CN209377745U - A kind of surgical operation auxiliary robot device system - Google Patents
A kind of surgical operation auxiliary robot device system Download PDFInfo
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- CN209377745U CN209377745U CN201821866547.XU CN201821866547U CN209377745U CN 209377745 U CN209377745 U CN 209377745U CN 201821866547 U CN201821866547 U CN 201821866547U CN 209377745 U CN209377745 U CN 209377745U
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- driving wheel
- steel wire
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Abstract
The utility model discloses a kind of surgical operation auxiliary robot device system, including power part, sterile separator and instrument, the power part includes at least one power packages;The power packages include motor;The motor is connected with retarder;Telescopic output flange is set on the output shaft of the retarder;The output flange can be with the counter flange grafting of the sterile separator;The counter flange can be with the input flange grafting of the instrument;The output flange, the quantity of counter flange and input flange and position are corresponding.The utility model provides mechanical condition for the realization of force feedback, realizes intuition operation, significantly increases the security performance of surgical procedure, and improve the general safety performance of equipment, stability is good, and kinematic accuracy is high, and mechanism reliability is high, it is easy to operate, it is simple to manufacture, it is easy to maintain.
Description
Technical field
The utility model relates to a kind of driving structure, more particularly to a kind of for surgical operation auxiliary robot instrument
Driving structure.
Background technique
The medical robot of Minimally Invasive Surgery is carried out, the instrument by being fixed on joint of robot end performs the operation to patient
Operation, the laparoscopic surgery robot as disclosed in CN107951565A.Specifically, the claw of instrument is the portions such as clamp or scissors
Part, these components are controlled by steel wire and are operated.Due to robot particular configuration and operation the characteristics of, the claws of these instruments needs
It is set to the end of an elongate rod, the steel wire for controlling claw passes through the cavity of elongate rod.
The front of stock, which is deep into abdominal cavity of patients, at the time of surgery, is operated, and therefore, this requires doctors can
The whole process of accurate perception operation, the power for generating instrument and musculature, be truly reflected operating doctor on hand, make
Doctor operates instrument during the movement such as picking up musculature, pushing musculature open, pick up musculature, will not be because of power
Destruction that is big and generating musculature can accurately grasp surgical action weight to keep operation control more accurate.But
Conventionally, as the transmission link of instrument is excessive, transmission distance is remote, therefore the friction point being driven is more, and this makes to go smoothly
The force feedback by instrument end is difficult to when art to doctor.
Therefore those skilled in the art are dedicated to developing the surgical operation auxiliary that a kind of drive mechanism is simple, gearing friction is small
Robotic tool system.
Utility model content
In view of the above drawbacks of the prior art, the technical problem to be solved by the utility model is to provide a kind of transmission knots
The surgical operation auxiliary robot device system that structure is simple, gearing friction is small.
To achieve the above object, the utility model provides a kind of surgical operation auxiliary robot device system, including dynamic
Power portion, sterile separator and instrument,
The power part includes at least one power packages;The power packages include motor;The motor is connected with retarder;
Telescopic output flange is set on the output shaft of the retarder;
The output flange can be with the counter flange grafting of the sterile separator;The counter flange can be with the instrument
Input flange grafting;
The output flange, the quantity of counter flange and input flange and position are corresponding.
To be further simplified structure, the convex closure that can cooperate is provided on the output flange, counter flange and input flange
And notch.
To be further simplified structure, the retarder includes reducing output shaft and at least one deceleration jackshaft;It is described to subtract
The output shaft of fast output shaft, jackshaft and motor passes through synchronous belt or steel wire drive.
To be further simplified structure, reduces friction, the output shaft installation of retarder is fixed in the mounting base of the motor
Seat;
Bearing installation axle has been wholely set in the output shaft mounting base;The first deceleration is set in the bearing installation axle
Bearing and the second speed reduction bearing;First speed reduction bearing and the second speed reduction bearing are arranged by bushing interval;
The outer ring of first speed reduction bearing and the second speed reduction bearing cooperates the reducing output shaft;First deboost axle
The upper surface held is positioned by the step of the reducing output shaft inner cavity;The lower end surface of second speed reduction bearing is by being set to
The retainer ring of the reducing output shaft inner cavity positions;
The output flange is set to the upper end of the reducing output shaft.
To be further simplified structure, reduces friction, be provided with the first spring base on the reducing output shaft;The output method
Orchid is set in the upper end of the reducing output shaft, and is provided with second spring seat;First spring base and second spring seat it
Between be provided with spring;
The inner wall of the output flange is fixed with spacer pin;It is provided on the reducing output shaft corresponding with the spacer pin
Limit sliding chutes;The spacer pin passes through the limit sliding chutes.
The upper surface of first speed reduction bearing is provided with end cap;The end cap is revolved by screw and the bearing installation axle
Close connection.
To be further simplified structure, reduce friction, the lower part of the output shaft mounting base have accommodate motor output shaft and
The space of synchronous belt or steel wire drive;The axial line of the motor output shaft and reducing output shaft is overlapped.
To be further simplified structure, reduce friction, the power part includes four power packages;Four power packages in rectangle simultaneously
Column;The center line of each synchronous belt or steel wire that connect deceleration jackshaft and reducing output shaft passes through the geometry of each motor output shaft line
Center;Connect each synchronous belt of reducing output shaft, jackshaft and motor output shaft or the equal length of steel wire.
To be further simplified structure, reduce friction, a deceleration jackshaft is only arranged in each retarder;Among each deceleration
Axis is set on speed reducer base;
Multiple screw holes corresponding with the speed reducer base are provided on motor mount;It is oppositely arranged on the speed reducer base
There are two can be with the bolted connecting lugs of the screw hole;Kidney slot is provided in the connecting lugs.
