CN209548084U - A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument - Google Patents
A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument Download PDFInfo
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- CN209548084U CN209548084U CN201821865987.3U CN201821865987U CN209548084U CN 209548084 U CN209548084 U CN 209548084U CN 201821865987 U CN201821865987 U CN 201821865987U CN 209548084 U CN209548084 U CN 209548084U
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Abstract
The utility model discloses a kind of long boom end fixed structure of surgical operation auxiliary robot instrument and instruments, and wherein fixed structure includes instrument seat (1) and stock (2)；The stock (2) is set in casing (8)；Described sleeve pipe (8) is installed at least one bearing；Described sleeve pipe (8), which has, prevents described sleeve pipe (8) and bearing from generating the step structure being axially moved.The utility model positioning is reliable, thus ensure that the transmission accuracy of instrument stock, and structure is simple, easy to produce and control.
Description
Technical field
The present invention relates to a kind of fixed structure and fixing means, more particularly to a kind of surgical operation auxiliary robot instrument
The long boom end of thin-walled fixed structure and fixing means.
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 operation portion of instrument is clamp or scissors etc.
Component, these components can be controlled by steel cable and be operated.Due to robot particular configuration and operation the characteristics of, these instruments
Operation portion need to be set to the end of an elongate rod, and the steel cable for controlling operation portion passes through the cavity of elongate rod.
The front of stock is deep into abdominal cavity of patients at the time of surgery, therefore the accurate positioning of stock and accurate control are most
Important security performance.But in the prior art, elongate rod is still easy to produce the movement of axial and circumferential in the operating condition,
This considerably increases the risks of accident surgery.
Therefore those skilled in the art are dedicated to developing a kind of more reliable structure that instrument elongate rod is fixed, so that instrument
Control that more accurate, safety is higher in operation.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide a kind of instrument elongate rods
Fixed more reliable structure, so that instrument controls more accurately in operation.
To achieve the above object, the present invention provides a kind of long boom end fixed knots of surgical operation auxiliary robot instrument
Structure, including instrument seat and stock；The stock is set in casing；Described sleeve pipe is installed at least one bearing；The set
Managing to have prevents described sleeve pipe and bearing from generating the step structure being axially moved.
Preferably, the step structure of described sleeve pipe includes top bar and gets out of a predicament or an embarrassing situation；The top bar has against top layer
The terrace of appearing on the stage of bearing upper surface；It is described to get out of a predicament or an embarrassing situation with the leave from office terrace against lowest level bearing lower end surface.
Axial and circumferential movement is generated further to limit stock, the stock is in interference fit in casing.
Axial movement is generated further to limit stock, is provided with rebound slot in the middle part of described sleeve pipe.
Preferably, described sleeve pipe is mounted on by the spaced first bearing of bushing and second bearing；The rebound
The equal length of the width of slot and the bushing.
Axial movement is generated further to limit stock, the upper end of described sleeve pipe is provided with the first flange, first flange
It is turned over downwards and constitutes the top bar.
Axial and circumferential movement is generated further to limit stock, the upper end of the stock is provided with the second flange, this
Two flange, which are turned over downwards, is close to first flange.
Preferably, the lower part for the cavity that the instrument seat accommodates the stock is provided with bearing block, top is provided with bearing
Lid；First bearing, bearing insert and second bearing are disposed between the bearing cap and the bearing block.
Circumferential movement is generated further to limit stock, the upper end of the stock is inserted into the inner hole of driving wheel.
Preferably, the driving wheel is axially disposed locating slot；The upper end of the stock and the locating slot cooperate.
For the circumferential movement for further limiting stock, described sleeve pipe and bearing are interference fitted.
It prevents stock to be drawn out, is also prevented from driving wheel and falls off, the top of the driving wheel is provided with fastening step；The length
The top of bar is provided with buckling surface corresponding with the fastening step.The present invention also provides a kind of surgical operation auxiliary robots
Instrument, including long boom end fixed structure as described above.
The present invention also provides a kind of surgical operation auxiliary robot instrument stock end fixing methods, including following step
It is rapid:
1) selection one and the matched casing of stock, circumferentially setting springs back slot to the inner hole in the middle part of casing；Match stock interference
Together in casing；
2) the first flange is set in the upper end of casing, and first flange is made to be turned over downwards composition step structure；In casing
Lower end be arranged step structure；
The second flange is set in the upper end of stock, second flange is made to be turned over downwards the upper table for being close to first flange
Face；
3) first bearing and second bearing are arranged by bushing interval in instrument；Make the first flange against first bearing
Upper surface；Make the step of lower end against the lower end surface of second bearing.
