CN208319315U - A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot - Google Patents
A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot Download PDFInfo
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- CN208319315U CN208319315U CN201720948668.8U CN201720948668U CN208319315U CN 208319315 U CN208319315 U CN 208319315U CN 201720948668 U CN201720948668 U CN 201720948668U CN 208319315 U CN208319315 U CN 208319315U
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- portion position
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- sleeve
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Abstract
The utility model discloses a kind of surgical instruments and micro-wound operation robot for micro-wound operation robot, including guide rod part and end execution part；The guide rod part includes screw rod, and the end execution part includes end executive device, and the end executive device includes four-bar linkage and actuator；The four-bar linkage includes the first connecting portion position of four-bar linkage, the first bar, the second bar, third bar and the 4th bar；Wherein, the second connecting portion position of the proximal end connection wire rod second end of first connecting portion position；The distal end of first connecting portion position is nonisulated hinged with the proximal end of the proximal end of the first bar and the second bar respectively, and the distal end of the first bar and the proximal end insulation of third bar are hinged, and the distal end of the second bar and the proximal end of the 4th bar are nonisulated hinged.
Description
Technical field
The utility model relates to a kind of the field of medical instrument technology more particularly to a kind of hands for micro-wound operation robot
Art instrument and micro-wound operation robot.
Background technique
Minimally invasive surgery technology makes most surgical operation take leave of open operative model, and robot technology is answered
The great attention of countries in the world is subjected to for medical surgery operation, robot is in operational stability, agility and accuracy
Aspect have can not this quasi- advantage, by robot technology incorporate surgical operation in, the surgical environments of doctor can be improved, shorten
The recovery time of patient, current robot micro-wound surgical operation mainly by opened with patient multiple small notch into
Row surgical procedure, a usual notch are operated for importing endoscope, importing of other notch for surgical instrument.
Currently, main Minimally Invasive Surgery tool uses the kind of drive of bar transmission, front end has a multiple degrees of freedom operation
Execution tool, when needing to carry out Minimally Invasive Surgery, operation execution tool is electrically conductive forming the electrode tip of entirety electrification, is performed the operation
Object need to connect another power supply and perform the operation as another electrode tip.
So in the prior art, there are the single technical problems of the surgical instrument usage mode of micro-wound operation robot.
Utility model content
The utility model embodiment provides a kind of surgical instrument and micro-wound operation robot for micro-wound operation robot,
For solving in the prior art, there are the single technical problems of the surgical instrument usage mode of micro-wound operation robot.
In order to solve the above technical problems, the utility model embodiment provides the surgical device for micro-wound operation robot
Tool, comprising: guide rod part and end execution part；Wherein, the guide rod part includes screw rod, and insulation is provided on screw rod
Layer, the end execution part includes end executive device, and the end executive device includes four-bar linkage and actuator；
The four-bar linkage includes the first connecting portion position of four-bar linkage, the first bar, the second bar, third bar with
And the 4th bar；
Wherein, it is provided with insulating layer on first connecting portion position, the of the proximal end connection wire rod second end of first connecting portion position
Two connecting portions；The distal end of first connecting portion position is nonisulated hinged with the proximal end of the proximal end of the first bar and the second bar respectively, the
The distal end of one bar and the proximal end insulation of third bar are hinged, and the distal end of the second bar and the proximal end of the 4th bar are nonisulated hinged；
The actuator includes the first actuator and the second actuator, and first actuator connects the distal end of third bar,
Second actuator connects the distal end of the 4th bar, and the distal end of third bar and the distal end insulation of the 4th bar are hinged, third bar housing
If a U-shaped insulation sleeve, so that electric current is passed through first connecting portion position, second by the screw rod when screw rod connects a power supply
Bar and the 4th bar reach the second actuator, when the electric current reaches the first bar by first connecting portion position, due to the first bar
Distal end and the proximal end insulation of third bar are hinged, and the distal end of third bar and the distal end insulation of the 4th bar are hinged, and are arranged outside third bar
The electric current that one U-shaped insulation sleeve to reach on the first bar can not be conducting to the first actuator, so that the first actuator
As the first polar end, second actuator is performed the operation as the second polar end.
Optionally, including front-end driven part, the front-end driven part includes pedestal, and is separately mounted to the bottom
Folding driving mechanism, yaw drive and rotation drive device on seat；
The guide rod part includes the first sleeve being sequentially sleeved on the screw rod, and be set in first sleeve
Two casings；
Wherein, the folding driving mechanism is connect by first bearing with the first connecting portion position of screw rod first end, described
Yaw drive is connect by second bearing with the first connecting portion position of first sleeve first end, the rotation drive device
Insulation driving gear and driven gear are mutually ratcheting, and driven gear is connect with the first connecting portion position of the second sleeve first end, into
And to insulate between the guide rod part and the pedestal.
Optionally, the folding driving mechanism includes the first transmission shaft, first motor and the first sliding block, first transmission
Axis is mounted on the base, and the first motor is connected to one end of first transmission shaft, is set on first transmission shaft
It is equipped with external screw thread, first sliding block is provided with the internal screw thread to match with the external screw thread on first transmission shaft, by described
First sliding block and first transmission are realized in the cooperation of the internal screw thread of the external screw thread of first transmission shaft and first sliding block
The connection of axis；
The connection of the outer ring of first sliding block and first bearing, the first of the inner ring of first bearing and the screw rod first end
Connecting portion connection, so that the first motor drives first sliding block along first transmission by the first transmission shaft
The axially reciprocating of axis, first sliding block draw the screw rod by first bearing and transport along the axial reciprocating of the screw rod
Dynamic, the screw rod drives four-bar linkage, and then actuator is driven to carry out open and close movement.