The sterile separator includes upper spacer and lower clapboard;The upper spacer and lower clapboard are correspondingly arranged on described in receiving
The cavity of counter flange;The internal diameter of the cavity is greater than the outer diameter of the counter flange;
The upper spacer is provided with first axis positive stop lug boss in the upper end of the cavity;The lower clapboard is in the cavity
Lower end be provided with the second axial limiting boss;The outer surface of the counter flange is provided with and the first axis positive stop lug boss
Third axial limiting boss corresponding with the second axial limiting boss.
To be easily installed and operating, the sterile separator includes upper spacer and lower clapboard;Two on the upper spacer
Edge is oppositely arranged two upper snap seats;Card is provided with by pin shaft and the torsional spring being set on pin shaft in the upper snap seats
Button;The first detent flange is provided on the buckle;It is provided on the instruments box of the instrument and the first detent flange pair
The the second detent flange answered.
To be easily installed and operating, the sterile separator includes upper spacer and lower clapboard;The two sides of the lower clapboard are equal
It is provided with lower snap seats;It is provided on the lower clapboard and the installation shell that the power packages connect corresponding with the lower snap seats
Press section;The press section both ends have been wholely set sheet bolt;Spring guiding axis big end is provided among the press section
Blind hole;
Through-hole corresponding with the spring guiding axis and third spring base are provided in the lower snap seats;The third bullet
Spring is installed between spring abutment and the spring guiding axis;It is provided on the installation shell corresponding with the sheet bolt logical
Hole, the sheet bolt fasten after stretching out the through-hole with slot corresponding on power part shell.
To be further simplified structure, reduce friction, the instrument includes instruments box, instrument seat, stock and claw;The device
Bearing bracket stand is fixed on tool seat;The bearing bracket stand and instrument seat are provided with input flange axis by bearing;The input flange is set
It is placed in the lower part of the input flange axis;
The stock is installed on the instrument seat by bearing;The top of the stock is fixed with stock rotating wheel;
Pierce tap driving wheel is fixed on the input flange axis;Steel wire is wound on the pierce tap driving wheel;
The power part includes stock power packages and claw power packages;
Stock pierce tap driving wheel is fixed on the corresponding stock input flange axis of the stock power packages;The stock steel wire
Stock steel wire is wound on band driving wheel;Stock steel wire one end is fixed with stock pierce tap driving wheel, and the other end winds the length
It is fixed after bar rotating wheel with pierce tap driving wheel;The midpoint of the stock steel wire and the steel wire rotating wheel are relatively fixed;
Claw pierce tap driving wheel is fixed on the corresponding claw input flange axis of the claw power packages;The claw steel wire
Claw steel wire is fixed on band driving wheel;The other end of the claw steel wire bypass conducting wire sheave after pass through the stock cavity,
And it is connect with the claw;
The installation place that the instrument seat corresponds to the stock is provided with conducting wire sheave mounting rack;The conducting wire sheave mounting rack
On be provided with the guiding sheave;The position of the guiding sheave is corresponding with each claw pierce tap driving wheel with quantity.
For the accuracy for realizing force feedback, the stock pierce tap driving wheel includes upper stock pierce tap driving wheel and lower stock steel
Silk ribbon driving wheel;The upper stock pierce tap driving wheel and lower stock pierce tap driving wheel are located at the first peace of the stock input flange axis
It fills between bearing and the second installation bearing;Being correspondingly arranged on the upper stock pierce tap driving wheel and lower stock pierce tap driving wheel can
The sawtooth of fastening;
Stock steel wire one end is fixed with the upper stock pierce tap driving wheel, and the other end is fixed with lower stock pierce tap driving wheel;
The first installation bearing is located at the top of the second installation bearing, is locked by locking nut or lock-screw.
For the accuracy for further realizing force feedback, at least one described claw pierce tap driving wheel includes upper claw pierce tap
Driving wheel and lower claw pierce tap driving wheel;The upper claw pierce tap driving wheel and lower claw pierce tap driving wheel are located at claw input flange
Between the third installation bearing of axis and the 4th installation bearing;It is right on the upper claw pierce tap driving wheel and lower claw pierce tap driving wheel
The sawtooth that can be fastened should be provided with;
Claw steel wire is respectively and fixedly provided on the upper claw pierce tap driving wheel and lower claw pierce tap driving wheel;
The third installation bearing is located at the top of the 4th installation bearing, is locked by locking nut or lock-screw.
For the precision for improving transmission, the steel wire rotating wheel has been disposed radially fixation with steel wire seat;The fixation with steel wire seat
It is arranged at intervals with the first wirerope knot and the second wirerope knot of the relatively described pierce tap driving wheel protrusion;First steel wire
Knot portion and the second wirerope knot, which have, accommodates the first guiding groove hole and the second guiding groove hole that the stock steel wire passes through;Described
On the path for the first guide groove that one guiding groove hole and the second guiding groove hole are located at pierce tap driving wheel described in the stock steel wire winding;
Steel wire set is fixed on stock steel wire between the first wirerope knot and the second wirerope knot.
For the precision for further increasing transmission, three and the first guide groove weight are arranged at intervals on the fixation with steel wire seat
The second guide groove closed;The second intermediate guide groove is overlapped with first guiding groove hole and the second guiding groove hole.
Preferably, claw include with the end fixed claw seat of stock, operation is hinged with by the first hinged shaft on claw seat
The lower end of tool seat, operation tool seat is hinged with the first work department and the second work department by the second hinged shaft;
First hinged shaft is respectively arranged with the first guide wheel and the second guide wheel in the two sides of claw seat;The operation tool seat is
One guide wheel and the second guide wheel have been respectively arranged below third guide wheel and four guide idler;In first work department and the second work department
It is provided with the guide groove and via hole for allowing claw steel wire winding;
Behind the inner cavity that the claw steel wire of one power packages passes through stock, through in the first guide wheel, third guide wheel, the first work department
Guide groove and via hole, four guide idler and the second guide wheel after, return stock inner cavity, then after being oriented to sheave with claw pierce tap
Driving wheel is fixed;The guide groove and via hole that another group of claw steel wire is directly on operation tool seat return to stock inner cavity, by guiding
It is fixed after sheave with corresponding claw pierce tap driving wheel.
The beneficial effects of the utility model are:
1. realizing intuition operation: in surgical procedure, the power of instrument and patient muscle tissue's generation is truly reflected in master
Knife doctor on hand, keeps operation control more accurate, can accurately grasp surgical action weight.
2. picking up musculature due to realizing intuition operation, pushing musculature open, pick up the movements such as musculature
In the process, will not destruction big because of power and generating musculature, significantly increase the security performance of surgical procedure.
3. because of force feedback, having controlled maximum active force under maloperation and fault condition, will not having generated to muscle
Disorganization improves the general safety performance of equipment.
4. improving reliability and precision, due to using straight drive, motor directly drives instrument by counter flange and carries out
Operation, route is short, and transmission rigidity is good, and therefore, stability is good, and kinematic accuracy is high, and mechanism reliability is high.
5. operation is simpler, in use, the counter flange of sterile separator is not needed to direction, it only need to be by sterile separator
It is loaded onto just with instrument, system can be such that flange is closed automatically, and when removing instrument and sterile separator, flange is automatically separated disconnection,
Without more acting.
6. easy to operate due to being modular structure, manufacture is simpler, and maintenance is more convenient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one specific embodiment of the utility model.
Fig. 2 is the A-A schematic cross-sectional view of Fig. 1.
Fig. 3 is the partial enlarged view in Fig. 2 at I.
Fig. 4 is the structural schematic diagram of power part in one specific embodiment of the utility model.
Fig. 5 is the overlooking structure diagram of power part in this specific embodiment.
Fig. 6 is the E-E revolved section structural schematic diagram of Fig. 5.
Fig. 7 is the J-J schematic cross-sectional view of Fig. 5.
Fig. 8 is the L-L schematic cross-sectional view of Fig. 7.
The structural schematic diagram of sterile separator in one specific embodiment of Fig. 9 utility model.
Figure 10 Fig. 9 overlooking structure diagram.
The B-B schematic cross-sectional view of Figure 11 Figure 10.
The schematic perspective view of sterile separator in one specific embodiment of Figure 12 utility model.
Figure 13 is the left view structural representation of Fig. 1.
Figure 14 is the C-C schematic cross-sectional view of Figure 13.
Figure 15 is the partial enlarged view in Figure 14 at II.
Figure 16 is the D-D schematic cross-sectional view of Figure 13.
Figure 17 is the partial enlarged view in Figure 16 at III.
Figure 18 is the I-I schematic cross-sectional view of Figure 13.
Figure 19 is the partial enlarged view in Figure 18 at VII.
Figure 20 is the attachment structure schematic diagram of sterile separator and power part in one specific embodiment of the utility model.
Figure 21 is to remove the structural schematic diagram after instruments box in one specific embodiment of the utility model.
Figure 22 is the E-E schematic cross-sectional view of Figure 21.
Figure 23 is the F-F schematic cross-sectional view of Figure 21.
Figure 24 is the partial enlarged view in Figure 23 at IV.
Figure 25 is the partial enlarged view in Figure 23 at V.
Figure 26 is the partial enlarged view in Figure 21 at VI.
Figure 27 is the M direction view of Figure 21.
Figure 28 is the N direction view of Figure 21.
Figure 29 is that the transmission of stock pierce tap driving wheel and stock rotating wheel in one specific embodiment of the utility model is illustrated
Figure.
Figure 30 is the schematic cross-sectional view of Figure 29.
Figure 31 is the partial enlarged view in Figure 30 at VII.
Figure 32 is the schematic cross-sectional view of G-G in Figure 30.
Figure 33 is the structural schematic diagram of claw in one specific embodiment of the utility model.
Figure 34 is the schematic cross-sectional view of H-H in Figure 33.
Figure 35 is the P of Figure 33 to structural schematic diagram.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples:
As shown in Fig. 1 to Figure 35, a kind of surgical operation auxiliary robot device system, including power part 100, sterile separation
Device 200 and instrument 300.
In the present embodiment, power part includes four power packages, and four power packages 101 are arranged side by side in rectangle.It is specific real at other
It applies in mode, according to specific needs, such as the quantity of instrument claw operation freedom degree, the quantity of power packages is set.Certainly,
One power packages can be only set, exported by the one or more of running part, to achieve the purpose that control device claw moves.
As shown in Figure 1 to Figure 3, four power packages include motor 101, and each motor 101 is connected with retarder 102, are slowed down
Telescopic output flange 104 is set on the output shaft 103 of device.Output flange 104 can be with the transition method of sterile separator 200
Orchid 201 connects, and counter flange 201 can be connect with the input flange 301 of instrument, output flange 104, counter flange 201 and input
The quantity of flange 301 and position are corresponding.Obviously, such driving structure will be with most after the output power of motor is by slowing down
Short drive path passes to instrument, therefore this will effectively simplify drive mechanism, it is often more important that, the transmission knot simplified in this way
Structure means that possible friction point can be less in transmission process.Power of motor will be saved in this way, and improve transmission accuracy, and
The resistance for being subject to operation tool feeds back to motor by transmission system.Torque sensor can be set at motor output shaft 106
Acquire the drag data of operation, meanwhile, with reference to the size of these resistances, revolving speed to the main flashlight machine of operating doctor operation and
Torque is controlled, then the real-time condition for allowing doctor to feel surgical procedure can be achieved, to enable a physician to accurately grasp operation
Weight is acted, keeps operation control more accurate.
As a kind of relatively simple compact structure, it is arranged on output flange 104, counter flange 201 and input flange 301
There are the convex closure 1 and notch 2 that can cooperate.
As shown in Figures 3 to 8, retarder 102 includes reducing output shaft 103 and deceleration jackshaft 105.In the present embodiment,
Retarder is set as double reduction, i.e., a deceleration jackshaft 105 is only arranged in each retarder, and each deceleration jackshaft 105 is set to
On speed reducer base 108.Reducing output shaft 103, deceleration jackshaft 105 and motor output shaft 106 are driven by synchronous belt 107.
In other specific embodiments, multiple deceleration jackshafts 105 can also be according to circumstances set, to reach multi-stage speed-reducing
Purpose.Reducing output shaft 103, deceleration jackshaft 105 and motor output shaft may also set up driving wheel, by steel wire drive, with
Reach the technical effect of essentially identical smaller friction.
In the present embodiment, the center line L for connecting each synchronous belt of deceleration jackshaft 105 and reducing output shaft 103 passes through respectively
The geometric center O of motor output shaft line, the length of connection reducing output shaft, each synchronous belt of jackshaft and motor output shaft or steel wire
It spends equal.
Motor 101 is set on motor mount 110.It is multiple right with speed reducer base 108 to be provided on motor mount 110
The screw hole 109 answered, is oppositely arranged that there are two can connect with the bolted connecting lugs 112 of screw hole 109 on speed reducer base 108
Kidney slot 113 is provided on trunnion 112.The center combination component of the components such as speed reducer base composition, in the original state of installation
It is that freedom is unfixed, the position assembled is determined by eight synchronous belts, rotation center combiner, can be tensioned eight simultaneously together
Band is walked, then tightening screw 114 fixes connecting lugs 112 and screw hole 109, the position of fixed center combiner just completes
Assembly work.It, can compensation position manufacture automatically when eight synchronous belts are tensioned since the position of center combination component is freely not fixed
Tolerance bring difference, makes the synchronous belt of equal length or steel wire reach same tensioning degree.
The output shaft mounting base 115 of retarder is fixed in the mounting base 110 of motor.
It has been wholely set bearing installation axle 116 in output shaft mounting base 115, first is set in bearing installation axle 116 and is subtracted
Fast bearing 117 and the second speed reduction bearing 118, the first speed reduction bearing 117 and the second speed reduction bearing 118 are set by the interval of bushing 119
It sets.
The outer ring of first speed reduction bearing 117 and the second speed reduction bearing 118 cooperates reducing output shaft 103, the first speed reduction bearing
117 upper surface is positioned by the step of 103 inner cavity of reducing output shaft;The lower end surface of second speed reduction bearing 118 is by being set to
The retainer ring 121 of 103 inner cavity of reducing output shaft positions.
The first spring base 122 is provided on reducing output shaft 120, output flange 104 is set in the upper of reducing output shaft 120
End, and it is provided with second spring seat 123.Spring 124 is provided on first spring base 122 and second spring seat 123.
The inner wall of 104 output flanges is fixed with spacer pin 125, is provided on reducing output shaft 103 corresponding with spacer pin
Limit sliding chutes 126, spacer pin 125 pass through limit sliding chutes.
The upper surface of first speed reduction bearing 117 is provided with end cap 126, and end cap 126 passes through screw 127 and bearing installation axle
116 screw connection.
The lower part of output shaft mounting base 115 has the space 120 for accommodating motor output shaft 106 and toothed belt transmission, motor
The axial line of output shaft 106 and reducing output shaft 103 is overlapped.
As shown in Fig. 9 to Figure 20, sterile separator 200 include upper spacer 202 and lower clapboard 203, upper spacer 202 and under every
Plate 203 is correspondingly arranged on the cavity 204 for accommodating counter flange 201, and the internal diameter of cavity 204 is greater than the outer diameter of counter flange 201.
Upper spacer 202 is provided with first axis positive stop lug boss 205 in the upper end of cavity 204, and lower clapboard 203 is under cavity
End is provided with the second axial limiting boss 206, the outer surface of counter flange 201 be provided with first axis positive stop lug boss 205 and
The corresponding third axial limiting boss 207 of second axial limiting boss 206.
Therefore, four counter flanges can be freely rotated and freely move along axis, work among upper lower clapboard
When, only with the flange contact that is connected up and down, and synchronous rotary do not contact this four counter flanges with other any components, because
This does not generate frictional force, therefore to realize that the force feedback of operation further provides convenience.
The device system is provided with self-locking buckle structure, and self-locking buckle structure includes the first engaging portion and the second engaging portion,
Upper spacer 202 and instruments box 301 are respectively corresponded, two edges on upper spacer 202 are oppositely arranged two upper snap seats 208,
Buckle 211 is provided with by pin shaft 209 and the torsional spring 210 being set on pin shaft 209 in upper snap seats 208.On upper buckle 211
It is provided with the first detent flange 212, second card corresponding with the first detent flange 212 is provided on the instruments box 301 of instrument 300
Position flange 302.
Upper buckle 211 includes spaced two installing arms 211a, and two installing arm 211a are connected by clamping part 211b
It is connected in integral structure, installing arm 211a is set on pin shaft 209.Clamping part 211b is wedge structure, detent flange 302 on the whole
On be provided with the second inclined-plane 327 corresponding with tapered ramp 211c.
The first press section of rotary buckle is provided on instruments box 301, the first press section is located at the second detent flange 302
Top.First press section includes integrated pressing board 323, limit plate 324 and pressing plate 325, and pressing board 323 and pressing plate 325 are parallel to each other,
Limit plate 324 is and vertical with pressing board 323 and pressing plate 325 between pressing board 323 and pressing plate 325.
The defining flange 326 against 324 end face of limit plate is provided on instruments box 301, the width of defining flange 326 is less than
The width of limit plate 324, the top surface of pressing board 323 are not higher than the root of defining flange 326.
It is provided on upper buckle 211 and corresponding with pressing plate 325 is driven plain face 211d.
When upper spacer 202 is combined with instruments box 301, tapered ramp 211c is contacted first with the second inclined-plane 327, then phase
To sliding, torsional spring 210 is bent at this time.When instrument reaches target position, torsional spring 210 is sprung back, and the first detent flange 212 is buckled in the
On two detent flanges 302, locking is realized.If pressing pressing board 323, pressing plate 325 will push clamping part 211b, to overcome torsion
The elastic force of spring 210 pushes and buckles rotation, so that upper spacer be made to separate with instruments box.
The two sides of lower clapboard 203 are provided with lower snap seats 213, the installation shell 214 that lower clapboard 203 is connect with power packages
On be provided with second press section 219 corresponding with lower snap seats 213,219 both ends of the second press section have been wholely set sheet bolt
215, centre is provided with 130 big end blind hole of spring guiding axis.
Through-hole corresponding with spring guiding axis 130 and third spring base 131, third spring are provided in lower snap seats 213
Spring 132 is installed between seat 131 and spring guiding axis 130.It is provided on installation shell 214 corresponding with sheet bolt 215
Through-hole 216, sheet bolt 215 fasten after stretching out the through-hole 216 with slot corresponding on power part shell.
In the present embodiment, for convenient for operating, the chamfered shape of upper buckle 211 and bolt 215 is disposed as wedge structure.
As shown in Figure 1, Figure 2 and shown in Figure 21 to Figure 32, instrument 300 includes instruments box 301, instrument seat 302, stock 303 and pawl
Portion 304.It is fixed with bearing bracket stand 305, bearing bracket stand 305 and instrument seat 302 on instrument seat, input flange axis is provided with by bearing, it is defeated
Enter the lower part that flange is set to input flange axis.
Stock 303 is installed on instrument seat 302 by bearing, and the top of stock 303 is fixed with stock rotating wheel 311.
Power part includes stock power packages and claw power packages, and one of aforementioned four power packages 100 are used as stock
Power packages, the other three is as claw power packages.
Stock pierce tap driving wheel 310, stock pierce tap are fixed on the corresponding stock input flange axis 306 of stock power packages
Stock steel wire 309 is wound on driving wheel 310,309 one end of stock steel wire and stock pierce tap driving wheel 310 are fixed, other end winding
It is fixed with stock pierce tap driving wheel 310 after stock rotating wheel 311.
Stock pierce tap driving wheel 310 includes upper stock pierce tap driving wheel 310a and lower stock pierce tap driving wheel 310b.Upper length
Bar pierce tap driving wheel 310a and lower stock pierce tap driving wheel 310b is located at the first installation bearing 312a of stock input flange axis 306
And second installation bearing 312b between.It is correspondingly arranged on upper stock pierce tap driving wheel 310a and lower stock pierce tap driving wheel 310b
The sawtooth 310c that can be fastened.
309 one end of stock steel wire is fixed with upper stock pierce tap driving wheel 310a, the other end and lower stock pierce tap driving wheel
310b is fixed.Specific fixed form is that routine is fixed, and aperture is such as arranged on pierce tap driving wheel, and rope end is set after passing through the aperture
Set knot.
Stock steel wire rotating wheel 311 has been disposed radially fixation with steel wire seat 323, and fixation with steel wire seat 323 is arranged at intervals with phase
To the first wirerope knot 323a and the second wirerope knot 323b of 311 protrusion of stock steel wire rotating wheel.First wire rope knot
Portion 323a and the second wirerope knot 323b, which has, accommodates the first guiding groove hole 324a and the second guiding groove hole that stock steel wire 309 passes through
324b, the first guiding groove hole 324a and the second guiding groove hole 324b are located at the first guide groove of 309 winding steel wire rotating wheel 311 of stock steel wire
On 325 path;
Steel is fixed on stock steel wire 309 between the first wirerope knot 323a and the second wirerope knot 323b
Silk braid 326.It is arranged at intervals with three the second guide grooves 327 being overlapped with the first guide groove 325 on fixation with steel wire seat 323, intermediate
Two guide grooves are overlapped with the first guiding groove hole 324a and the second path guiding groove hole 324b.Therefore, when transmission, steel wire and stock steel wire are rotated
Circumferentially opposed movement will not be generated between wheel 311, in addition, the front and back of knot, some total steel wire is pressed in knot portion, makes steel
Silk fixation is not fallen out, and is conducive to production operation.
First installation bearing 312a is located at the top of the second installation bearing 312, is locked by lock-screw 313.At other
In specific embodiment, the similar structures such as locking nut can also be used and realize locking.
