CN209645059U - Surgical operation auxiliary robot instrument claw structure and device system - Google Patents
Surgical operation auxiliary robot instrument claw structure and device system Download PDFInfo
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- CN209645059U CN209645059U CN201821865976.5U CN201821865976U CN209645059U CN 209645059 U CN209645059 U CN 209645059U CN 201821865976 U CN201821865976 U CN 201821865976U CN 209645059 U CN209645059 U CN 209645059U
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Abstract
The utility model discloses a kind of surgical operation auxiliary robot instrument claw structures, claw includes the claw seat connecting with instrument stock end, operation tool seat is hinged with by the first hinged shaft on claw seat, the other end of 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 has been respectively arranged below third guide wheel and four guide idler the first guide wheel and the second guide wheel；The guide groove and via hole for allowing claw steel wire winding are provided in first work department and the second work department.The utility model structure is simple, gearing friction, to realize that the force feedback of claw provides mechanical condition.
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.
Obviously, claw is the pith of instrument, but claw structural friction in the prior art is bigger, this to perform the operation
When be difficult to the force feedback of instrument end to doctor.
Therefore those skilled in the art are dedicated to developing a kind of surgical operation auxiliary robot instrument pawl that gearing friction is small
Portion's structure.
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 transmissions to rub
Wipe small surgical operation auxiliary robot instrument claw structure.
To achieve the above object, the utility model provides a kind of surgical operation auxiliary robot instrument claw structure, pawl
Portion includes the claw seat connecting with instrument stock end, is hinged with operation tool seat by the first hinged shaft on claw seat, work of performing 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
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.
A kind of surgical operation auxiliary robot device system, it is characterized in that claw structure as described above；
Behind the inner cavity that one claw steel wire passes through stock, through the guide groove and mistake in the first guide wheel, third guide wheel, the first work department
After hole, four guide idler and the second guide wheel, stock inner cavity is returned to, is then fixed after being oriented to sheave with claw pierce tap driving wheel；
Another claw steel wire is directly over guide groove on operation tool seat and via hole returns to stock inner cavity, after being oriented to sheave with it is corresponding
Claw pierce tap driving wheel fix.
Preferably, the instrument includes instrument box cover, instrument seat and stock；Bearing bracket stand is fixed on the instrument seat；Institute
It states and is provided with bearing in bearing bracket stand and instrument seat, input flange axis is provided in bearing；The input flange is set to described defeated
Enter the lower part of flange shaft；
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.
Preferably, the power part of device system 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；Stock steel wire midpoint and the steel wire rotating wheel are relatively fixed；
Preferably, the installation place that the instrument seat corresponds to the stock is provided with conducting wire sheave mounting rack；The metallic channel
The guiding sheave is provided on wheel mounting rack；The position of the guiding sheave and quantity and each claw pierce tap driving wheel phase
It is corresponding.
Preferably, the stock pierce tap driving wheel includes upper stock pierce tap driving wheel and lower stock pierce tap driving wheel；It is described
Upper stock pierce tap driving wheel and lower stock pierce tap driving wheel are located at the first installation bearing and second of the stock input flange axis
It installs between 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.
Preferably, being fixed with claw pierce tap driving wheel on the corresponding claw input flange axis of the claw power packages；It is described
Claw steel wire is fixed on claw pierce tap driving wheel；The other end of the claw steel wire passes through the stock after bypassing conducting wire sheave
Cavity, and connect with the claw structure.
Preferably, at least one described claw pierce tap driving wheel includes that upper claw pierce tap driving wheel and lower claw pierce tap are dynamic
Wheel；The upper claw pierce tap driving wheel and lower claw pierce tap driving wheel are located at the third installation bearing and the of claw input flange axis
Between four installation bearings；The saw that can be fastened is correspondingly arranged on the upper claw pierce tap driving wheel and lower claw pierce tap driving wheel
Tooth；
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.
