CN209548086U - A kind of fixed structure and instrument of the long boom end of surgical operation auxiliary robot instrument - Google Patents

Abstract

The utility model discloses a kind of fixed structures of long boom end of surgical operation auxiliary robot instrument, including instrument seat (1) and stock (2)；The top of the instrument seat (1) is fixed with by wheel seat (4)；It is described to be provided with driving wheel (9) in wheel seat (4)；The upper end of the stock (2) is inserted into the inner hole of the driving wheel (9).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

A kind of fixed structure and instrument of the long boom end of surgical operation auxiliary robot instrument

Technical field

The utility model relates to a kind of fixed structures, more particularly to a kind of thin-walled of surgical operation auxiliary robot instrument The fixed structure of long boom end.

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.

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 instrument is thin The fixed more reliable structure of stock, so that instrument controls more accurately in operation.

To achieve the above object, the utility model provides a kind of consolidating for long boom end of surgical operation auxiliary robot instrument Determine structure, including instrument seat and stock；The top of the instrument seat is fixed with by wheel seat；It is described to be provided with driving in wheel seat Wheel；The upper end of the stock is inserted into the inner hole of the driving wheel.

Preferably, the driving wheel is axially disposed locating slot；The upper end of the stock and the locating slot cooperate.

Axial and circumferential movement is generated further to limit stock, the stock is set in casing；Described sleeve pipe installation In at least one bearing；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.

For the circumferential movement for further limiting stock, described sleeve pipe and bearing are interference fitted.

Axial and circumferential movement is generated further to limit stock, the upper end of described sleeve pipe is provided with the first flange, this One flange is turned over downwards composition top bar.

For the circumferential movement for further limiting stock, the upper end of the stock is provided with the second flange, second flange to First flange is close in lower fold.

For the circumferential movement for further limiting stock, the width of first flange and the second flange is equal.

The utility model additionally provides a kind of surgical operation auxiliary robot instrument, including long boom end as described above is consolidated Determine structure.

The beneficial effects of the utility model are: the utility model positioning is reliable, to ensure that the transmission essence of instrument stock Degree, and safety is higher, and structure is simple, easy to produce and control.

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 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 one specific embodiment of the utility model.

Fig. 6 is the structural schematic diagram of instrument applied by one specific embodiment of the utility model.

Specific embodiment

The utility model is described in further detail with reference to the accompanying 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 structure of casing 8 Including top bar 81 and get out of a predicament or an embarrassing situation 82, top bar 81 has the terrace 81a that appears on the stage against 5 upper surface of first bearing；Get out of a predicament or an embarrassing situation 82 With 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 9a 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 utility model additionally provides a kind of surgical operation auxiliary robot instrument stock end fixing method, The following steps are included:

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 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 fixed structure of the long boom end of surgical operation auxiliary robot instrument, including instrument seat (1) and stock (2)；Its It is characterized in:

The top of the instrument seat (1) is fixed with by wheel seat (4)；It is described to be provided with driving wheel (9) in wheel seat (4)；The length The upper end of bar (2) is inserted into the inner hole of the driving wheel (9).

2. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as described in claim 1, it is characterized in that: described Driving wheel (9) is axially disposed locating slot (9a)；The upper end of the stock (2) and the locating slot (9a) cooperate.

3. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 1 or 2, it is characterized in that: The stock (2) is set in casing (8)；Described sleeve pipe (8) is installed at least one bearing；Stock (2) interference is matched Together in casing (8).

4. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 3, it is characterized in that: described Rebound slot (83) is provided in the middle part of casing (8).

5. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 4, it is characterized in that: described Casing (8) is mounted on by bushing (6) spaced first bearing (5) and second bearing (7)；Rebound slot (83) The equal length of width and the bushing (6).

6. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 3, it is characterized in that: described Casing (8) and bearing are interference fitted.

7. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 3, it is characterized in that: described The upper end of casing (8) is provided with the first flange, which, which is turned over downwards, constitutes top bar (81).

8. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 7, it is characterized in that: described The upper end of stock (2) is provided with the second flange, which, which is turned over downwards, is close to first flange.

9. the fixed structure of the long boom end of surgical operation auxiliary robot instrument as claimed in claim 8, it is characterized in that: described The width of first flange and the second flange is equal.

10. a kind of surgical operation auxiliary robot instrument, it is characterized in that: including any surgical operation of claim 1 to 9 The fixed structure of the long boom end of auxiliary robot instrument.