As shown in Figure 33 to Figure 35, claw pierce tap is fixed on the corresponding claw input flange axis 314 of claw power packages
Driving wheel 315, claw steel wire 316 is fixed on claw pierce tap driving wheel 315, and the other end of claw steel wire 316 bypasses conducting wire sheave
The cavity of stock 303 is passed through after 317, and is connect with claw 304.
The installation place of the corresponding stock 303 of instrument seat 302 is provided with conducting wire sheave mounting rack 318, conducting wire sheave mounting rack 318
On be provided with guiding sheave 319, be oriented to sheave 319 position it is corresponding with each claw pierce tap driving wheel 315, quantity be claw steel
Twice of silk ribbon driving wheel 315, one of them is used as stock cavity guiding is entered, another, which is used as, is pierced by stock cavity guiding
With.
Each claw pierce tap driving wheel 315 includes upper claw pierce tap driving wheel 315a and lower claw pierce tap driving wheel 315b.On
Claw pierce tap driving wheel 315a and lower claw pierce tap driving wheel 315b is located at the third installation bearing of claw input flange axis 314
320 and the 4th install between bearing 321.It is correspondingly arranged on upper claw pierce tap driving wheel 315a and lower claw pierce tap driving wheel 315b
There is the sawtooth 315c that can be fastened.
Claw steel wire 316 is respectively and fixedly provided on upper claw pierce tap driving wheel 315a and lower claw pierce tap driving wheel 315b.Specifically
Fixed form be it is conventional fixed, aperture such as is set on pierce tap driving wheel, and knot is arranged after passing through the aperture in rope end.
Third installation axle 320 is held positioned at the top of the 4th installation bearing 321, is locked by locking nut 322.In other tools
In body embodiment, the similar structures such as lock-screw can also be used and realize locking.
The end of stock 303 is set as claw 304.Claw 304 includes and the end fixed claw seat 328 of stock 303, pawl
Operation tool seat 333 is hinged with by the first hinged shaft 329 on portion's seat 328, the lower end of operation tool seat 329 passes through the second hinged shaft
330 are hinged with the first work department 331 and the second work department 332.First hinged shaft 329 is respectively arranged in the two sides of claw seat 333
Two the first guide wheels 334 and two the second guide wheels 335.Operation tool seat 333 is under the first guide wheel 334 and the second guide wheel 335
Side respectively corresponds setting, and there are two third guide wheel 336 and two four guide idlers 337.Operation tool seat 333, the first work department 331
With the guide groove and via hole for being provided with permission claw steel wire winding in the second work department 332.
The claw steel wire of power packages is by behind the inner cavity of stock 303, wherein two groups through the first guide wheel 334, third guide wheel
336, after the guide groove and via hole, four guide idler 337 and the second guide wheel 335 in the first work department 331, stock inner cavity is returned to, then
It is fixed with corresponding claw pierce tap driving wheel 315 after being oriented to sheave 319.Another group of claw steel wire is directly over operation tool
Guide groove and via hole on seat 333 return to stock inner cavity, fix after being oriented to sheave with corresponding claw pierce tap driving wheel.
In the present embodiment, each bearing is rolling bearing, to keep the frictional force of transmission minimum, therefore to realize operation
Force feedback further provides convenience.
It is all to be related to the position of rotary shaft in the present embodiment, it is provided with the bearing shell made by polytetrafluoroethylene material, from
And coefficient of friction is made to fall below very small stage, frictional force is reduced, to realize that the force feedback of operation further provides just
Sharp condition.
When above-mentioned device system works, the power of motor is directly passed to pawl by flange after slowing down in power part
Portion's pierce tap driving wheel and stock pierce tap driving wheel, to control claw work, therefore drive path is short, eliminates many intermediate rings
Section, is equivalent to motor and directly rotates, to pull steel wire forward or reverse.Based on this, the stress of claw also will be sensitiveer
Feed back to motor shaft.During entire steel wire drive, friction is only generated at guiding sheave, therefore realize the anti-of power
It presents sensitiveer.
The upper lower clapboard of sterile separator is for clamping aseptic cover, and aseptic cover is by instrument seat, motor output shaft, robot
The isolation of mechanical arm (not shown), therefore be gnotobasis inside instrument.
When operating with, first sterile separator 200 on power part 100, then instrument 300 mounted in sterile separator
On 200.
In most cases, output flange 104, counter flange 201 and input flange 301 are not bound with each other,
Each convex closure does not enter into groove and notch, and claw operation tool is not controlled.
Rotary electric machine 101, under the action of frictional force, several flanges may rotate simultaneously, no relative rotation, until instrument
Each freedom degree of the operation tool of claw goes to the limit and is limited, and after being limited, each flange of instrument can all stop operating.
Motor is continued to rotate, counter flange 201 and input flange 301 generate relative motion, when flange convex closure face groove
When, under the action of spring 124, counter flange 201 is inserted into groove, completes input flange 301 and mistake to apparatus work, convex closure
Cross the combination of flange 201.
At this point, two flanges combined are stationary, and in the case where continuing to rotate motor 101, reducer output flange 104
Relative motion is generated with the counter flange 201 in sterile separator, when convex closure and notch face, under the action of spring 124,
Reducer output flange 104 is moved to sterile separator, and convex closure is inserted into notch, completes output flange 104 and counter flange 201
In conjunction with.
When separation, when removing instrument and sterile separator respectively, the separation of flange is just completed.
Therefore, the counter flange of sterile separator does not need that sterile separator and instrument need to only be loaded onto just to direction,
System can be such that flange is closed automatically, when removing instrument and sterile separator, be automatically separated disconnection, without more movements.And
Counter flange can be freely rotated and freely move along axis among upper lower clapboard, mobile stroke and output flange 104
Stroke it is suitable.When work, 4 counter flanges only with the flange contact that is connected up and down, and synchronous rotary, not with other any zero
Component contact does not generate frictional force, therefore realizes that the feedback of power is sensitiveer.
Due to the setting of upper buckle and lower buckle, when needing to remove sterile separator, lower buckle is pinched with hand, takes advantage of a situation and just takes
It descends.
After a period of work, steel wire may loosen, but due on stock pierce tap driving wheel and claw pierce tap driving wheel
Laciniation, two parts up and down, that is, securable steel wire of relative rotation pierce tap driving wheel, terminate tensioning when, sawtooth is engaged
It closes, prevents upper and lower two parts pierce tap driving wheel from rotating to the direction that steel wire loosens, after the nut of shaft end or screw in compression, steel wire
Just no longer loosen.
The preferred embodiments of the present invention have been described in detail above.It should be appreciated that the ordinary skill people of this field
Member according to the present utility model can conceive without creative work makes many modifications and variations.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality according to the design of the utility model on the basis of existing technology in domain
Available technical solution is tested, it all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of surgical operation auxiliary robot device system, including power part, sterile separator and instrument, it is characterized in that:
The power part includes at least one power packages;The power packages include motor;The motor is connected with retarder;It is described
Telescopic output flange is set on the output shaft of retarder;
The output flange can be with the counter flange grafting of the sterile separator;The counter flange can be defeated with the instrument
Enter flange grafting;
The output flange, the quantity of counter flange and input flange and position are corresponding.
2. surgical operation auxiliary robot device system as described in claim 1, it is characterized in that: the output flange, transition
The convex closure and notch that can cooperate are provided on flange and input flange.
3. surgical operation auxiliary robot device system as described in claim 1, it is characterized in that: the retarder includes slowing down
Output shaft and at least one deceleration jackshaft;The output shaft of the reducing output shaft, jackshaft and motor passes through synchronous belt or steel
Silk transmission.
4. surgical operation auxiliary robot device system as claimed in claim 3, it is characterized in that: in the mounting base of the motor
It is fixed with the output shaft mounting base of retarder;
Bearing installation axle has been wholely set in the output shaft mounting base;The first speed reduction bearing is set in the bearing installation axle
With the second speed reduction bearing;First speed reduction bearing and the second speed reduction bearing are arranged by bushing interval;
The outer ring of first speed reduction bearing and the second speed reduction bearing cooperates the reducing output shaft;First speed reduction bearing
Upper surface is positioned by the step of the reducing output shaft inner cavity;The lower end surface of second speed reduction bearing is described by being set to
The retainer ring of reducing output shaft inner cavity positions;
The output flange is set to the upper end of the reducing output shaft;
The first spring base is provided on the reducing output shaft;The output flange is set in the upper end of the reducing output shaft,
And it is provided with second spring seat;The spring of suit is provided between first spring base and second spring seat;
The inner wall of the output flange is fixed with spacer pin;The limit with spacer pin cooperation is provided on the reducing output shaft
Position sliding slot;The spacer pin passes through the limit sliding chutes;
The upper surface of first speed reduction bearing is provided with end cap;The end cap screws company by screw and the bearing installation axle
It connects;
The lower part of the output shaft mounting base has the space for accommodating motor output shaft and synchronous belt or steel wire drive;The motor
The axial line of output shaft and reducing output shaft is overlapped.
5. surgical operation auxiliary robot device system as described in claim 3 or 4, it is characterized in that:
The power part includes four power packages;Four power packages are arranged side by side in rectangle;Connect deceleration jackshaft and reducing output shaft
Each synchronous belt or steel wire the center line geometric center that passes through each motor output shaft line;
Connect each synchronous belt of reducing output shaft, jackshaft and motor output shaft or the equal length of steel wire.
6. surgical operation auxiliary robot device system as claimed in claim 5, it is characterized in that:
A deceleration jackshaft is only arranged in each retarder;Each deceleration jackshaft is set on speed reducer base;
Multiple screw holes corresponding with the speed reducer base are provided on motor mount;Two are relatively set on the speed reducer base
It is a can be with the bolted connecting lugs of the screw hole;Kidney slot is provided in the connecting lugs.
7. surgical operation auxiliary robot device system as described in claim 1, it is characterized in that: the sterile separator includes
Upper spacer and lower clapboard;The upper spacer and lower clapboard are correspondingly arranged on the cavity for accommodating the counter flange;The cavity
Internal diameter is greater than the outer diameter of the counter flange;
The upper spacer is provided with first axis positive stop lug boss in the upper end of the cavity;The lower clapboard is under the cavity
End is provided with the second axial limiting boss;The outer surface of the counter flange is provided with and the first axis positive stop lug boss and
The corresponding third axial limiting boss of two axial limiting boss.
8. surgical operation auxiliary robot device system as described in claim 1, it is characterized in that: the sterile separator includes
Upper spacer and lower clapboard;Two edges on the upper spacer are oppositely arranged two upper snap seats;Pass through in the upper snap seats
Pin shaft and the torsional spring being set on pin shaft are provided with buckle;The first detent flange is provided on the upper buckle;The instrument
Instruments box on be provided with the second detent flange corresponding with the first detent flange.
9. surgical operation auxiliary robot device system as described in claim 1, it is characterized in that: the sterile separator includes
Upper spacer and lower clapboard;The two sides of the lower clapboard are provided with lower snap seats;The lower clapboard is connect with the power packages
Press section corresponding with the lower snap seats is provided on installation shell;The press section both ends have been wholely set sheet bolt;
Spring guiding axis big end blind hole is provided among the press section;
Through-hole corresponding with the spring guiding axis and third spring base are provided in the lower snap seats;The third spring base
Spring is installed between the spring guiding axis;Through-hole corresponding with the sheet bolt is provided on the installation shell,
The sheet bolt fastens after stretching out the through-hole with slot corresponding on power part shell.
10. surgical operation auxiliary robot device system as described in claim 1, it is characterized in that: the instrument includes instrument
Box cover, instrument seat, stock and claw;Bearing bracket stand is fixed on the instrument seat;Axis is provided in the bearing bracket stand and instrument seat
It holds, input flange axis is provided in bearing;The input flange is set to the lower part of the input flange axis;
The stock is installed on the instrument seat by bearing;The top of the stock is fixed with stock rotating wheel;
Pierce tap driving wheel is fixed on the input flange axis;Steel wire is wound on the pierce tap driving wheel;
The power part includes stock power packages and claw power packages;
Stock pierce tap driving wheel is fixed on the corresponding stock input flange axis of the stock power packages;The stock steel wire drives
Stock steel wire is wound on wheel;Stock steel wire one end is fixed with stock pierce tap driving wheel, and the other end winds the stock and turns
It is fixed after driving wheel with pierce tap driving wheel;Stock steel wire midpoint and the steel wire rotating wheel are relatively fixed;
Claw pierce tap driving wheel is fixed on the corresponding claw input flange axis of the claw power packages;The claw steel wire drives
Claw steel wire is fixed on wheel;The other end of the claw steel wire bypass conducting wire sheave after pass through the stock cavity, and with
The claw connection;
The installation place that the instrument seat corresponds to the stock is provided with conducting wire sheave mounting rack;It is set on the conducting wire sheave mounting rack
It is equipped with guiding sheave;The position of the guiding sheave is corresponding with each claw pierce tap driving wheel with quantity;
The stock pierce tap driving wheel includes upper stock pierce tap driving wheel and lower stock pierce tap driving wheel;The upper stock pierce tap
Driving wheel and lower stock pierce tap driving wheel are located between the first installation bearing of the stock input flange axis and the second installation bearing;
The sawtooth that can be fastened is correspondingly arranged on the upper stock pierce tap driving wheel and lower stock pierce tap driving wheel;
Stock steel wire one end is fixed with the upper stock pierce tap driving wheel, and the other end is fixed with lower stock pierce tap driving wheel;
The first installation bearing is located at the top of the second installation bearing, is locked by locking nut or lock-screw;
At least one described claw pierce tap driving wheel includes upper claw pierce tap driving wheel and lower claw pierce tap driving wheel;The dewclaw
Portion's pierce tap driving wheel and lower claw pierce tap driving wheel are located at the third installation bearing and the 4th installation bearing of claw input flange axis
Between;The sawtooth that can be fastened is correspondingly arranged on the upper claw pierce tap driving wheel and lower claw pierce tap driving wheel;
Claw steel wire is respectively and fixedly provided on the upper claw pierce tap driving wheel and lower claw pierce tap driving wheel;
The third installation bearing is located at the top of the 4th installation bearing, is locked by locking nut or lock-screw;
The steel wire rotating wheel has been disposed radially fixation with steel wire seat;The fixation with steel wire seat is arranged at intervals with the relatively described steel wire
The first wirerope knot and the second wirerope knot with driving wheel protrusion;The first wirerope knot and the second wirerope knot
The first guiding groove hole and the second guiding groove hole passed through with the receiving stock steel wire;First guiding groove hole and the second guide groove hole location
On the path of first guide groove of the pierce tap driving wheel described in the stock steel wire winding;
Steel wire set is fixed on stock steel wire between the first wirerope knot and the second wirerope knot;
Three the second guide grooves being overlapped with first guide groove are arranged at intervals on the fixation with steel wire seat;The second intermediate guide groove
It is overlapped with first guiding groove hole and the second guiding groove hole;
Claw includes the claw seat connecting with stock end, is hinged with operation tool seat by the first hinged shaft on claw seat, is performed the operation
The other end of tool seat is hinged with the first work department and the second work department by the second hinged shaft;
First hinged shaft is respectively arranged with the first guide wheel and the second guide wheel in the two sides of claw seat;The operation tool seat is led first
Wheel has been respectively arranged below third guide wheel and four guide idler with the second guide wheel;It is respectively provided in first work department and the second work department
There are the guide groove and via hole for allowing claw steel wire winding;
Behind the inner cavity that the claw steel wire of one power packages passes through stock, through leading in the first guide wheel, third guide wheel, the first work department
After slot and via hole, four guide idler and the second guide wheel, return stock inner cavity, then after being oriented to sheave with claw pierce tap driving wheel
It is fixed;The guide groove and via hole that another group of claw steel wire is directly on operation tool seat return to stock inner cavity, by being oriented to sheave
It is fixed afterwards with corresponding claw pierce tap driving wheel.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201821866547.XU CN209377745U (en) | 2018-11-13 | 2018-11-13 | A kind of surgical operation auxiliary robot device system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201821866547.XU CN209377745U (en) | 2018-11-13 | 2018-11-13 | A kind of surgical operation auxiliary robot device system |
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Publication Number | Publication Date |
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CN209377745U true CN209377745U (en) | 2019-09-13 |
Family
ID=67864533
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CN (1) | CN209377745U (en) |
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2018
- 2018-11-13 CN CN201821866547.XU patent/CN209377745U/en active Active
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