Preferably, making to spring back the width of slot and the equal length of bushing in step 1).
The beneficial effects of the present invention are: present invention positioning is reliable, to ensure that the transmission accuracy of instrument stock, and pacify
Quan Xinggeng high, structure is simple, easy to produce and control.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the invention.
Fig. 2 is the A-A schematic cross-sectional view of Fig. 1.
Fig. 3 is the enlarged drawing in Fig. 2 at I.
Fig. 4 is the B-B schematic cross-sectional view of Fig. 1.
Fig. 5 is the attachment structure schematic diagram of driving wheel and stock top in the embodiment of the invention.
Fig. 6 is the structural schematic diagram of instrument applied by the embodiment of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figures 1 to 5, the long boom end fixed structure of a kind of surgical operation auxiliary robot instrument, including instrument seat 1
With stock 2, stock 2 is in interference fit in casing 8.
The top of instrument seat 1 can be fixed with by wheel seat 4, as shown in fig. 6, instrument seat 1 accommodates the lower part of the cavity 1a of stock 2
It is provided with bearing block 1b, top is provided with bearing cap 3, and the upper surface of bearing cap 3 is against the lower end surface for leaning on wheel seat.Bearing cap 3 with
First bearing 5, bearing insert 6 and second bearing 7 are disposed between bearing block 1b.
Casing 8 is in interference fit in first bearing 5 and second bearing 7.
Casing 8, which has, prevents casing 8 and bearing from generating the step structure being axially moved.Specifically, the Step-edge Junction of casing 8
Structure includes top bar 81 and gets out of a predicament or an embarrassing situation 82, and top bar 81 has the terrace 81a that appears on the stage against 5 upper surface of first bearing；It gets out of a predicament or an embarrassing situation
82 have the leave from office terrace 82a against most 7 lower end surface of second bearing.
The middle part of casing 8 is provided with rebound slot 83, springs back the width of slot 83 and the equal length of bushing 6.
The upper end of casing 8 is provided with the first flange, which, which is turned over downwards, constitutes top bar 81.The upper end of stock 2
It is provided with the second flange 2a, second flange 2a, which is turned over downwards, is close to the first flange.The width phase of first flange and the second flange
Deng.
In the inner hole of the upper end insertion driving wheel 9 of stock 2.Driving wheel 9 is axially disposed a locating slot 9a, stock 2 it is upper
End cooperates with locating slot 9a.
Obviously, in above structure, due to bearing insert 6, bearing block 1b, bearing cap 3 and effect by wheel seat 4, first axle
Hold 5 and second bearing 7 will not generate axial movement.Due to 82 and first top bar 81 that constitutes of flange of getting out of a predicament or an embarrassing situation of casing 8
Effect, casing 8 will not generate axial movement.Since the second flange 2a is close to the first flange, and casing 8 and 2 interference of stock
Cooperation, therefore the axial movement of stock 2 is also locked.Be especially considering that during devices work common Impact direction and
Stress size, such structure are enough to keep the good opposite instrument seat 1 of stock 2 fixed.
Further, it due to the setting of rebound slot 83, after stock 2 is interference fitted with casing 8, will be returned at rebound slot 83
Bullet forms step effect, to further limit the axial movement of stock 2.
On the other hand, due to the effect of the first flange and the second flange, stock 2 and casing 8 are interference fitted, casing 8 and the
One bearing 5 and second bearing 7 are interference fitted, and the upper end of stock 2 and locating slot 9a cooperate, therefore stock 2 and casing 8 and drive
The rotational angular velocity of driving wheel 9 is consistent.
The top of driving wheel 9, which is provided with, fastens step 9b, and the top of stock 2 is provided with fastening corresponding with step 9b is fastened
Face 2b.Therefore the top reverse step fastening for fastening step and stock inside driving wheel 9, prevents driving wheel from deviating from, is also prevented from
Stock is drawn out.
The long boom end fixed structure of surgical operation auxiliary robot instrument can be applied to surgical operation auxiliary robot instrument.
