CN210872028U - Switching device - Google Patents

Abstract

The utility model relates to a switching device, it has solved the current minimally invasive surgery robot security low, the technical problem of maloperation takes place easily, it includes the grip seat, the slider, the contact switch, compression spring, first linear bearing, the second linear bearing, first screw and second screw, the grip seat is equipped with primary shaft and secondary shaft, the contact switch is connected with the grip seat, first linear bearing is connected with the slider, the second linear bearing is connected with the slider, the first linear bearing is nested on the primary shaft, the second linear bearing is nested on the secondary shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod. The utility model discloses extensively be used for medical instrument technical field.

Description

Switching device

Technical Field

The utility model relates to a manipulation method technical field of minimally invasive surgery robot control surgical instrument particularly, relates to a switching device.

Background

Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.

Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.

Surgical instruments are an integral tool of surgical procedures that can perform various functions including clamping, cutting, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation. During the operation, if the doctor does not intend to input the unnecessary signals through the doctor operating table, the input signals are transmitted to control the surgical instruments to perform the operation, and the surgeon cannot prevent the surgical instruments from performing the operation, so that the danger of the remote operation is increased. Therefore, how to prevent the surgical instrument from being operated due to the inadvertent operation of the surgeon has become a technical problem to be solved by those skilled in the art to improve the safety of controlling the surgical instrument.

Disclosure of Invention

The utility model provides a switch device for solving the technical problems of low safety and easy misoperation of the existing robot system for minimally invasive surgery.

The utility model provides a switching device, including the grip seat, slider, contact switch, compression spring, first linear bearing, second linear bearing, first screw and second screw, the grip seat is equipped with primary shaft and secondary shaft, the contact switch is connected with the grip seat, first linear bearing is connected with the slider, the second linear bearing is connected with the slider, first linear bearing is nested on the primary shaft, the second linear bearing is nested on the secondary shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod.

Preferably, the switching device further comprises a main controller, and the contact switch is connected with the main controller through a signal line.

Preferably, the main controller is connected with a reminding device.

Preferably, the reminding device is an LED indicator light or a buzzer

The beneficial effects of the utility model are that, the utility model discloses on being applied to the minimally invasive surgery robot, the security of operation that can improve only holds the terminal wrist of doctor's arm and shakes hands when the doctor with the hand, just can operate doctor's arm and implement the operation. The utility model discloses can also use in other circuit systems, provide the switching value signal.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a general schematic view of a minimally invasive surgical robotic system;

FIG. 2 is a schematic structural view of the surgical instrument;

FIG. 3 is a schematic diagram of the connection of a main controller, a main control panel, an LED indicator light and a buzzer;

FIG. 4 is a schematic view of the structure of a wrist;

FIG. 5 is a partial cross-sectional view of the grip of the wrist shown in FIG. 4;

FIG. 6 is a schematic diagram of the structure of the handshake of FIG. 4;

figure 7 is a partial cross-sectional view of the grip of figure 6.

Fig. 8 is a partial enlarged view at P in fig. 7.

The symbols in the drawings illustrate that:

10. the minimally invasive surgical robot system comprises a minimally invasive surgical robot system 100, a doctor operating table 110, a base 120, a stand column 130, an armrest 140, a left doctor mechanical arm 150, a right doctor mechanical arm 160, a display 170, a main controller 200, a patient operating table 210, a base 210, a 220 lifting column 230, a suspension arm 240, a left patient mechanical arm 250, a right patient mechanical arm 300 and a surgical instrument.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.

