CN208481469U - Surgical instrument sliding equipment - Google Patents
Surgical instrument sliding equipment Download PDFInfo
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- CN208481469U CN208481469U CN201721271439.3U CN201721271439U CN208481469U CN 208481469 U CN208481469 U CN 208481469U CN 201721271439 U CN201721271439 U CN 201721271439U CN 208481469 U CN208481469 U CN 208481469U
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- surgical instrument
- lead screw
- mounting hole
- fixed
- travelling arm
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Abstract
The utility model provides a kind of surgical instrument sliding equipment, belongs to the field of medical instrument technology.It solves the problems, such as that existing surgical instrument sliding equipment weight is big, safety is poor.This surgical instrument sliding equipment, on the internal travelling arm with mounting hole, including the lead screw being driven by motor coaxially being fixed in mounting hole, it is threadedly coupled and the feed screw nut on lead screw and the link block being fixed on feed screw nut, there is parallel with mounting hole and connection sliding groove on travelling arm, link block is connected after being pierced by sliding groove with surgical instrument, the surface of travelling arm is fixed with the line rail individually extended along the length direction of mounting hole, cooperation is equipped with sliding block on line rail, surgical instrument is fixed on sliding block, the safe spacing component for limiting feed screw nut movement position is equipped in mounting hole.The utility model has many advantages, such as light-weight, highly-safe.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of surgical instrument sliding equipment.
Background technique
With the application and development of robot technology, the especially development of computing technique, medical operation robot is in clinic
In effect be increasingly valued by people.Micro-wound operation robot can mitigate the physical strength labor of doctor in the course of surgery
It is dynamic, while reaching precisely operation purpose, make that patient's Micro trauma, blood loss are few, postoperative infection is few, post-operative recovery is fast.Minimally Invasive Surgery machine
Device people system is usually using master slave control mode: for operator when operating to main hand, hand exercise will drive main hand
It moves therewith, sensor can measure motion information at main swivel of hand, then be mapped the movement of main hand by master & slave control algorithm
Surgical instrument is driven to realize corresponding sports to from hand master arm from each joint passive movement of hand master arm.Micro-wound operation robot
Master arm key components mainly include remote centre of motion mechanism and surgical instrument, and the design superiority and inferiority of mechanical structure is direct
The performance of micro-wound operation robot is affected, the research and development and design of other component in system are also restrict.
Small in size from hand master arm needs, light-weight, range is big.If volume greatly if influence the layout of multi-arm, to avoid doing
It relates to, operation opening distance is just bigger；If weight is greatly it will cause driving difficulty, front end surgical instrument is easy shake；Move model
It encloses great talent and is able to satisfy operation requirement.Existing surgical instrument using double guide rails due to being slidably supported, so that travelling arm compares
Width be easy to cause between each arm and interferes, and increases weight, causes the unfavorable factors such as driving difficulty；Not set safeguard protection
Structure, safety are poor.
Summary of the invention
The purpose of this utility model is the presence of the above problem in view of the prior art, proposes a kind of light-weight surgical device
Tool sliding equipment.
The purpose of this utility model can be realized by the following technical scheme:
This surgical instrument sliding equipment on the internal travelling arm with mounting hole, including is coaxially fixed on mounting hole
The interior lead screw being driven by motor, threaded connection and feed screw nut on lead screw and the link block being fixed on feed screw nut, institute
There is sliding groove that is parallel with mounting hole and being connected to, the link block is pierced by after sliding groove and surgical instrument on the travelling arm stated
It is connected, which is characterized in that the surface of the travelling arm is fixed with the line rail individually extended along the length direction of mounting hole, described
Cooperation is equipped with sliding block on line rail, and the surgical instrument is fixed on sliding block, is equipped in the mounting hole for limiting lead screw
The safe spacing component of nut movement position.
In above-mentioned surgical instrument sliding equipment, one end of the mounting hole is fixed with lead screw base, the lead screw base
Interior to be equipped with support end bearing, for the one end fits of the lead screw in support end bearing, the other end of the mounting hole extends to cunning
At swing arm rotating seat, suspension end bearing is fixed on the rotating seat, the other end of the lead screw is matched with suspension end bearing
It is interior.
