, the versatility of the first driving portion 102 is effectively promoted.The section shape of protrusion
Shape can be "-" type or cross, irregular figure can also, as long as be able to achieve by the second terminal pad 1028 drive first connection
Disk 130 rotates.
In one embodiment of the invention, it is preferable that as shown in Fig. 8 to Figure 12, the first driving portion 102 further include: the
One spring 1029；First spring 1029 is sheathed in connecting shaft 1024, be connected in bail 1026 and the second terminal pad 1028 it
Between, so that the second terminal pad 1028 can automatically reset.
In this embodiment, by the way that the first spring 1029 is arranged in connecting shaft 1024, and it is connected in bail 1026
Between the second terminal pad 1028, so that the installation between the first terminal pad 130 and the second terminal pad 1028 does not need to adjust manually
Whole position, as long as after connection bump 1302 and link slot 10284 cooperate, under the thrust of the first spring 1029, second connects
Connecing disk 1028 can fit with the first terminal pad 130 automatically, and then drive the rotation of the first terminal pad 130.
In one embodiment of the invention, it is preferable that the second driving portion 126 is identical as the first driving portion 102.
In this embodiment, by setting driving portion identical with the first driving portion 102 for the second driving portion 126, have
Improve to effect the versatility between two driving portions.
In one embodiment of the invention, it is preferable that as shown in figure 13 to figure 16, the surgical instrument of operating robot is also
It include: first support 132；First support 132 be it is U-shaped, first support 132 include the first side wall 1322,1324 and of second sidewall
Bottom wall 1326；First drive rod 108 is connected after passing through the first side wall 1322 with connector 120；One end of screw rod 124 passes through the
It is connected after one side wall 1322 with the first terminal pad 130, one end of screw rod 124 and second sidewall 1324 are rotatablely connected；Support shaft
104 are connected after the first side wall 1322 with the first terminal pad 130.
In this embodiment, by 132 studdle 124 of first support, the first drive rod 108 and support shaft 104, make
The driving section that the part-structure forms an entirety is obtained, in the course of surgery, if necessary to replacement operation enforcement division 114, doctor
The driving section equipped with different operation enforcement divisions 114 can be directly replaced, the replacement to operation enforcement division 114, replacement can be realized
Speed is fast, and substitute mode is easy.
In one embodiment of the invention, it is preferable that as shown in figure 13 to figure 16, the surgical instrument of operating robot is also
It include: second support 134；First driving portion 102 and the second driving portion 126 are fixed in second support 134, second support 134
It is clamped with first support 132, so that the first driving portion 102 drives support shaft 104, the second driving portion 126 drives screw rod 124.
In this embodiment, by the way that the first driving portion 102 and the second driving portion 126 to be fixed in second support 134, make
First support 132 during use, need to be only installed in second support 134 by the surgical instrument for obtaining operating robot
It realizes the connection of driving section and driving portion, and can further promote 126 versatility of the first driving portion 102 and the second driving portion.
In one embodiment of the invention, it is preferable that as shown in figure 13 to figure 16, be arranged in second support 134 limited
Position portion 1342, limiting section 1342 are L-type, and the length direction positioned at the edge of second support 134 along second support 134 extends, limit
The bottom wall 1326 of position portion 1342 and second support 134 surrounds a limiting slot to 134 inside opening 10242 of second support；First
The retention bead matched with limiting slot is provided on bracket 132, retention bead is in limiting slot.
In this embodiment, cooperated by limiting slot and retention bead, realize first support 132 and second support 134 it
Between positioning on vertical direction, when first support 132 and second support 134 are assembled, by retention bead along the extension side of limiting slot
To sliding into limiting slot, the positioning to first support 132 can be realized, structure is simple, convenient for doctor to the hand of operating robot
The installation and removal of art instrument；Limiting slot equally may be provided in first support 132, and retention bead is arranged in second support 134
On.
In one embodiment of the invention, it is preferable that as shown in figure 13 to figure 16, the bottom wall 1326 of second support 134
Upper surface matched with the lower surface of the bottom wall 1326 of first support 132, the upper surface of the bottom wall 1326 of second support 134 with
The positioning protrusion 1344 for protruding from surface is provided on one in the lower surface of the bottom wall 1326 of first support 132, another
On be provided with the locating slot matched with positioning protrusion 1344.