As shown in fig. 1, a minimally invasive surgical robotic system 10 includes a surgeon console 100, a patient console 200, and accessories. The doctor operating table 100 comprises a base 110, a column 120, an armrest 130, a left doctor mechanical arm 140, a right doctor mechanical arm 150, a display 160 and a main controller 170; the left doctor arm 140 is provided with a wrist 141 as an input means, and the right doctor arm 150 is also provided with a wrist; a main control panel 131 is connected to the armrest 130. The patient table 200 includes a base 210, a lifting column 220, a hanger arm 230 and a left patient robot 240, a right patient robot 250, and an electrical control system (not shown); the accessories include surgical instrument 300, a sterile protective sheath (not shown). The surgeon converts the motion information of the surgeon's hand into control signals through two sets of surgeon robot arms (left surgeon robot arm 140, right surgeon robot arm 150) on the surgeon console 100, and transmits the control signals to the main controller for controlling two sets of patient robot arms (left patient robot arm 240, right patient robot arm 250) on the patient console 200 to operate the surgical instrument 300 to perform the surgery. Display 160 is used for the surgeon to view a three-dimensional image of the surgical site.

As shown in fig. 2, the surgical instrument 300 has a different configuration that includes an instrument cartridge 310, an instrument shaft 320, a wrist 330, and an execution tip 340. The instrument cartridge 310 is the portion of the instrument that engages with the patient robotic arm instrument adapter; the instrument lever 320 is a rotating arm of the instrument; the wrist section 330 is a connecting wrist section simulating a human wrist design; the actuation end 340 is a distal effector of the instrument (e.g., needle holder, grasper, electrical hook, electrocoagulation forceps). The movement of the physician control input device (wrist 141) is thereby translated into movement of the wrist 330.

As shown in fig. 3, the main control panel 131 is connected to the main controller 170, the contact switch 14123 is connected to the main controller 170 through a signal line, the LED indicator 132 is connected to the main controller 170, and the buzzer 133 is connected to the main controller 170. The LED indicator 132 may be mounted on the armrest 130 or may be mounted elsewhere. The buzzer 133 may be mounted on the armrest 130 or may be mounted in other positions. The main control panel 131 is provided with keys for starting, stopping, raising, lowering, and the like.

As shown in fig. 4-8, the wrist 141 as an input device is a motion interactive interface between the surgeon and the left patient robotic arm 240, which can convert the movement information of the surgeon's hand into control signals for controlling the left patient robotic arm 240 and the surgical instrument 300. The wrist 141 comprises a wrist 1411, a grip 1412, an opening and closing part 1413, a first connecting rod 1414 and a second connecting rod 1415, wherein one end of the first connecting rod 1414 is rotatably mounted at the bottom of the wrist 1411 through a bearing, one end of the second connecting rod 1415 is rotatably mounted at the upper part of the first connecting rod 1414 through a bearing, the grip 1412 is fixedly connected with the upper part of the second connecting rod 1415, the opening and closing part 1413 is rotatably mounted at the bottom of the second connecting rod 1415 through a bearing, a third motor is mounted in the second connecting rod 1415 and connected with the opening and closing part 1413 through a bevel gear, and the opening and closing angle of the opening and closing part 1413 can be measured through a sensor mounted in the opening and closing part 1413. The bottom of the wrist 1411 is fitted with a first motor which is connected to a first link 1414 by a bevel gear. The first link 1414 has a second motor mounted therein, which is connected to the second link 1415 by a bevel gear. The wrist 1411 is fixedly mounted on the body of the left surgeon arm 140. Handshake 1412, which is a surgeon holding and holding with a hand that may initiate a master-slave tracking mode, is used to input a first signal indicating that the surgeon is ready to manipulate the surgical instrument; the opening/closing portion 1413 is configured to control the engagement and disengagement of the surgical instrument, and is configured to input a second signal indicating that the surgeon is ready to operate the surgical instrument to perform the surgical procedure, and the opening/closing portion 1413 may be configured according to the prior art.

The grip 1412 comprises a grip seat 14121, a slider 14122, a contact switch 14123, a compression spring 14124, a first linear bearing 14125, a second linear bearing 14126, a first screw 14127 and a second screw 14128, wherein the grip seat 14121 is provided with a first shaft 14121-1 and a second shaft 14121-2, the contact switch 14123 is fixedly installed in the grip seat 14121, the first linear bearing 14125 is connected with the slider 14122, the second linear bearing 14126 is connected with the slider 14122, the first linear bearing 14125 is sleeved on the first shaft 14121-1 (the first linear bearing 14125 can slide along the first shaft 14121-1), the second linear bearing 14126 is sleeved on the second shaft 14121-2 (the second linear bearing 14126 can slide along the second shaft 14121-2), the compression spring 14124 is connected between the grip seat 14121 and the slider 14122, the slider 14122 is provided with a first screw hole 14122-1 and a second screw hole, the first screw hole 14122-1 is provided with a step 14122-1, the second screw hole is also provided with a step, the first screw 14127 is located in the first screw hole of the slider 14122, and the second screw 14128 is located in the second screw hole of the slider 14122; the first screw 14127 is threadably connected to the first shaft 14121-1 and the second screw 14128 is threadably connected to the second shaft 14121-2. The grip 14121 is fixedly attached to the second link 1415. The degree of compression of the compression spring 14124 can be adjusted by rotating the first and second screws 14127, 14128, so that the amount of pressure required to make the slider 14122 touch the contact switch 14123 can be adjusted, and thus the applicability can be enhanced.

When a doctor holds the grip holder 14121 with a hand and presses the sliding block 14122 with a finger, the sliding block 14122 moves towards the direction of the contact switch 14123, the compression spring 14124 is compressed to store energy, when the sliding block 14122 touches the contact switch 14123, the contact switch 14123 is triggered, a first input signal is generated and sent to the main controller 170, the main controller 170 outputs an enabling signal to power utilization units in the doctor mechanical arm and the patient mechanical arm, and meanwhile, the main controller 170 instructs the LED indicator light 132 or the buzzer 133 to work so as to remind the doctor, and at the moment, the doctor can operate the opening and closing part 1413, the first connecting rod 1414 and the second connecting rod 1415 on the doctor mechanical arm and the grip so as to control the actions of the patient mechanical arm and the surgical instrument; this configuration ensures that the master-slave tracking mode can only be activated when the surgeon grasps and holds the push button 14122, i.e., the surgeon can operate the switch 1413 to operate the surgical instrument to perform the procedure after generating the first input signal. This prevents the surgeon from inadvertently inputting unwanted signals through the surgeon's console, increasing the safety of the teleoperation of the surgical instrument. After a certain time of the operation, the surgeon releases his finger and, under the action of the compression spring 14124, the slider 14122 moves to the initial position (to a position away from the contact switch 14123) and the contact switch 14123 is not activated. Step 14122-1-1 in first screw hole 14122-1 on slider 14122 abuts against the tail of first screw 14127, that is, the tail of first screw 14127 blocks slider 14122, so as to realize limiting (the step in the second screw hole has the same function as step 14122-1-1, and will not be described again).

Note that, the warning device may be provided in another manner other than the LED indicator 132 or the buzzer 133.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.

Claims (4)

1. A switching device is characterized by comprising a handle seat, a sliding block, a contact switch, a compression spring, a first linear bearing, a second linear bearing, a first screw and a second screw, wherein the handle seat is provided with a first shaft and a second shaft; the compression spring is connected between the handle seat and the sliding block, the sliding block is provided with a first screw hole and a second screw hole, the first screw hole is provided with a step, the second screw hole is provided with a step, the first screw is positioned in the first screw hole of the sliding block, and the second screw is positioned in the second screw hole of the sliding block; the first screw is connected with the first shaft, and the second screw is connected with the second shaft; the handle seat is fixedly connected with the second connecting rod.

2. The switching device according to claim 1, further comprising a main controller, wherein the contact switch is connected to the main controller through a signal line.

3. The switching device according to claim 2, wherein a reminder device is connected to the main controller.

4. The switching device according to claim 3, wherein the reminding device is an LED indicator lamp or a buzzer.

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