Optionally, the end execution part includes wrist unit, and the wrist unit includes a cavity structure；It is described flat
The distal end of the first connecting portion position of face four-bar mechanism penetrate the cavity structure of the wrist unit respectively with the proximal end of the first bar with
And second bar proximal end it is nonisulated hinged, nonisulated hinged place is junction, and the wrist unit is in the junction and end
Executive device is hinged；
The second connecting portion position of the screw rod second end is a flexible connection position, is provided on the flexible connection position
Insulating layer, the cavity structure and the four-bar linkage that the flexible connection position has part-structure to penetrate the wrist unit
First connecting portion position proximal end connection.
Optionally, the yaw drive includes second driving shaft, the second motor and the second sliding block, second transmission
Axis is mounted on the base, and second motor is connected to one end of the second driving shaft, is set on the second driving shaft
It is equipped with external screw thread, second sliding block is provided with the internal screw thread to match with the external screw thread of the second driving shaft, passes through described the
The cooperation of the internal screw thread of the external screw thread of two transmission shafts and second sliding block, realizes second sliding block and the second driving shaft
Connection；
The connection of the outer ring of second sliding block and second bearing, the inner ring of second bearing and the first sleeve first end
The connection of first connecting portion position, the second connecting portion position of the first sleeve second end fill at the first link position with the wrist
Set connection.
So that second motor drives second sliding block along the second driving shaft by second driving shaft
Axially reciprocating, second sliding block draw the first sleeve along the axial reciprocating of the first sleeve by second bearing
Movement, and then drive the wrist unit yaw motion.
Optionally, the second connecting portion position of the second casing second end and the wrist unit are at the second link position
Connection, so that the wrist unit is under the traction of the first sleeve, it can be centered on the second link position to second
The two sides of the axially-extending line of casing carry out yaw motion.
Optionally, the second connecting portion position of the second casing second end is provided with the first fastener and the second fastener；
Wherein, first fastener be used for limit axially-extending line from the wrist unit to second casing one
The angle that side is deflected, the axially-extending line that second fastener is used to limit the wrist unit to second casing
The angle that is deflected of the other side.
Optionally, the rotation drive device further includes third transmission shaft and third motor, and the driving gear passes through
Third transmission shaft is mounted on the base, and the third motor and the third are driven axis connection, driven gear and described the
The first connecting portion positions of two sleeve first ends connects, and the second connecting portion position of the second casing second end and wrist unit are the
It is connected at three link positions, the third link position is different from second link position.
So that the third motor drives the driving gear rotation, the driving gear band by third transmission shaft
Driven gear rotation, driven gear drives the second sleeve rotating, and then drives the wrist unit and end by the second casing
Hold executive device rotation.
On the other hand, the utility model embodiment additionally provides a kind of micro-wound operation robot, including surgical instrument,
In, the surgical instrument includes:
Guide rod part and end execution part；Wherein, the guide rod part includes screw rod, and insulation is provided on screw rod
Layer, the end execution part includes end executive device, and the end executive device includes four-bar linkage and actuator；
The four-bar linkage includes the first connecting portion position of four-bar linkage, the first bar, the second bar, third bar with
And the 4th bar；
Wherein, it is provided with insulating layer on first connecting portion position, the of the proximal end connection wire rod second end of first connecting portion position
Two connecting portions；The distal end of first connecting portion position is nonisulated hinged with the proximal end of the proximal end of the first bar and the second bar respectively, the
The distal end of one bar and the proximal end insulation of third bar are hinged, and the distal end of the second bar and the proximal end of the 4th bar are nonisulated hinged；
The actuator includes the first actuator and the second actuator, and first actuator connects the distal end of third bar,
Second actuator connects the distal end of the 4th bar, and the distal end of third bar and the distal end insulation of the 4th bar are hinged, third bar housing
If a U-shaped insulation sleeve, so that electric current is passed through first connecting portion position, second by the screw rod when screw rod connects a power supply
Bar and the 4th bar reach the second actuator, when the electric current reaches the first bar by first connecting portion position, due to the first bar
Distal end and the proximal end insulation of third bar are hinged, and the distal end of third bar and the distal end insulation of the 4th bar are hinged, and are arranged outside third bar
The electric current that one U-shaped insulation sleeve to reach on the first bar can not be conducting to the first actuator, so that the first actuator
As the first polar end, second actuator is performed the operation as the second polar end.
Optionally, including front-end driven part, the front-end driven part includes pedestal, and is separately mounted to the bottom
Folding driving mechanism, yaw drive and rotation drive device on seat；
The guide rod part includes the first sleeve being sequentially sleeved on the screw rod, and be set in first sleeve
Two casings；
Wherein, the folding driving mechanism is connect by first bearing with the first connecting portion position of screw rod first end, described
Yaw drive is connect by second bearing with the first connecting portion position of first sleeve first end, the rotation drive device
Insulation driving gear and driven gear are mutually ratcheting, and driven gear is connect with the first connecting portion position of the second sleeve first end, into
And to insulate between the guide rod part and the pedestal.
Optionally, the folding driving mechanism includes the first transmission shaft, first motor and the first sliding block, first transmission
Axis is mounted on the base, and the first motor is connected to one end of first transmission shaft, is set on first transmission shaft
It is equipped with external screw thread, first sliding block is provided with the internal screw thread to match with the external screw thread on first transmission shaft, by described
First sliding block and first transmission are realized in the cooperation of the internal screw thread of the external screw thread of first transmission shaft and first sliding block
The connection of axis；
The connection of the outer ring of first sliding block and first bearing, the first of the inner ring of first bearing and the screw rod first end
Connecting portion connection, so that the first motor drives first sliding block along first transmission by the first transmission shaft
The axially reciprocating of axis, first sliding block draw the screw rod by first bearing and transport along the axial reciprocating of the screw rod
Dynamic, the screw rod drives four-bar linkage, and then actuator is driven to carry out open and close movement.
Optionally, the end execution part includes wrist unit, and the wrist unit includes a cavity structure；It is described flat
The distal end of the first connecting portion position of face four-bar mechanism penetrate the cavity structure of the wrist unit respectively with the proximal end of the first bar with
And second bar proximal end it is nonisulated hinged, nonisulated hinged place is junction, and the wrist unit is in the junction and end
Executive device is hinged；
The second connecting portion position of the screw rod second end is a flexible connection position, is provided on the flexible connection position
Insulating layer, the cavity structure and the four-bar linkage that the flexible connection position has part-structure to penetrate the wrist unit
First connecting portion position proximal end connection.