Corresponding, the present invention also provides a kind of surgical operation auxiliary robot instrument stock end fixing methods, including
Following steps:
1) selection one and the matched casing of stock, circumferentially setting springs back slot to the inner hole in the middle part of casing；Match stock interference
Together in casing；
2) the first flange is set in the upper end of casing, and first flange is made to be turned over downwards composition step structure；In casing
Lower end be arranged step structure；
The second flange is set in the upper end of stock, second flange is made to be turned over downwards the upper table for being close to first flange
Face；
3) first bearing and second bearing are arranged by bushing interval in instrument；Make the first flange against first bearing
Upper surface；Make the step of lower end against the lower end surface of second bearing.
Preferable embodiment is, in step 1), makes to spring back the width of slot and the equal length of bushing.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (8)
1. a kind of operation assists the long boom end fixed structure of robotic tool, including instrument seat (1) and stock (2)；It is characterized in that:
The stock (2) is set in casing (8)；Described sleeve pipe (8) is installed at least one bearing；Described sleeve pipe (8) has anti-
Only described sleeve pipe (8) and bearing generate the step structure being axially moved.
2. the operation auxiliary long boom end fixed structure of robotic tool as described in claim 1, it is characterized in that: described sleeve pipe
(8) step structure includes top bar (81) and gets out of a predicament or an embarrassing situation (82)；The top bar (81) has against top layer's bearing upper end
The terrace of appearing on the stage (81a) in face；Described get out of a predicament or an embarrassing situation (82) are with the leave from office terrace (82a) against lowest level bearing lower end surface.
3. the operation auxiliary long boom end fixed structure of robotic tool as claimed in claim 1 or 2, it is characterized in that: the length
Bar (2) is in interference fit in casing (8).
4. the operation auxiliary long boom end fixed structure of robotic tool as claimed in claim 3, it is characterized in that: described sleeve pipe
(8) rebound slot (83) is provided in the middle part of；
Described sleeve pipe (8) is mounted on by bushing (6) spaced first bearing (5) and second bearing (7)；The rebound
The width of slot (83) and the equal length of the bushing (6).
5. the operation auxiliary long boom end fixed structure of robotic tool as claimed in claim 2, it is characterized in that: described sleeve pipe
(8) upper end is provided with the first flange, which, which is turned over downwards, constitutes the top bar (81)；
The upper end of the stock (2) is provided with the second flange (2a), which is turned over downwards abutting described first and turns over
Side.
6. the operation auxiliary long boom end fixed structure of robotic tool as claimed in claim 2, it is characterized in that: the instrument seat
(1) lower part for accommodating the cavity (1a) of the stock (2) is provided with bearing block (1b), and top is provided with bearing cap (3)；The axis
It holds and is disposed with first bearing (5), bearing insert (6) and second bearing (7) between lid (3) and the bearing block (1b).
7. the operation auxiliary long boom end fixed structure of robotic tool as claimed in claim 2, it is characterized in that: the stock
(2) in the inner hole of upper end insertion driving wheel (9)；
The driving wheel (9) is axially disposed locating slot (9a)；Match with the locating slot (9a) upper end of the stock (2)
It closes；
Described sleeve pipe (8) and bearing are interference fitted；
The top of the driving wheel (9), which is provided with, fastens step (9b)；The top of the stock (2) is provided with and the fastening platform
The corresponding buckling surface (2b) of rank (9b).
8. a kind of operation assists robotic tool, it is characterized in that: including that any long boom end of claim 1 to 7 is fixed
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821865987.3U CN209548084U (en) | 2018-11-13 | 2018-11-13 | A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821865987.3U CN209548084U (en) | 2018-11-13 | 2018-11-13 | A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209548084U true CN209548084U (en) | 2019-10-29 |
Family
ID=68299209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821865987.3U Active CN209548084U (en) | 2018-11-13 | 2018-11-13 | A kind of long boom end fixed structure of operation auxiliary robotic tool and instrument |
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| CN (1) | CN209548084U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166485A (en) * | 2018-11-13 | 2020-05-19 | 重庆金山医疗机器人有限公司 | Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method |
-
2018
- 2018-11-13 CN CN201821865987.3U patent/CN209548084U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166485A (en) * | 2018-11-13 | 2020-05-19 | 重庆金山医疗机器人有限公司 | Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method |
| CN111166485B (en) * | 2018-11-13 | 2024-04-30 | 重庆金山医疗机器人有限公司 | Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method |
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