In this embodiment, by setting positioning protrusion 1344 and locating slot, positioning protrusion 1344 and locating slot cooperation are real
Horizontal location between existing first support 132 and second support 134, it is ensured that the position in the horizontal direction of first support 132 it is accurate
Property.
In one embodiment of the invention, it is preferable that as shown in figure 13 to figure 16, it is fixed to be provided in first support 132
Position pin 138, positioning pin 138 are connected in first support 132 by second spring 140；Location hole is provided in second support 134
1346, positioning pin 138 is in location hole 1346；Handle 136 is provided on positioning pin 138, handle 136 is used for plug positioning pin
138。
In this embodiment, by the way that positioning pin 138 is arranged in first support 132, and embedded in setting in second support
In location hole 1346 on 134, avoid first support 132 by deviating from limiting slot and locating slot, it is ensured that second support 134 is to
The accuracy of one bracket 132 positioning；Positioning pin 138 is connected in first support 132 by spring, so that positioning pin 138 is not
When under the action of by external force, remains in the location hole 1346 in second support 134, avoid positioning pin 138 by location hole
Deviate from 1346；By the way that handle 136 is arranged, it is convenient for plug positioning pin 138.
In one embodiment of the invention, it is preferable that operation enforcement division 114 include 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 aspect of the present invention provides a kind of operating robot, and operating robot includes as described in above-mentioned any embodiment
Operating robot surgical instrument, therefore, which includes the operating robot as described in above-mentioned any embodiment
Surgical instrument whole beneficial effects.
In the description of the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, term
The orientation or positional relationship of the instructions such as "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should all
It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straight
Connect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Refer to that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical embodiment or example.And
And the particular features, structures, materials, or characteristics of description can be in any one or more of the embodiments or examples with suitable
Mode combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (17)
1. a kind of surgical instrument of operating robot, which is characterized in that the surgical instrument of the operating robot includes:
First driving portion；
Support shaft, the support shaft are connected with first driving portion, are provided with first gear in the support shaft；
First drive rod, one end of first drive rod are provided with second gear, and the other end of first drive rod passes through
Connector is connected with operation enforcement division；
Wherein, the first gear is meshed with the second gear, and first driving portion drives the support shaft rotation, into
And the first gear is driven to rotate, the first gear drives the second gear to rotate, described in the second gear drive
First drive rod rotation, and then drive the operation enforcement division rotation.
2. the surgical instrument of operating robot according to claim 1, which is characterized in that one end of the connector is at least
Part is sheathed on the first drive rod, and is inserted with the first connecting pin, and the other end is executed by the first pin shaft and the operation
Portion is connected；
Wherein, first connecting pin is plugged in first drive rod and the connector along the radial direction of first drive rod
On, to prevent the connector relative to first drive rod rotation.
3. the surgical instrument of operating robot according to claim 2, which is characterized in that further include:
Second drive rod, second drive rod is in first drive rod；
Second drive rod is connected by transiting rod with the operation enforcement division, to drive the operation enforcement division.
4. the surgical instrument of operating robot according to claim 3, 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 and first pin shaft rotation of the first noumenon and second ontology connect
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 being connect with second drive rod rotation, the other end of the First Transition bar and the first noumenon are rotatablely connected, and described the
The other end of two transiting rods and second ontology are rotatablely connected；
Wherein, the folding instrument is opened or closed with the reciprocating motion of second drive rod.
5. the surgical instrument of operating robot according to claim 3, which is characterized in that
The operation enforcement division is electric hook, and the electric hook and first pin shaft are rotatablely connected；
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 connect with second drive rod rotation, the third transition
The other end of bar and the operation enforcement division are rotatablely connected, the other end of the 4th transiting rod and the one of the 5th transiting rod
End rotation connection, the other end and first pin shaft of the 5th transiting rod are rotatablely connected
Wherein, when second drive rod moves reciprocatingly, the electric hook is driven to rotate around first pin shaft.