In above-mentioned surgical instrument sliding equipment, the outside for extending to travelling arm of the lead screw base, the motor
Positioned at travelling arm outside and be fixed on lead screw base, synchronizing wheel one is arranged on the output shaft of motor, is covered on the lead screw
Equipped with synchronizing wheel two, the synchronizing wheel one is connect with synchronizing wheel two by toothed belt transmission.
In above-mentioned surgical instrument sliding equipment, the safe spacing component includes set on motor end for about
The absolute value encoder of beam motor output shaft rotating range.It, can limiting motor output shaft under the action of absolute value encoder
Rotating range, to limit the rotating range of lead screw, lead screw and feed screw nut cooperate, and again limit the straight line fortune of feed screw nut
Dynamic range, reaches the sliding scale of limitation surgical instrument.
In above-mentioned surgical instrument sliding equipment, the safe spacing component further include in the mounting hole with even
The travel switch that block is oppositely arranged is connect, the surgical instrument slidable maximum magnitude of institute under stroke switch constraint is greater than
Absolute value encoder constrains lower slidable maximum magnitude.
In above-mentioned surgical instrument sliding equipment, the safe spacing component further includes being fixed on lead screw base to prevent
The anticollision washer two for hitting washer one and being fixed on rotating seat, the surgical instrument is in anticollision washer one and anticollision washer two
Lower slidable maximum magnitude of constraint is greater than the slidable maximum magnitude of institute under stroke switch constraint.
Under normal circumstances, the sliding scale of surgical instrument can be constrained in absolute value encoder, when absolute value encoder fails
Link block bumps against on travel switch the sliding scale, it can be achieved that secondary limitation surgical instrument, after travel switch failure, lead screw afterwards
Nut is attached on anticollision washer one or anticollision washer two, motor rotation blockage, limits motion range.
Cooperate sliding block there are two setting, the surgical device in above-mentioned surgical instrument sliding equipment, on the line rail
Tool is also secured on two sliding blocks.
In above-mentioned surgical instrument sliding equipment, the limit extends along the length direction of travelling arm and is located at sliding
The center of arm, the sliding groove are located at the side of limit.
When work, motor drives lead screw rotation by synchronizing wheel one, synchronous belt and synchronizing wheel two, and lead screw rotation drives lead screw
Nut moves in a straight line, and drives surgical instrument to move in a straight line by link block, sliding block and line rail can improve surgical instrument movement
Stationarity.
Compared with prior art, this surgical instrument sliding equipment has the advantage that
It uses single line rail, and bearing capacity is strong, it is sufficient to meet load requirement, can reduce travelling arm width, make its weight
Gently；Lead screw base is supported motor and support end bearing, and rotating seat is supported suspension end bearing, so that structure is simpler
It is single；It is provided with absolute value encoder, travel switch, anticollision washer one and anticollision washer two, prevents control program from mistake occurs
In the case of generate it is dangerous, it is highly-safe.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of preferred embodiment provided by the utility model.
Fig. 2 is the cross-sectional view of preferred embodiment provided by the utility model.
In figure, 1, mounting hole；2, travelling arm；3, motor；4, lead screw；5, feed screw nut；6, link block；7, sliding groove；8,
Surgical instrument；9, line rail；10, sliding block；11, lead screw base；12, end bearing is supported；13, rotating seat；14, synchronous belt；15, stroke is opened
It closes；16, anticollision washer one；17, anticollision washer two.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
8 sliding equipment of surgical instrument as shown in Figure 1, on the internal travelling arm 2 with mounting hole 1, including it is coaxial
The lead screw 4 driven by motor 3 that is fixed in mounting hole 1 is threadedly coupled and the feed screw nut 5 on lead screw 4 and is fixed on lead screw
Link block 6 on nut 5, has sliding groove 7 that is parallel with mounting hole 1 and being connected on travelling arm 2, and link block 6 is pierced by sliding groove 7
Afterwards with part-structure that surgical instrument 8 is only shown in surgical instrument 8(Fig. 1 and Fig. 2) be connected, as shown in Figure 1, the table of travelling arm 2
Face is fixed with the line rail 9 individually extended along the length direction of mounting hole 1, as shown in Fig. 2, cooperation is equipped with sliding block 10, hand on line rail 9
Art instrument 8 is fixed on sliding block 10, and the safe spacing component for limiting 5 movement position of feed screw nut is equipped in mounting hole 1.