Optionally, the yaw drive includes second driving shaft, the second motor and the second sliding block, second transmission
Axis is mounted on the base, and second motor is connected to one end of the second driving shaft, is set on the second driving shaft
It is equipped with external screw thread, second sliding block is provided with the internal screw thread to match with the external screw thread of the second driving shaft, passes through described the
The cooperation of the internal screw thread of the external screw thread of two transmission shafts and second sliding block, realizes second sliding block and the second driving shaft
Connection；
The connection of the outer ring of second sliding block and second bearing, the inner ring of second bearing and the first sleeve first end
The connection of first connecting portion position, the second connecting portion position of the first sleeve second end fill at the first link position with the wrist
Set connection.
So that second motor drives second sliding block along the second driving shaft by second driving shaft
Axially reciprocating, second sliding block draw the first sleeve along the axial reciprocating of the first sleeve by second bearing
Movement, and then drive the wrist unit yaw motion.
Optionally, the second connecting portion position of the second casing second end and the wrist unit are at the second link position
Connection, so that the wrist unit is under the traction of the first sleeve, it can be centered on the second link position to second
The two sides of the axially-extending line of casing carry out yaw motion.
Optionally, the second connecting portion position of the second casing second end is provided with the first fastener and the second fastener；
Wherein, first fastener be used for limit axially-extending line from the wrist unit to second casing one
The angle that side is deflected, the axially-extending line that second fastener is used to limit the wrist unit to second casing
The angle that is deflected of the other side.
Optionally, the rotation drive device further includes third transmission shaft and third motor, and the driving gear passes through
Third transmission shaft is mounted on the base, and the third motor and the third are driven axis connection, driven gear and described the
The first connecting portion positions of two sleeve first ends connects, and the second connecting portion position of the second casing second end and wrist unit are the
It is connected at three link positions, the third link position is different from second link position.
So that the third motor drives the driving gear rotation, the driving gear band by third transmission shaft
Driven gear rotation, driven gear drives the second sleeve rotating, and then drives the wrist unit and end by the second casing
Hold executive device rotation.
The surgical instrument and Minimally Invasive Surgery machine of micro-wound operation robot are used in one of the utility model embodiment
People, when screw rod connects a power supply, screw rod will be reached electric current by first connecting portion position, the second bar and the 4th bar
Second actuator, when the electric current reaches the first bar by first connecting portion position, since the distal end of the first bar is close with third bar
End insulation is hinged, and the distal end of third bar and the distal end insulation of the 4th bar are hinged, and are arranged a U-shaped insulation sleeve outside third bar and to pass
Electric current on to the first bar can not be conducting on the first actuator, so that the first actuator can be as the first pole of operation
Property end, the second actuator as operation the second polar end perform the operation, so, avoid pair in the prior art, performed the operation
As needing to connect the case where another power supply is performed the operation as another electrode tip, can be effectively solved in the prior art,
There are the single technical problems of the surgical instrument usage mode of micro-wound operation robot, realize the operation of micro-wound operation robot
The diversity of instrument usage mode.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type.
Fig. 1 is a kind of surgical instrument structural representation for micro-wound operation robot provided by the embodiment of the utility model
Figure；
Fig. 2 is the top view of front-end driven part in the utility model embodiment；
Fig. 3 is the bottom view of front-end driven part in the utility model embodiment；
Fig. 4 A-4B is the sectional view in the face A-A in the utility model embodiment Fig. 1；
Fig. 5 A-5C is the structural schematic diagram of end execution part in the utility model embodiment；
Fig. 6 A-6E is the sectional view in the face B-B in the utility model embodiment Fig. 5 A.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, is clearly and completely described the technical solution of the utility model, it is clear that described implementation
Example is a part of the embodiment of technical solutions of the utility model, instead of all the embodiments.Based in the utility model file
The embodiment of record, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example belongs to the range of technical solutions of the utility model protection.
Referring to FIG. 1, a kind of surgical instrument for micro-wound operation robot provided by the embodiment of the utility model, including
Guide rod part 13 and end execution part 14, wherein the guide rod part 13 includes screw rod 131, screw rod as shown in Fig. 4 B
Insulating layer is provided on 131, the end execution part 14 includes end executive device 7 as shown in Fig. 5 B, and the end executes
Device 7 includes four-bar linkage 71 and actuator 72, please refers to Fig. 5 C, and four-bar linkage 71 includes four-bar linkage
First connecting portion position 711, the first bar 712, the second bar 713, third bar 714 and the 4th bar 715, wherein four-bar linkage
First connecting portion position 711 on be provided with insulating layer, such as insulation silica gel.
Please refer to Fig. 5 B-5C, the second connecting portion position of 131 second end of proximal end connection wire rod of first connecting portion position 711
135；The distal end of first connecting portion position 711 is nonisulated hinged with the proximal end of the proximal end of the first bar 712 and the second bar 713 respectively,
The distal end of first bar 712 and the proximal end insulation of third bar 714 are hinged, and the distal end of the second bar 713 and the proximal end of the 4th bar 715 are non-absolutely
Edge is hinged.
Actuator 72 includes the first actuator 721 and the second actuator 722, and first actuator 721 connects third bar
714 distal end, the second actuator 722 connect the distal end of the 4th bar 715, the distal end of the distal end of third bar 714 and the 4th bar 715
Insulation is hinged, which is junction 73, is arranged a U-shaped insulation sleeve outside third bar 714, is not drawn into figure, this is U-shaped
Insulation sleeve enables to insulate between third bar 714 and the first bar 712 and the 4th bar 715, so that at actuator 72
722 mutually insulated of the first actuator 721 and the second actuator when open configuration as shown in Figure 5 C, in actuator 72.