Preferably, 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 the first wirerope knot and the second wirerope knot of the relatively described pierce tap driving wheel protrusion；The first wirerope knot and
Two wirerope knots, which have, accommodates the first guiding groove hole and the second guiding groove hole that the stock steel wire passes through；First guiding groove hole and
Second guiding groove hole is located on the path of the first guide groove of 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；Intermediate second
Guide groove is overlapped with first guiding groove hole and the second guiding groove hole.
The beneficial effects of the utility model are: the utility model structure is simple, gearing friction is small, and the power to realize claw is anti-
Feedback provides mechanical condition.
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 (9)
1. a kind of surgical operation auxiliary robot instrument claw structure, it is characterized in that: claw includes connecting with instrument stock end
Claw seat, operation tool seat is hinged with by the first hinged shaft on claw seat, the other end of operation tool seat passes through the second hinged shaft
It is hinged with the first work department and the second work department；
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.
2. a kind of surgical operation auxiliary robot device system, it is characterized in that including claw structure as described in claim 1；
One claw steel wire by behind the inner cavity of stock, through in the first guide wheel, third guide wheel, the first work department guide groove and via hole,
After four guide idler and the second guide wheel, stock inner cavity is returned to, is then fixed after being oriented to sheave with claw pierce tap driving wheel；It is another
Claw steel wire is directly over guide groove on operation tool seat and via hole returns to stock inner cavity, after being oriented to sheave with corresponding pawl
Portion's pierce tap driving wheel is fixed.
3. surgical operation auxiliary robot device system as claimed in claim 2, it is characterized in that: the instrument includes instruments box
Lid, instrument seat and stock；Bearing bracket stand is fixed on the instrument seat；Bearing, bearing are provided in the bearing bracket stand and instrument seat
Inside it is provided with input flange axis；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.
4. surgical operation auxiliary robot device system as claimed in claim 3, it is characterized in that: the power part packet of device system
Include 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 steel wire rotating wheel are relatively fixed.
5. surgical operation auxiliary robot device system as claimed in claim 3, it is characterized in that: described in the instrument seat is corresponding
The installation place of stock is provided with conducting wire sheave mounting rack；The guiding sheave is provided on the conducting wire sheave mounting rack；It is described
The position for being oriented to sheave is corresponding with each claw pierce tap driving wheel with quantity.
6. surgical operation auxiliary robot device system as claimed in claim 4, it is characterized in that: the stock pierce tap driving wheel
Including 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
It is installed between bearing and the second installation bearing positioned at the first of the stock input flange axis；The upper stock pierce tap driving wheel and
The sawtooth that can be fastened is correspondingly arranged on 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.
7. surgical operation auxiliary robot device system as claimed in claim 4, it is characterized in that: the claw power packages are corresponding
Claw input flange axis on be fixed with claw pierce tap driving wheel；Claw steel wire is fixed on the claw pierce tap driving wheel；Institute
The other end of claw steel wire is stated around the cavity of the stock is passed through after conducting wire sheave, and is connect with the claw structure.
8. surgical operation auxiliary robot device system as claimed in claim 7, it is characterized in that:
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.
9. surgical operation auxiliary robot device system as claimed in claim 4, it is characterized in that:
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821865976.5U CN209645059U (en) | 2018-11-13 | 2018-11-13 | Surgical operation auxiliary robot instrument claw structure and device system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821865976.5U CN209645059U (en) | 2018-11-13 | 2018-11-13 | Surgical operation auxiliary robot instrument claw structure and device system |
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| Publication Number | Publication Date |
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| CN209645059U true CN209645059U (en) | 2019-11-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114081633A (en) * | 2022-01-11 | 2022-02-25 | 极限人工智能有限公司 | Driving device layout structure, operation power device and split type operation device |
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2018
- 2018-11-13 CN CN201821865976.5U patent/CN209645059U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114081633A (en) * | 2022-01-11 | 2022-02-25 | 极限人工智能有限公司 | Driving device layout structure, operation power device and split type operation device |
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