As shown in Fig. 2, one end of mounting hole 1 is fixed with lead screw base 11, support end bearing 12, lead screw are equipped in lead screw base 11
4 one end fits are in support end bearing 12, and the other end of mounting hole 1 extends at 2 rotating seat 13 of travelling arm, on rotating seat 13
It is fixed with suspension end bearing, the other end of lead screw 4 is matched in suspension end bearing.
As shown in Fig. 2, the outside for extending to travelling arm 2 of lead screw base 11, motor 3 is located at the outside of travelling arm 2 and fixation
On lead screw base 11, it is arranged with synchronizing wheel one on the output shaft of motor 3, is arranged with synchronizing wheel two on lead screw 4, synchronizing wheel one and same
Step wheel two is sequentially connected by synchronous belt 14.
In the present embodiment, safe spacing component includes set on 3 end of motor for constraining 3 output shaft rotating range of motor
Absolute value encoder.Under the action of absolute value encoder, can 3 output shaft of limiting motor rotating range, to limit
The rotating range of lead screw 4, lead screw 4 and feed screw nut 5 cooperate, and again limit the linear motion range of feed screw nut 5, reach limitation
The sliding scale of surgical instrument 8.
As shown in Fig. 2, safe spacing component further includes that the stroke being oppositely arranged with link block 6 being set in mounting hole 1 is opened
15 are closed, the slidable maximum magnitude of institute under the constraint of travel switch 15 of surgical instrument 8 is greater than the institute under absolute value encoder constraint
Slidable maximum magnitude.
As shown in Fig. 2, safe spacing component further includes the anticollision washer 1 being fixed on lead screw base 11 and is fixed on rotation
Anticollision washer 2 17 on transposase 11 3, surgical instrument 8 can be slided under the constraint of anticollision washer 1 and anticollision washer 2 17
Maximum magnitude be greater than the slidable maximum magnitude of institute under the constraint of travel switch 15.
Under normal circumstances, the sliding scale of surgical instrument 8 can be constrained in absolute value encoder, when absolute value encoder fails
Link block 6 bumps against on travel switch 15 sliding scale, it can be achieved that secondary limitation surgical instrument 8 afterwards, when travel switch 15 fails
Afterwards, feed screw nut 5 is attached on anticollision washer 1 or anticollision washer 2 17,3 stall of motor, limits motion range.
As shown in Fig. 2, cooperation is set there are two sliding block 10 on line rail 9, surgical instrument 8 is also secured on two sliding blocks 10.
As shown in Figure 1, limit extends along the length direction of travelling arm 2 and be located at the center of travelling arm 2, sliding groove 7 is located at limit
Side.
When work, motor 3 drives lead screw 4 to rotate by synchronizing wheel one, synchronous belt 14 and synchronizing wheel two, and lead screw 4 rotates band
Dynamic feed screw nut 5 moves in a straight line, and drives surgical instrument 8 to move in a straight line by link block 6, sliding block 10 and line rail 9 can improve
The stationarity that surgical instrument 8 moves.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (8)
1. a kind of surgical instrument sliding equipment is set on the internal travelling arm (2) with mounting hole (1), including is coaxially fixed on
In mounting hole (1) by motor (3) driving lead screw (4), be threadedly coupled and the feed screw nut (5) on lead screw (4) and be fixed on
Link block (6) on feed screw nut (5) has sliding groove that is parallel with mounting hole (1) and being connected on the travelling arm (2)
(7), the link block (6) is pierced by sliding groove (7) and is connected afterwards with surgical instrument (8), which is characterized in that the travelling arm (2)
Surface be fixed with the line rail (9) individually extended along the length direction of mounting hole (1), cooperation, which is equipped with, along the line rail (9) slides
Block (10), the surgical instrument (8) are fixed on sliding block (10), are equipped in the mounting hole (1) for limiting lead screw spiral shell
The safe spacing component of female (5) movement position.