So, when screw rod 131 connects a power supply, electric current will be passed through first connecting portion position 711, second by screw rod 131
Bar 713 and the 4th bar 715 reach the second actuator 722, and the electric current reaches the first bar 712 by first connecting portion position 711
When, since the distal end of the first bar 712 and the proximal end insulation of third bar 714 are hinged, the distal end of third bar 714 and the 4th bar 715
Distal end is insulated hingedly, and is arranged a U-shaped insulation sleeve outside third bar 714 and the electric current reached on the first bar 712 can not be conducting to
On first actuator 721, so that the first actuator 721 can be as the first polar end of operation, the second actuator 722
The second polar end as operation is performed the operation, so, it avoids the object in the prior art, performed the operation and needs to connect another
The case where power supply is performed the operation as another electrode tip can be effectively solved in the prior art, and there are Minimally Invasive Surgery machines
The single technical problem of the surgical instrument usage mode of people, realizes the more of the surgical instrument usage mode of micro-wound operation robot
Sample.
Continuing with Fig. 1 is combined, Fig. 2, Fig. 3 and Fig. 4 B are referred to, surgical instrument provided by the embodiment of the utility model
It further include front-end driven part 12, the front-end driven part 12 includes pedestal 11, and is separately mounted on the pedestal 11
Folding driving mechanism 2, yaw drive 3 and rotation drive device 4；The guide rod part 13 further includes being sequentially sleeved at institute
The first sleeve 132 on screw rod 131 is stated, and the second casing 133 being set in first sleeve 132.
As shown in Figure 4 A, the folding driving mechanism 2 passes through the first connecting portion of first bearing 51 and 131 first end of screw rod
Position 134 connects, and the yaw drive 3 is connected by the first connecting portion position 136 of second bearing 52 and first sleeve first end
It connects, insulation driving gear 42 and driven gear 43 mutually ratcheting, driven gear 43 and the second casing of the rotation drive device 4
The first connecting portion position 139 of first end connects, so that insulating between the guide rod part 13 and the pedestal 11.
So in the utility model embodiment, by folding driving mechanism and screw rod 131 that single machine coagulation instrument is arranged
Between first bearing, the second bearing between yaw drive and screw rod 131 is insulation bearing, the master of rotation drive device
Moving gear is to be arranged with insulating sleeve outside insulation driving gear and guide rod part, in this way, when the screw rod in surgical instrument
When 131 one power supplys of connection are performed the operation, enough electric current is prevented to be transmitted to bottom by folding driving mechanism by the first bearing of insulation
Plate enough prevents electric current to be transmitted to bottom plate by yaw drive, passes through the driving tooth of the insulation by the second bearing of insulation
Wheel enough prevents electric current to be transmitted to bottom plate by rotation drive device, so that insulating between guide rod part and pedestal, prevents bottom
Seat electrification, so, additionally it is possible to it eliminates when user accidentally touches other band portions of the pedestal or the operation tool being connected with by the pedestal
Timesharing, existing security risk, the beneficial effect that the surgical instrument of micro-wound operation robot can be used safely can be guaranteed by having
Fruit.
Continuing with Fig. 1 is combined, Fig. 2, Fig. 3 and Fig. 4 B are referred to, and folding driving mechanism 2 passes through folding driving mechanism 2
The first transmission shaft 21 be mounted on the pedestal 11, the yaw drive 3 by yaw drive 3 second pass
Moving axis 31 is mounted on the pedestal 11, and the driving gear 42 of the rotation drive device 4 is mounted on by third transmission shaft 41
On the pedestal 11.
It in practical applications, can be with as shown in Fig. 2, being provided with the first support panel 111, second supports panel on bottom plate 11
112 and third support panel 113, then, the first transmission shaft 21 and second driving shaft 31 can be separately mounted to the first support
Face 111 supports on panel 113 with third, and third transmission shaft 41 may be mounted at the second support panel 112 and third supporting surface
On plate 113.
Continuing with Fig. 1, Fig. 2, Fig. 3 is combined, Fig. 4 A and Fig. 4 B referred to, wherein Fig. 4 A is that the face A-A is cutd open in Fig. 1
Face figure, Fig. 4 B are the partial structure diagram in the sectional view in the face A-A, and during concrete practice, guide rod part 13 further includes
The first sleeve 132 being sequentially sleeved on the screw rod 131, and the second casing 133 being set in first sleeve 132, second
It is arranged with insulating sleeve on casing 133, the screw rod 131 in surgical instrument just can be avoided by the insulating sleeve and connect a power supply
When being performed the operation, the outer wall of guide rod part is charged.The folding driving mechanism 2 passes through first bearing 51 and the screw rod 131 the
The first connecting portion position 134 of one end connects, wherein first bearing 51 is made of isolation material with the shaft insulation of insulation function
It holds, as used ceramic bearing made of ceramics etc., then, when the screw rod 131 in surgical instrument, which connects a power supply, is performed the operation, lead to
The first bearing for crossing the insulation can prevent electric current to be transmitted to bottom plate by folding driving mechanism, and bottom plate is avoided to charge.
In practical applications, screw rod 131 can be ball screw, and the first connecting portion position 134 of 131 first end of screw rod can be with
For the bulb position of ball screw, then, folding driving mechanism 2 can be connected on ball screw by first bearing 51,
And then realize the connection of screw rod and folding driving mechanism.Certainly, screw rod 131 can be the structure of other patterns, just different herein
One lists.
Continuing with Fig. 1 is combined, Fig. 2, Fig. 3 and Fig. 4 A-4B referred to, and in practical applications, closing device can be with
Including first motor 22 and the first sliding block 23, the first transmission shaft 21 is mounted on the pedestal 11, and first motor 22 is connected to institute
One end of the first transmission shaft 21 is stated, external screw thread is provided on first transmission shaft 21, first sliding block 23 is provided with and institute
The internal screw thread that the external screw thread on the first transmission shaft 21 matches is stated, is slided by the external screw thread and described first of first transmission shaft 21
The connection of first sliding block 23 and first transmission shaft 21 is realized in the cooperation of the internal screw thread of block 23, then, the first sliding block 23
It can be by being connect with the outer ring of first bearing 51, the inner ring of first bearing 51 and the first connecting portion of 131 first end of screw rod
Position 134 connects, and then realizes the connection of closing device and screw rod.
During concrete practice, the second connecting portion position 135 of end execution part 14 and 131 second end of screw rod connects
It connects, then, the first motor 22 drives first sliding block 23 along first transmission shaft 21 by the first transmission shaft 21
Axially reciprocating, first sliding block 23 draw the screw rod 131 along the axial direction of the screw rod 131 by first bearing 51
Move back and forth, so can screw rod 131 drive end execution part 14 do open and close movement.
Incorporated by reference to reference Fig. 5 A-5C, wherein Fig. 5 A is the structural schematic diagram of end execution part 14, and Fig. 5 B-5C is end
The partial structure diagram of execution part 14, in practical applications, end execution part 14 further include wrist unit 6, wherein institute
Stating wrist unit 6 includes a cavity structure, and the first connecting portion position 711 of four-bar linkage penetrates the cavity knot of wrist unit 6
In structure, the distal end of the first connecting portion position 711 of four-bar linkage penetrate the cavity structure of wrist unit 6 respectively with the first bar
712 proximal end and the proximal end of the second bar 713 are nonisulated hinged, and nonisulated hinged place is junction 73, meanwhile, in junction 73
Hinged wrist unit 6 can set the second connecting portion position 135 of 131 second end of screw rod to during concrete practice
One can be with the flexible connection position of deformation, and one insulating layer of flexible connection position peripheral hardware, such as silica gel, the flexible connection position have
Part-structure penetrates close with the first connecting portion position 711 of the four-bar linkage in the cavity structure of the wrist unit 6
End connection.
It is referred to incorporated by reference to Fig. 6 A, Fig. 6 A is the sectional view in the face B-B in 5A, when the first motor 22 in closing device 2 passes through
First transmission shaft 21 drives first sliding block 23 along the axial past direction end execution part 14 of first transmission shaft 21
When direction (the thick front direction of black in Fig. 6 A) moves, the first sliding block 23 draws the screw rod 131 by first bearing 51
Axial along the screw rod 131 is moved toward the direction for being directed toward end execution part 14, and screw rod 131 will be by being flexibly connected position
Drive the first connecting portion position 711 of four-bar linkage toward the direction movement for being directed toward end execution part 14, due to four bar of plane
The position of the junction 73 of mechanism and the actuator and wrist unit 6 is fixed point, is flexibly connected position in the driving
Compressional deformation occurs for Cheng Zhonghui, and the first connecting portion position 711 for squeezing four-bar linkage struts four-bar linkage 71, in turn
The first actuator 721 and the second actuator 722 of actuator 72 are strutted by four-bar linkage 71.
It is referred to incorporated by reference to Fig. 6 B, when the first motor 22 in closing device 2 drives described first by the first transmission shaft 21
Sliding block 23 is (in Fig. 6 B black along the axial opposite direction toward direction and the direction of end execution part 14 of first transmission shaft 21
Color block arrow direction) movement when, the first sliding block 23 draws the screw rod 131 along the screw rod 131 by first bearing 51
It is axial moved toward above-mentioned opposite direction, screw rod 131 will pass through flexible connection position and drive the first of four-bar linkage to connect
Socket part position 711 is moved toward above-mentioned opposite side, due to the junction 73 of four-bar linkage and the actuator and wrist unit 6
Position be fixed point, tensile deformation can occur during the driving for flexible connection position, while pass through four bar of drawing plane
The 711 drawing four-bar linkage 71 of first connecting portion position of mechanism, and then by 71 drawing actuator 72 of four-bar linkage
The first actuator 721 and the second actuator 722.
Certainly, in practical applications, according to specific operation needs, it can choose the actuator 72 of different patterns, for example, holding
Row device can be folder of performing the operation shown in Fig. 6 B or Fig. 6 C, or surgical scissors shown in Fig. 6 A or Fig. 6 B, it is just different herein
One enumerates.
With continued reference to FIG. 2, Fig. 3 and Fig. 4 A-4B, during concrete practice, the yaw drive 3 can lead to
The inner ring for crossing second bearing 52 is connect with the first connecting portion position 136 of the first sleeve first end, wherein second bearing 52
To have the insulation bearing of insulation function made of isolation material, as used ceramic bearing made of ceramics etc., then, work as operation
When screw rod one power supply of connection in instrument is performed the operation, it can prevent electric current from passing through deflection driven by the second bearing of the insulation
Device is transmitted to bottom plate, and bottom plate is avoided to charge.
Certainly, in practical applications, yaw drive 3 can also be described including the second motor 32 and the second sliding block 33
Second motor 32 is connected to one end of the second driving shaft 31, is provided with external screw thread on the second driving shaft 31, and described
Two sliding blocks 33 are provided with the internal screw thread to match with the external screw thread of the second driving shaft 31, pass through the outer of the second driving shaft 31
The company of second sliding block 33 and the second driving shaft 31 is realized in the cooperation of the internal screw thread of screw thread and second sliding block 33
It connects, second sliding block 33 is connect with the outer ring of second bearing 52, the inner ring of second bearing 52 and the first sleeve first end
First connecting portion position 136 connect, and then realize yaw drive 3 and the first sleeve 132 connection.
Incorporated by reference to reference Fig. 5 A-5C and Fig. 6 C, first sleeve 132 further includes the second connecting portion position of first sleeve second end
137, in practical applications, the second connecting portion position 137 of first sleeve second end can be a connecting rod, be existed by the connecting rod
It is connected at first link position 61 with wrist unit 6, the second casing 133 further includes the second connecting portion of the second casing second end
Position 138, the second connecting portion position 138 of the second casing second end is connect at the second link position 62 with wrist unit 6.
Thus can be as shown in Figure 6 D, when the second motor 32 drives 33 edge of the second sliding block by second driving shaft 31
When the axial direction toward direction end execution part 14 of the second driving shaft 31 moves, second sliding block 33 will pass through
Second bearing 52 draws the first sleeve 132 along the axial toward the direction for being directed toward end execution part 14 of the first sleeve
Movement, first sleeve 132 just will drive connecting rod (namely second connecting portion 137 of first sleeve second end) and hold toward end is directed toward
The direction of row part 14 moves, since the second connecting portion position 138 of the second casing second end and wrist unit 6 are in the second connection position
It sets and is connected at 62, the second link position 62 is fixed point, and connecting rod and 6 junction of wrist unit i.e. the first link position 61 are just
Wrist can be driven under the active force that the direction of connecting rod terminad execution part 14 moves, centered on the second link position 62
Portion's structure is deflected to the side of the axially-extending line of the second casing.
Fig. 6 E is please referred to, when the second motor 32 drives second sliding block 33 along described second by second driving shaft 31
When the axial opposite direction toward direction end execution part 14 of transmission shaft 31 moves, second sliding block 33 will pass through second
Bearing 52 draws the first sleeve 132 along the axial toward the opposite direction for being directed toward end execution part 14 of the first sleeve
Movement, first sleeve 132 just will drive connecting rod (namely second connecting portion 137 of first sleeve second end) and hold toward end is directed toward
The opposite direction of row part 14 moves, but second connecting portion position 138 due to, the second casing second end and wrist unit 6 are the
It is connected at two link positions 62, the second link position 62 is fixed point, connecting rod and 6 junction of wrist unit i.e. the first connection position
Setting 61 will with the second link position 62 be under the active force that the opposite direction of connecting rod terminad execution part 14 moves
The heart drives wrist part structure to be deflected to the other side of the axially-extending line of the second casing.
Certainly, in practical applications, can also be as shown in Figure 5A, in the second connecting portion position 138 of the second casing second end
It is respectively arranged with the first fastener 140 and the second fastener (not shown) to symmetrical two positions, this first locking
The position in portion 140 and the position of the second fastener can be symmetrical, can be limited by the first fastener 140
The degree for the angle a that wrist unit is deflected to the side of the axially-extending line of the second casing, can by the second fastener
To limit the degree for the angle b that wrist unit is deflected to the other side of the axially-extending line of second casing.
Fig. 2 is referred to continuing with combining, Fig. 3 and Fig. 5 A rotation drive device 4 can also include third motor 44, described the
Three motors 44 are connect with the third transmission shaft 41, and driving gear 42 and driven gear 43 are mutually ratcheting in rotation drive device 4,
Wherein, driving gear 42 is the insulation driving gear made of isolation material with insulation function, such as modeling made of plastic
Expect driving gear etc., then, when the screw rod in surgical instrument, which connects a power supply, is performed the operation, pass through the driving gear of the insulation
Enough electric current is prevented to be transmitted to bottom plate by rotation drive device, bottom plate is avoided to charge.
In practical applications, rotation drive device 4 can be connected by the first of driven gear 43 and the second sleeve first end
Socket part position 139 connects, and the second casing 133 further includes the second connecting portion position 138 of the second casing second end, and the second casing 133 is logical
The second connecting portion position 138 for crossing the second casing second end is connect at third link position 63 with wrist unit.
In this way, when third motor 44 drives the driving gear 42 to rotate by third transmission shaft 41,42 band of driving gear
Driven gear 43 rotates, and driven gear 43 drives the rotation of the second casing 133, and then drives end to execute by the second casing 133
Partial wrist unit rotation, wrist unit rotation drive end executive device 7 to rotate.Certainly, in practical applications, Ke Yitong
The rotation of control third motor is crossed to control the angle of the rotation of end executive device 7, does not just do excessive narration herein.
Based on the same inventive concept, the utility model embodiment additionally provides a kind of micro-wound operation robot, the minimally invasive hand
Art robot includes surgical instrument, and the surgical instrument includes:
Front-end driven part, guide rod part and end execution part；
Wherein, the front-end driven part: including pedestal, and the folding driving dress being separately mounted on the pedestal
It sets, yaw drive and rotation drive device；
The guide rod part includes screw rod and the first sleeve that is sequentially sleeved on the screw rod, and is set in first set
The second casing on pipe；
The folding driving mechanism is connect by first bearing with the first connecting portion position of the screw rod first end, the end
End execution part is connect with the second connecting portion position of the screw rod second end, so that described in folding driving mechanism driving
Screw rod drives the end execution part open and close movement；
The yaw drive is connect by second bearing with the first connecting portion position of the first sleeve first end, institute
It states end execution part to connect with the second connecting portion position of the first sleeve second end, so that the yaw drive
The first sleeve is driven to drive the end execution part yaw motion；
The rotation drive device is connect by driven gear with the first connecting portion position of second sleeve first end, institute
It states end execution part to connect with the second connecting portion position of the second casing second end, so that the rotation drive device
The end execution part rotary motion is driven by second casing；
Wherein, the first bearing and the second bearing are insulation bearing, and the driving gear is insulation active
Gear, second casing is arranged with insulating sleeve outside, so that insulating between the guide rod part and the pedestal, in institute
When stating guide rod part one power supply of connection, electric current is reached the end execution part by the guide rod part, so that the end is held
Row part can perform the operation as a charged electrode.
Optionally, the folding driving mechanism includes the first transmission shaft, first motor and the first sliding block, first transmission
Axis is mounted on the base, and the first motor is connected to one end of first transmission shaft, is set on first transmission shaft
It is equipped with external screw thread, first sliding block is provided with the internal screw thread to match with the external screw thread on first transmission shaft, by described
First sliding block and first transmission are realized in the cooperation of the internal screw thread of the external screw thread of first transmission shaft and first sliding block
The connection of axis；
The connection of the outer ring of first sliding block and first bearing, the first of the inner ring of first bearing and the screw rod first end
Connecting portion connection, so that the first motor drives first sliding block along first transmission by the first transmission shaft
The axially reciprocating of axis, first sliding block draw the screw rod by first bearing and transport along the axial reciprocating of the screw rod
It is dynamic, and then drive the end execution part open and close movement.
Optionally, the yaw drive includes second driving shaft, the second motor and the second sliding block, second transmission
Axis is mounted on the base, and second motor is connected to one end of the second driving shaft, is set on the second driving shaft
It is equipped with external screw thread, second sliding block is provided with the internal screw thread to match with the external screw thread of the second driving shaft, passes through described the
The cooperation of the internal screw thread of the external screw thread of two transmission shafts and second sliding block, realizes second sliding block and the second driving shaft
Connection；
The connection of the outer ring of second sliding block and second bearing, the inner ring of second bearing and the first sleeve first end
First connecting portion position connection, so that second motor drives second sliding block along described second by second driving shaft
The axially reciprocating of transmission shaft, second sliding block draw the first sleeve along the first sleeve by second bearing
Axially reciprocating, and then drive the end execution part yaw motion.
Optionally, the rotation drive device further includes third transmission shaft, driving gear, driven gear and third electricity
Machine, the driving gear are mounted on the base by third transmission shaft, and the third motor and the third transmission shaft connect
It connects, so that the third motor drives the driving gear rotation, the driving gear a driven gear by third transmission shaft
Rotation, driven gear drives the second sleeve rotating, and then drives the rotation of end execution part by the second casing.
Optionally, the end execution part includes sequentially connected wrist unit and end executive device；
Wherein, the wrist unit includes a cavity structure；The end executive device includes sequentially connected plane four
Linkage and actuator；The first connecting portion position of the four-bar linkage penetrates the cavity structure of the wrist unit, described
Four-bar linkage connect the wrist unit with the junction of the actuator；
The second connecting portion position of the screw rod second end is a flexible connection position, and there is part knot at the flexible connection position
Structure penetrates the cavity structure of the wrist unit and connect with the first connecting portion position of the four-bar linkage.
Optionally, the second connecting portion of the first sleeve second end is a connecting rod, and the connecting rod is in the first connection
It is connect at position with the wrist unit.
Optionally, the second connecting portion position of the second casing second end and the wrist unit are at the second link position
Connection so that the wrist unit can centered on the second link position to the two sides of the axially-extending line of the second casing into
Horizontal deflection campaign.
Optionally, the second connecting portion position of the second casing second end is provided with the first fastener and the second fastener；
Wherein, first fastener be used for limit axially-extending line from the wrist unit to second casing one
The angle that side is deflected, the axially-extending line that second fastener is used to limit the wrist unit to second casing
The angle that is deflected of the other side.
Optionally, third link position is provided on the wrist unit, the wrist unit is in the third connection position
It sets place to connect with the second connecting portion position of the second casing second end, the third link position and second link position
It is different.
Although the preferred embodiment of the utility model has been described, once a person skilled in the art knows basic
Creative concept, then additional changes and modifications may be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the scope of the utility model.
Obviously, those skilled in the art can carry out various modification and variations without departing from the present invention to the utility model
Spirit and scope.In this way, if these modifications and variations of the present invention belong to the utility model claims and its wait
Within the scope of technology, then the utility model is also intended to include these modifications and variations.
Claims (9)
1. a kind of surgical instrument for micro-wound operation robot, which is characterized in that held including guide rod part (13) and end
Row part (14)；
Wherein, the guide rod part (13) includes screw rod (131), and insulating layer, the end enforcement division are provided on screw rod (131)
Dividing (14) includes end executive device (7), and the end executive device (7) includes four-bar linkage (71) and actuator
(72)；
The four-bar linkage (71) includes the first connecting portion position (711) of four-bar linkage, the first bar (712), and second
Bar (713), third bar (714) and the 4th bar (715)；
Wherein, insulating layer, the proximal end connection wire rod (131) of first connecting portion position (711) are provided on first connecting portion position (711)
The second connecting portion position (135) of second end；The distal end of first connecting portion position (711) respectively with the proximal end of the first bar (712) and
The proximal end of second bar (713) is nonisulated hinged, and the distal end of the first bar (712) and the proximal end insulation of third bar (714) are hinged, and second
The distal end of bar (713) and the proximal end of the 4th bar (715) are nonisulated hinged；
The actuator (72) includes the first actuator (721) and the second actuator (722), and first actuator (721) is even
Connect the distal end of third bar (714), second actuator (722) connects the distal end of the 4th bar (715), third bar (714) it is remote
End and the distal end insulation of the 4th bar (715) are hinged, a U-shaped insulation sleeve are arranged outside third bar (714), so that the screw rod
(131) when connecting a power supply, electric current is passed through first connecting portion position (711), the second bar (713), Yi Ji by the screw rod (131)
Four bars (715) reach the second actuator (722), when the electric current reaches the first bar (712) by first connecting portion position (711),
Since the distal end of the first bar (712) and the proximal end insulation of third bar (714) are hinged, distal end and the 4th bar of third bar (714)
(715) distal end insulation is hinged, and be arranged outside third bar (714) a U-shaped insulation sleeve to reach it is described on the first bar (712)
Electric current can not be conducting to the first actuator (721) so that the first actuator (721) be used as the first polar end, described second
Actuator (722) is performed the operation as the second polar end.
2. surgical instrument as described in claim 1, which is characterized in that including front-end driven part (12), the front-end driven
Partially (12) include pedestal (11), and the folding driving mechanism (2), the deflection driven dress that are separately mounted on the pedestal (11)
Set (3) and rotation drive device (4)；
The guide rod part (13) includes the first sleeve (132) being sequentially sleeved on the screw rod (131), and is set in first
The second casing (133) on casing (132)；
Wherein, the folding driving mechanism (2) passes through the first connecting portion position of first bearing (51) and screw rod (131) first end
(134) it connects, the yaw drive (3) passes through the first connecting portion position of second bearing (52) and first sleeve first end
(136) it connects, insulation driving gear (42) and driven gear (43) mutually ratcheting, the driven tooth of the rotation drive device (4)
Wheel (43) connect with the first connecting portion position (139) of the second sleeve first end so that the guide rod part (13) with it is described
Pedestal insulate between (11).
3. surgical instrument as claimed in claim 2, which is characterized in that the folding driving mechanism (2) includes the first transmission shaft
(21), first motor (22) and the first sliding block (23), first transmission shaft (21) are mounted on the pedestal (11), and described
One motor (22) is connected to one end of first transmission shaft (21), is provided with external screw thread on first transmission shaft (21), institute
It states the first sliding block (23) and is provided with the internal screw thread to match with the external screw thread on first transmission shaft (21), passed by described first
First sliding block (23) and described the are realized in the cooperation of the internal screw thread of the external screw thread of moving axis (21) and first sliding block (23)
The connection of one transmission shaft (21)；
First sliding block (23) connect with the outer ring of first bearing (51), the inner ring and the screw rod of first bearing (51)
(131) first connecting portion position (134) connection of first end, so that the first motor (22) passes through the first transmission shaft (21)
Drive first sliding block (23) along the axially reciprocating of first transmission shaft (21), first sliding block (23) passes through the
One bearing (51) draws the screw rod (131) along the axially reciprocating of the screw rod (131), and the screw rod (131) drives flat
Face four-bar mechanism (71), and then actuator (72) is driven to carry out open and close movement.
4. surgical instrument as claimed in claim 3, which is characterized in that the end execution part (14) includes wrist unit
(6), the wrist unit (6) includes a cavity structure；It wears the distal end of the first connecting portion position (711) of the four-bar linkage
The cavity structure for entering the wrist unit (6) is nonisulated with the proximal end of the proximal end of the first bar (712) and the second bar (713) respectively
Hingedly, nonisulated hinged place is junction (73), and the wrist unit (6) is in the junction (73) and end executive device
(7) hinged；
The second connecting portion position (135) of screw rod (131) second end is a flexible connection position, on the flexible connection position
It is provided with insulating layer, the cavity structure that the flexible connection position has part-structure to penetrate the wrist unit (6) is put down with described
The proximal end of the first connecting portion position (711) of face four-bar mechanism connects.
5. surgical instrument as claimed in claim 3, which is characterized in that the yaw drive (3) includes second driving shaft
(31), the second motor (32) and the second sliding block (33), the second driving shaft (31) are mounted on the pedestal (11), and described
Two motors (32) are connected to one end of the second driving shaft (31), are provided with external screw thread on the second driving shaft (31), institute
It states the second sliding block (33) and is provided with the internal screw thread to match with the external screw thread of the second driving shaft (31), be driven by described second
Second sliding block (33) and described second is realized in the cooperation of the external screw thread of axis (31) and the internal screw thread of second sliding block (33)
The connection of transmission shaft (31)；
Second sliding block (33) connect with the outer ring of second bearing (52), the inner ring of second bearing (52) and the first sleeve
The first connecting portion position (136) of first end connects, and the second connecting portion position (137) of the first sleeve second end is in the first connection
It is connect at position (61) with wrist unit (6)；
Second motor (32) drives second sliding block (33) along the second driving shaft by second driving shaft (31)
(31) axially reciprocating, second sliding block (33) draw the first sleeve (132) along institute by second bearing (52)
The axially reciprocating for stating first sleeve drives the wrist unit (6) yaw motion.
6. surgical instrument as claimed in claim 5, which is characterized in that the second connecting portion position of the second casing second end
(138) it is connect at the second link position (62) with the wrist unit (6), so that the wrist unit (6) is described
Under the traction of sleeve, it can be carried out centered on the second link position (62) to the two sides of the axially-extending line of the second casing inclined
Transhipment is dynamic.
7. surgical instrument as claimed in claim 6, which is characterized in that the second connecting portion position of the second casing second end
(138) the first fastener (140) and the second fastener are provided with；
Wherein, the axial direction that first fastener (140) is used to limit the wrist unit (6) to second casing (133)
The angle that the side of extended line is deflected, second fastener is for limiting the wrist unit (6) to described second set
The angle that the other side of the axially-extending line of pipe is deflected.
8. surgical instrument as claimed in claim 7, which is characterized in that the rotation drive device (4) further includes third transmission
Axis (41) and third motor (44), the driving gear (42) are mounted on the pedestal (11) by third transmission shaft (41)
On, the third motor (44) connect with the third transmission shaft (41), driven gear (43) and second sleeve first end
First connecting portion position (139) connection, the second connecting portion position (138) of the second casing second end and wrist unit (6) exist
It is connected at third link position (63), the third link position (63) is different from the second link position (62)；
The third motor (44) drives driving gear (42) rotation, the driving gear by third transmission shaft (41)
(42) a driven gear (43) rotates, and driven gear (43) drives the second casing (133) rotation, passes through the second casing (133) band
Move the wrist unit (6) and end executive device (7) rotation.
9. a kind of micro-wound operation robot, which is characterized in that including such as described in any item surgical instruments of claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948668.8U CN208319315U (en) | 2017-07-31 | 2017-07-31 | A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948668.8U CN208319315U (en) | 2017-07-31 | 2017-07-31 | A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208319315U true CN208319315U (en) | 2019-01-04 |
Family
ID=64787044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948668.8U Withdrawn - After Issue CN208319315U (en) | 2017-07-31 | 2017-07-31 | A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208319315U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107320188A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | A kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot |
| CN111529064A (en) * | 2020-05-09 | 2020-08-14 | 山东大学 | Linear driving device of surgical robot and surgical robot |
-
2017
- 2017-07-31 CN CN201720948668.8U patent/CN208319315U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107320188A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | A kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot |
| CN111529064A (en) * | 2020-05-09 | 2020-08-14 | 山东大学 | Linear driving device of surgical robot and surgical robot |
| CN111529064B (en) * | 2020-05-09 | 2021-03-26 | 山东大学 | Linear driving device of surgical robot and surgical robot |
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