6. the surgical instrument of operating robot according to claim 3, which is characterized in that further include:
Screw rod, the screw rod are parallel with second drive rod；
Second driving portion, second driving portion are connected with the screw rod, to drive the screw rod to rotate；
Sliding block, the slide block set are set on the screw rod, and with the rotation of the screw rod, the axis direction along the screw rod is reciprocal
Movement；
The sliding block is connected with second drive rod, to drive second drive rod to move reciprocatingly in the axial direction.
7. the surgical instrument of operating robot according to claim 6, which is characterized in that first driving portion 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 arranged 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.
8. the surgical instrument of operating robot according to claim 7, which is characterized in that further include:
First terminal pad, first terminal pad are two, are connected respectively with one end of the support shaft and the screw rod；
First driving portion further include:
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, one in second terminal pad and first terminal pad
It is provided with link slot on a, is provided with connection bump on another, the link slot is matched with the connection bump, so that
Two terminal pads drive the rotation of the first terminal pad.
9. the surgical instrument of operating robot according to claim 8, which is characterized in that first driving portion also wraps
It includes:
First spring, first spring pocket are set in the connecting shaft, are connected in the bail and second terminal pad
Between, so that the second terminal pad can automatically reset.
10. the surgical instrument of operating robot according to claim 9, which is characterized in that second driving portion and institute
It is identical to state the first driving portion.
11. the surgical instrument of operating robot according to claim 10, which is characterized in that further include:
First support, the first support be it is U-shaped, the first support includes the first side wall, second sidewall and bottom wall；
First drive rod is connected after passing through the first side wall with the connector；
One end of the screw rod is connected after passing through the first side wall with first terminal pad, one end of the screw rod and institute
State second sidewall rotation connection；
The support shaft is connected after passing through the first side wall with first terminal pad.
12. the surgical instrument of operating robot according to claim 11, which is characterized in that further include:
Second support, first driving portion and second driving portion are fixed in the second support, the second support
It is clamped with the first support, so that first driving portion drives the support shaft, second driving portion drives the spiral shell
Bar.
13. the surgical instrument of operating robot according to claim 12, which is characterized in that
It is provided with limiting section in the second support, the limiting section is L-type, positioned at the edge of the second support along described the
The length direction of two brackets extends, and the bottom wall of the limiting section and the second support surrounds one to second support inside opening
Limiting slot；
The retention bead matched with the limiting slot is provided in the first support, the retention bead is embedded in the limit
In slot.
14. the surgical instrument of operating robot according to claim 12, which is characterized in that
The upper surface of the bottom wall of the second support is matched with the lower surface of the bottom wall of the first support, the second support
Bottom wall upper surface and the first support bottom wall lower surface in one on be provided with the convex for protruding from surface
It rises, the locating slot matched with the positioning protrusion is provided on another.
15. the surgical instrument of operating robot according to claim 12, which is characterized in that
Positioning pin is provided in the first support, the positioning pin is connected in the first support by second spring；
Location hole is provided in the second support, the positioning pin is in the location hole；
Handle is provided on the positioning pin, the handle is for positioning pin described in plug.
16. according to claim 1 to the surgical instrument of operating robot described in any one of 15, 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.
17. a kind of operating robot, which is characterized in that the operating robot includes such as any one of claims 1 to 16 institute
The surgical instrument for the operating robot stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948591.4U CN208259766U (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 |
|---|---|---|---|
| CN201720948591.4U CN208259766U (en) | 2017-07-31 | 2017-07-31 | The surgical instrument and operating robot of operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208259766U true CN208259766U (en) | 2018-12-21 |
Family
ID=64672864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948591.4U Withdrawn - After Issue CN208259766U (en) | 2017-07-31 | 2017-07-31 | The surgical instrument and operating robot of operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208259766U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260313A (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 |
-
2017
- 2017-07-31 CN CN201720948591.4U patent/CN208259766U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260313A (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 |
| CN107260313B (en) * | 2017-07-31 | 2023-10-27 | 成都博恩思医学机器人有限公司 | Surgical instrument of surgical robot and surgical robot |
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