2. surgical instrument sliding equipment according to claim 1, which is characterized in that one end of the mounting hole (1) is fixed
Have lead screw base (11), support end bearing (12) is equipped in the lead screw base (11), the one end fits of the lead screw (4) are in support
In end bearing (12), the other end of the mounting hole (1) is extended at travelling arm (2) rotating seat (13), the rotating seat
(13) suspension end bearing is fixed on, the other end of the lead screw (4) is matched in suspension end bearing.
3. surgical instrument sliding equipment according to claim 2, which is characterized in that the lead screw base (11) extends to cunning
The outside of swing arm (2), the motor (3) are located at the outside of travelling arm (2) and are fixed on lead screw base (11), motor (3)
It is arranged with synchronizing wheel one on output shaft, synchronizing wheel two, the synchronizing wheel one and synchronizing wheel two are arranged on the lead screw (4)
It is sequentially connected by synchronous belt (14).
4. surgical instrument sliding equipment according to claim 2, which is characterized in that the safe spacing component includes setting
In motor (3) end for constraining the absolute value encoder of motor (3) output shaft rotating range.
5. surgical instrument sliding equipment according to claim 4, which is characterized in that the safe spacing component further includes
The travel switch (15) being oppositely arranged with link block (6) in mounting hole (1), the surgical instrument (8) are opened in stroke
It closes (15) and constrains lower slidable maximum magnitude greater than the slidable maximum magnitude of institute under absolute value encoder constraint.
6. surgical instrument sliding equipment according to claim 5, which is characterized in that the safe spacing component further includes
The anticollision washer one (16) being fixed on lead screw base (11) and the anticollision washer two (17) being fixed on rotating seat (13), it is described
Surgical instrument (8), which is greater than in anticollision washer one (16) with the slidable maximum magnitude of institute under the constraint of anticollision washer two (17), is expert at
Cheng Kaiguan (15) constrains lower slidable maximum magnitude.
7. surgical instrument sliding equipment according to claim 1, which is characterized in that cooperate on the line rail (9) and be equipped with
Two sliding blocks (10), the surgical instrument (8) are also secured on two sliding blocks (10).
8. surgical instrument sliding equipment according to claim 1, which is characterized in that the limit is along travelling arm (2)
Length direction extends and is located at the center of travelling arm (2), and the sliding groove (7) is located at the side of limit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271439.3U CN208481469U (en) | 2017-09-29 | 2017-09-29 | Surgical instrument sliding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271439.3U CN208481469U (en) | 2017-09-29 | 2017-09-29 | Surgical instrument sliding equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208481469U true CN208481469U (en) | 2019-02-12 |
Family
ID=65254515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721271439.3U Active CN208481469U (en) | 2017-09-29 | 2017-09-29 | Surgical instrument sliding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208481469U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658149A (en) * | 2020-06-19 | 2020-09-15 | 张学斌 | Percutaneous nephroscope operation robot execution system and executor |
| WO2021254126A1 (en) * | 2020-06-19 | 2021-12-23 | 张学斌 | Surgical robot actuator and surgical robot system |
-
2017
- 2017-09-29 CN CN201721271439.3U patent/CN208481469U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658149A (en) * | 2020-06-19 | 2020-09-15 | 张学斌 | Percutaneous nephroscope operation robot execution system and executor |
| WO2021254126A1 (en) * | 2020-06-19 | 2021-12-23 | 张学斌 | Surgical robot actuator and surgical robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210129 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Sliding mechanism of surgical instruments Effective date of registration: 20210526 Granted publication date: 20190212 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2021500000017 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210802 Granted publication date: 20190212 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2021500000017 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |