CN211583476U - Vertical telescopic joint and minimally invasive surgery robot with same - Google Patents
Vertical telescopic joint and minimally invasive surgery robot with same Download PDFInfo
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- CN211583476U CN211583476U CN201921439081.XU CN201921439081U CN211583476U CN 211583476 U CN211583476 U CN 211583476U CN 201921439081 U CN201921439081 U CN 201921439081U CN 211583476 U CN211583476 U CN 211583476U
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000001356 surgical procedure Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model relates to a vertical telescopic joint and a minimally invasive surgery robot with the vertical telescopic joint, which solves the technical problems of complicated structure, large volume, high cost and low precision of a manual adjusting device for adjusting the pose of an instrument mechanical arm in the existing minimally invasive surgery robot, and comprises a base, a ball screw, a band-type brake, an assistance shaft, an assistance motor and an arm connecting seat, wherein the top of the base is fixedly connected with a spline housing which is connected with a spline shaft, the lower end of the spline shaft is fixedly connected with a spline shaft seat, the ball screw is connected with the base through two screw supporting seats, the ball screw is connected with a nut seat, the spline shaft seat is fixedly connected with the nut seat, the band-type brake is fixedly connected with the bottom of the base, the assistance shaft is fixedly connected with the lower end of the ball screw, the assistance shaft passes through the shaft hole of the band-type brake, the assistance motor is fixedly connected with the base, the, the arm connecting seat is connected with the spline shaft. The utility model discloses extensively be used for medical instrument technical field.
Description
Technical Field
The utility model relates to a minimal access surgery operation machine technical field particularly, relates to a vertical telescopic joint and have vertical telescopic joint's minimal access surgery robot.
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 an instrument robot arm of a patient console to perform various surgical actions by operating the surgeon console.
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.
Before and during the operation, the pose of an instrument mechanical arm of the minimally invasive surgery robot can be manually adjusted to adapt to the incision positions of different operation parts of a patient. However, the existing manual adjusting device has the technical problems of complex structure, large volume, high cost, low precision and the like.
Disclosure of Invention
The utility model discloses be exactly for solving the manual adjusting device structure complicacy, bulky among the current minimal access surgery robot that is arranged in adjusting the apparatus arm position appearance, with high costs, technical problem that the precision is low provides a simple structure, small, with low costs, easy operation, the high vertical expansion joint of precision and has vertical expansion joint's minimal access surgery robot.
The utility model provides a vertical telescopic joint, which comprises a base, a spline housing, a spline shaft seat, a ball screw and an upper screw supporting seat, the brake comprises a lower screw rod supporting seat, a nut seat, a band-type brake, a power-assisted shaft, a power-assisted motor and an arm connecting seat, wherein the spline sleeve is fixedly connected with the top of a base, the spline shaft penetrates through the spline sleeve, the spline shaft seat is fixedly connected with the lower end of the spline shaft, the upper screw rod supporting seat is fixedly connected with the top of the base, the lower screw rod supporting seat is fixedly connected with the bottom of the base, the upper end of a ball screw is connected with the upper screw rod supporting seat, the lower end of the ball screw is connected with the lower screw rod supporting seat, the nut seat is connected with the ball screw rod, the spline shaft seat is fixedly connected with the nut seat, the band-type brake is fixedly connected with the bottom of the base, the band-type brake is provided with a band-type brake block and a; the power-assisted motor is fixedly connected with the base, an output shaft of the power-assisted motor is connected with the lower end of the power-assisted shaft through a transmission mechanism, and the arm connecting seat is connected with the upper end of the spline shaft.
Preferably, the transmission mechanism between the booster motor and the booster shaft is a gear transmission mechanism.
Preferably, the gear transmission mechanism comprises a first gear, a second gear and an intermediate gear, the second gear is fixedly connected with the lower end of the power-assisted shaft, the first gear is connected with an output shaft of the power-assisted motor, the intermediate gear is rotatably connected with the bottom end face of the base, the intermediate gear is meshed with the first gear, and the second gear is meshed with the intermediate gear.
Preferably, the booster motor is a servo motor.
Preferably, the spline shaft is hollow.
Preferably, the vertical telescopic joint further comprises an intermediate gear seat and an adjusting screw, the second gear is fixedly connected with the power-assisted shaft through a gear bushing, the base is provided with a sliding groove and a screw mounting hole, the intermediate gear seat is arranged in the sliding groove of the base, the intermediate gear is rotatably connected with the intermediate gear seat, a threaded hole is formed in the side face of the intermediate gear seat, the adjusting screw is arranged in the screw mounting hole of the base, and the adjusting screw is connected with the threaded hole in the side face of the intermediate gear seat.
