CN209734138U - Instrument connecting mechanism for laparoscopic surgery robot - Google Patents
Instrument connecting mechanism for laparoscopic surgery robot Download PDFInfo
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- CN209734138U CN209734138U CN201821628193.5U CN201821628193U CN209734138U CN 209734138 U CN209734138 U CN 209734138U CN 201821628193 U CN201821628193 U CN 201821628193U CN 209734138 U CN209734138 U CN 209734138U
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- instrument
- connecting mechanism
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- rod
- rotating
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Abstract
The utility model relates to an apparatus coupling mechanism for laparoscopic surgery robot relates to surgical robot technical field for the unable motion in a plurality of directions that exists carries out integrated technical problem among the solution prior art. The utility model discloses an apparatus connecting mechanism for laparoscopic surgery robot, including rotary mechanism, swing mechanism and opening and shutting mechanism, can realize the motion of apparatus in three directions through rotary mechanism, swing mechanism and opening and shutting mechanism, therefore apparatus connecting mechanism can simulate the motion that the arm of people rotated, the wrist rotated and the finger opened and draws in, in order to satisfy the requirement of doctor to the degree of freedom, flexibility ratio and the sensitivity of apparatus in complicated operation; in addition, the rotating mechanism, the swinging mechanism and the opening and closing mechanism are sequentially sleeved, so that the instrument connecting mechanism has a compact structure and meets the requirements of small size and light weight of surgical instruments.
Description
Technical Field
The utility model relates to a surgical robot technical field especially relates to an apparatus coupling mechanism for laparoscopic surgery robot.
Background
minimally invasive surgery is practiced and rapidly developed based on traditional surgery with many advantages of fast postoperative recovery, small trauma, etc. Laparoscopic minimally invasive surgery, which is representative of minimally invasive surgery, has become a significant revolution of traditional open surgery. With the expansion of the field of minimally invasive surgery, the minimally invasive surgical robot system provides a new way for further perfecting the minimally invasive surgery aiming at the limitation of the conventional endoscope technology in clinical application.
At present, instruments used by existing minimally invasive surgical robots are only fixed on an operation table through connecting mechanisms, and the connecting mechanisms do not have degrees of freedom and cannot simulate integrated movement of arms and wrists of a human, so that the working angle of the instruments can be adjusted only through a far-end mechanical arm when a more complex minimally invasive surgery is performed, and requirements of a doctor on the degree of freedom, flexibility and sensitivity of the surgical instruments cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model provides an apparatus connecting mechanism for laparoscopic surgery robot for solve the technical problem that the connecting mechanism that exists does not possess the degree of freedom among the prior art.
the utility model provides an instrument connecting mechanism for a laparoscopic surgery robot, which comprises a rotating mechanism and a swinging mechanism arranged in the rotating mechanism, wherein the rotating mechanism is rotationally connected with a transmission seat, the end part of the swinging mechanism is hinged with a clamping head at the upper end of the rotating mechanism, and the other end of the swinging mechanism is fixedly connected with a sliding seat which is slidably arranged on the transmission seat; the end of the clamping head is used for clamping an instrument.
In one embodiment, the rotation mechanism includes an instrument shaft coupled to a shaft on the drive mount.
in one embodiment, a first clamping groove is formed in the outer wall of the instrument rod, a positioning protrusion is arranged on the rotating shaft, and the first clamping groove is clamped with the positioning protrusion.
In one embodiment, the instrument rod comprises an outer tube and an inner tube disposed in the outer tube, the end of the outer tube being provided with a swivel head, the gripping head being articulated with the swivel head.
In one embodiment, an open slot is provided on the rotator head, and the end of the clamping head remote from the instrument is disposed in the open slot.
In one embodiment, the swing mechanism includes a push rod coaxially disposed in the inner tube, one end of the push rod is connected to a sliding seat slidably disposed on the driving seat, and the other end is hinged to the gripping head.
In one embodiment, one end of the push rod, which is close to the instrument, is provided with an adapter, the adapter is arranged in the inner pipe, and the end of the adapter is connected with a swing rod.
In one embodiment, a clamping tube is arranged at one end of the push rod, which is far away from the instrument, and the clamping tube is connected with the sliding seat.
In one embodiment, a groove is provided on the inner pipe at a position corresponding to the swing lever.
In one embodiment, a second clamping groove connected with the sliding seat in a clamping manner is arranged on the outer wall of the clamping pipe.
Compared with the prior art, the utility model has the advantages of: the rotation and the swing of the instrument can be realized through the rotating mechanism and the swinging mechanism, so that the instrument connecting mechanism can simulate the arm rotation and the wrist rotation of a human, and the working angle of the instrument such as a scalpel and the like can be flexibly adjusted in the operation, so as to meet the requirements of doctors on the freedom degree, the flexibility and the sensitivity of the instrument in the complex operation; in addition, the swing mechanism is sleeved in the rotating mechanism, so that the instrument connecting mechanism has a compact structure, and the requirements of small size and light weight of the surgical instrument are met.
Drawings
The present invention will be described in more detail hereinafter based on embodiments and with reference to the accompanying drawings.
FIG. 1 is a perspective view of an implement coupling mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of an instrument connection mechanism according to an embodiment of the present invention (outer tube not shown);
FIG. 3 is a schematic perspective view of an instrument connection according to an embodiment of the present invention (outer and inner tubes not shown);
fig. 4 is a schematic view illustrating an installation structure of an instrument connecting mechanism for a laparoscopic surgical robot according to an embodiment of the present invention.
In the drawings, like components are denoted by like reference numerals. The figures are not drawn to scale.
reference numerals:
3-a transmission seat; 35-a sliding seat;
4-an instrument connection mechanism; 41-instrument rod; 42-an instrument;
43-threaded sleeve; 44-a first card slot; 45-a second card slot;
46-a push rod; 411-outer tube; 412-rotating head;
413-a limiting head; 414-inner tube; 415-a trough body;
416-a stop collar; 417-open slots; 421-inclined holes;
461-adapter; 462-a bayonet tube; 463-a swinging lever;
464-connecting plane; 465-gripping head.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1 and 4, the present invention provides an instrument connecting mechanism for a laparoscopic surgery robot, which includes a rotating mechanism and a swing mechanism disposed in the rotating mechanism, wherein the rotating mechanism is rotatably connected to a driving seat 3 to realize the rotation thereof; one end of the swinging mechanism is hinged with a clamping head 465 at the upper end of the rotating mechanism, and the end part of the clamping head 465 is used for clamping the instrument 42; the other end of the swing mechanism is fixedly connected with a sliding seat 35 on the transmission seat 3 to realize the swing thereof.
The instrument 42 of the present invention includes an instrument having two degrees of freedom in two directions. Specifically, rotation about the X axis is achieved by a rotation mechanism and oscillation about the Z axis is achieved by an oscillation mechanism.
The rotation mechanism and the swing mechanism will be described in detail below.
In one embodiment, the rotation mechanism includes an instrument rod 41, one end of the instrument rod 41 is provided with an instrument 42, and the other end of the instrument rod 41 is connected to the driving base 3.
The first degree of freedom of the instrument 42 is a rotation of the axis (in the X-axis direction) of the instrument lever 41 as a rotation axis, and the first degree of freedom of the instrument 42 can realize a rotation motion simulating the arm of a human body.
specifically, the instrument rod 41 is connected to the rotating shaft 33 of the transmission seat 3, as shown in fig. 1, a positioning protrusion 331 is disposed at an end of the rotating shaft 33, a first locking groove 44 is disposed on an outer wall of the instrument rod 41, and after the instrument rod 41 is inserted into the rotating shaft 33, the positioning protrusion 331 is engaged with the first locking groove 44, so that the instrument rod 41 and the rotating shaft 33 are positioned in a radial direction.
further, the rotating shaft 33 is provided with an external thread, the outer wall of the instrument rod 41 is provided with a threaded sleeve 43, and after the instrument rod 41 extends into the rotating shaft 33, the instrument rod 41 is fixedly connected with the rotating shaft 33 through the threaded sleeve 43, so that the instrument rod 41 and the rotating shaft 33 are positioned in the axial direction.
To this end, the shaft 33 and the instrument lever 41 are fixed in both directions, so that when the shaft 33 rotates, the instrument lever 41 rotates accordingly.
The second degree of freedom of the instrument 42 is rotatable about the Z axis (perpendicular to the axis of the instrument lever 41) as a rotation axis, and the second degree of freedom of the instrument 42 can realize a rotation motion that simulates a wrist joint of a human body.
in one embodiment, the swing mechanism includes a push rod 46 coaxially disposed within the instrument stem 41. The pusher rod 46 protrudes beyond the end of the instrument rod 41, and relative movement can be produced between the instrument rod 41 and the pusher rod 46, i.e., the pusher rod 46 can move along its axis.
The outer wall of the pushing rod 46 is provided with a second clamping groove 45, and when the pushing rod 46 extends into the sliding seat 35 on the transmission seat 3, the second clamping groove 45 is clamped with the sliding seat 35, so as to be fixed with the sliding seat 35.
because the sliding seat 35 is slidably connected with the transmission seat 3, when the sliding seat 35 makes a linear reciprocating motion, the sliding seat drives the instrument rod 41 to make a linear reciprocating motion, and the linear reciprocating motion is converted into swinging motion (i.e. rotating around the Z axis) at the end part of the instrument rod 41.
the pushing rod 46 has one end connected to the sliding seat 35 and the other end connected to the instrument 42, and when the sliding seat 35 moves, the pushing rod 46 is driven to move, so as to pull or push the instrument 42, and the instrument 42 is swung.
Specifically, as shown in fig. 2 and 3, the instrument rod 41 includes an outer tube 411 and an inner tube 414 coaxially disposed in the outer tube 411, a rotating head 412 is disposed at a first end of the outer tube 411, a limiting head 413 is disposed at a second end of the outer tube, a limiting ring 416 is disposed on an outer wall of the limiting head 413, and the first engaging groove 44 is disposed on the limiting ring 416 and engaged with the positioning protrusion 331 of the rotating shaft 33.
The inner tube 414 is disposed in the outer tube 411, and a first end of the inner tube 414 extends out of the outer tube 411 and enters the rotary head 412 to contact with a collar inside the rotary head 412; the second end of the inner tube 414 is disposed outside the retaining head 413 and contacts the end surface of the retaining ring 416, such that the inner tube 414 is retained between the rotating head 412 and the retaining head 413.
Since the outer diameter of the inner tube 414 is the same as the inner diameter of the outer tube 411, the inner tube 414 and the outer tube 411 are tightly fitted to each other and can rotate together.
Further, the first end of the inner tube 414 is further opened with a groove 415 extending along the axial direction of the inner tube 414, the groove 415 is located at a position on the inner tube 414 corresponding to the swinging lever 463, and the groove 415 is to avoid interference with the swinging lever 463 described below.
The push rod 46 is coaxially disposed inside the inner tube 414, and a first end of the push rod 46 is provided with an adapter 461, the adapter 461 being disposed in the inner tube 414.
As shown in fig. 3, a swing rod 463 is connected to an end of the adapter 461, the swing rod is hinged to a side of the clamping head 465, the instrument 42 is connected to a first end of the clamping head 465, and a second end of the clamping head 465 is rotatably connected to the rotating head 412, so that when the swing rod 463 is under the action of pushing force or pulling force, the clamping head 465 drives the instrument 42 to rotate around a joint of the instrument 42 and the rotating head 412, thereby enabling the instrument 42 to rotate around the Z axis.
Specifically, the two sides of the clamping head 465 are respectively provided with a connection plane 464, the upper end of the rotating head 412 is provided with an open slot 417, the end of the clamping head 465 is disposed in the open slot 417, the connection plane 464 is in contact with the inner wall of the open slot 417, and the rotating head 412 is connected with the connection plane 464 through a pin, so that the clamping head 465 can rotate by using the axis of the pin as a rotation axis.
the second end of the pushing rod 46 passes through the inner tube 414 and the limiting head 413 in sequence, and is connected with the clamping tube 262 outside the limiting head 413. Specifically, the second end of the push rod 46 extends into the bayonet tube 462 to contact a collar inside the bayonet tube 462; the second engaging groove 45 is disposed on an outer wall of the engaging tube 462, and is engaged with the first engaging hole 351 of the sliding seat 35.
The inner diameter of the clamping tube 462 is the same as the outer diameter of the pushing rod 46, so that when the sliding seat 35 moves and pulls the clamping tube 462 to move linearly, the pushing rod 46 also moves linearly, that is, the movement of the sliding seat 35 makes the pushing rod 46 move along the axis thereof, so that the swinging rod 463 is under the action of pushing force or pulling force, and the clamping head 465 drives the instrument 42 to rotate.
In this embodiment, the first end refers to the end near the instrument 42 and the second end refers to the end away from the instrument 42.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the particular embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (10)
1. An instrument connecting mechanism for a laparoscopic surgery robot is characterized by comprising a rotating mechanism and a swinging mechanism arranged in the rotating mechanism, wherein the rotating mechanism is rotatably connected with a transmission seat, one end of the swinging mechanism is hinged with a clamping head at the upper end of the rotating mechanism, and the other end of the swinging mechanism is fixedly connected with a sliding seat which is slidably arranged on the transmission seat; the end of the clamping head is used for clamping an instrument.
2. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 1, wherein said rotating mechanism comprises an instrument rod, said instrument rod being connected to a rotating shaft on the driving mount.
3. The instrument connecting mechanism for the laparoscopic surgery robot according to claim 2, wherein a first locking groove is formed on an outer wall of the instrument rod, a positioning protrusion is formed on the rotating shaft, and the first locking groove is engaged with the positioning protrusion.
4. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 2 or 3, wherein said instrument rod comprises an outer tube and an inner tube disposed in said outer tube, an end of said outer tube is provided with a rotating head, and said gripping head is hinged with said rotating head.
5. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 4, wherein an open slot is provided on said rotation head, and an end of said clamping head remote from said instrument is disposed in said open slot.
6. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 4, wherein said swing mechanism comprises a push rod coaxially disposed in said inner tube, said push rod being connected at one end to a sliding seat slidably disposed on an actuator seat and hinged at the other end to said gripping head.
7. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 6, wherein an adapter is provided at an end of said push rod close to said instrument, said adapter is provided in said inner tube, and a swing lever is connected to an end of said adapter.
8. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 6, wherein an end of said push rod remote from said instrument is provided with a bayonet tube, said bayonet tube being connected to said sliding seat.
9. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 7, wherein a groove is provided at a position corresponding to the swing lever on the inner tube.
10. The instrument connecting mechanism for a laparoscopic surgical robot according to claim 8, wherein a second catching groove to be caught to the sliding seat is provided on an outer wall of the catching tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821628193.5U CN209734138U (en) | 2018-10-09 | 2018-10-09 | Instrument connecting mechanism for laparoscopic surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821628193.5U CN209734138U (en) | 2018-10-09 | 2018-10-09 | Instrument connecting mechanism for laparoscopic surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209734138U true CN209734138U (en) | 2019-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821628193.5U Active CN209734138U (en) | 2018-10-09 | 2018-10-09 | Instrument connecting mechanism for laparoscopic surgery robot |
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| CN (1) | CN209734138U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022082374A1 (en) * | 2020-10-19 | 2022-04-28 | 诺创智能医疗科技(杭州)有限公司 | Drive assembly, actuator, and surgical robot |
| CN116392250A (en) * | 2023-03-10 | 2023-07-07 | 极限人工智能有限公司 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
-
2018
- 2018-10-09 CN CN201821628193.5U patent/CN209734138U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022082374A1 (en) * | 2020-10-19 | 2022-04-28 | 诺创智能医疗科技(杭州)有限公司 | Drive assembly, actuator, and surgical robot |
| CN116392250A (en) * | 2023-03-10 | 2023-07-07 | 极限人工智能有限公司 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
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