The utility model also provides a minimally invasive surgery robot with a vertical telescopic joint, which comprises a vertical telescopic joint and an mechanical arm; the vertical telescopic joint comprises a base, a spline sleeve, a spline shaft seat, a ball screw, an upper screw rod supporting seat, a lower screw rod supporting seat, a nut seat, a band-type brake, a booster shaft, a booster motor and an arm connecting seat, the spline housing is fixedly connected with the top of the base, the spline shaft penetrates through the spline housing, the spline shaft seat is fixedly connected with the lower end of the spline shaft, the upper lead screw supporting seat is fixedly connected with the top of the base, the lower lead screw supporting seat is fixedly connected with the bottom of the base, the upper end of a ball screw is connected with the upper lead screw supporting seat, the lower end of the ball screw is connected with the lower lead screw supporting seat, the nut seat is connected with the ball screw, the spline shaft seat is fixedly connected with the nut seat, the band-type brake is fixedly connected with the bottom of the base, the band-type brake is provided with a band-type brake block and a shaft hole, the power-assisted shaft is fixedly connected with the lower end of the ball screw; the power-assisted motor is fixedly connected with the base, and an output shaft of the power-assisted motor is connected with the lower end of the power-assisted shaft through a transmission mechanism; the arm connecting seat is connected with the upper end of the spline shaft;
the arm is connected with the arm connecting seat.
Preferably, the transmission mechanism between the booster motor and the booster shaft is a gear transmission mechanism.
Preferably, the gear transmission mechanism comprises a first gear, a second gear and an intermediate gear, the second gear is fixedly connected with the lower end of the power-assisted shaft, the first gear is connected with an output shaft of the power-assisted motor, the intermediate gear is rotatably connected with the bottom end face of the base, the intermediate gear is meshed with the first gear, and the second gear is meshed with the intermediate gear.
Preferably, the booster motor is a servo motor.
Preferably, the robotic arm is an instrument robotic arm or a physician robotic arm.
Preferably, the minimally invasive surgery robot with the vertical telescopic joint further comprises an intermediate gear seat and an adjusting screw, the second gear is fixedly connected with the power-assisted shaft through a gear bushing, the base is provided with a sliding groove and a screw mounting hole, the intermediate gear seat is arranged in the sliding groove of the base, the intermediate gear is rotatably connected with the intermediate gear seat, a threaded hole is formed in the side face of the intermediate gear seat, the adjusting screw is arranged in the screw mounting hole of the base, and the adjusting screw is connected with the threaded hole in the side face of the intermediate gear seat.
The beneficial effects of the utility model are that, simple structure, light and handy, it is small, with low costs, can be very easy the position of hand regulation arm, the regulation precision is high to it is little to have the movement resistance, and the noise is low, does not have the return stroke clearance, and the precision is high, characteristics that the reliability is high. In addition, the lock also has a locking function.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic structural view of a minimally invasive surgical robot with vertical telescopic joints;
FIG. 2 is a schematic view of an optimized connection between the first gear, the second gear and the intermediate gear;
FIG. 3 is a schematic view of the connection of the adjustment screw to the intermediate gear holder in the configuration of FIG. 2;
fig. 4 is a schematic view of the connection of the intermediate gear to the intermediate gear holder.
The symbols in the drawings illustrate that:
1. the brake comprises a vertical telescopic joint, 101, a base, 102, a spline sleeve, 103, a spline shaft, 104, a spline shaft seat, 105, a ball screw, 106, an upper screw rod supporting seat, 107, a lower screw rod supporting seat, 108, a nut seat, 109, a band-type brake, 109-1, a band-type brake block, 110, a power-assisted shaft, 111, a first gear, 112, a second gear, 113, an intermediate gear, 114, a power-assisted motor and 115, and an arm connecting seat; 2. a mechanical arm; 3. the gear comprises a first axis, a third axis, a fourth axis, a gear bushing, a middle gear seat, a threaded hole, 8 adjusting screws, 101-1 sliding grooves and 101-2 screw mounting holes, wherein the first axis is 4, the third axis is 5, the fourth axis is 6, the gear bushing is 7, the middle gear seat is 7, the threaded hole is 7-1, the adjusting screws are 8, and the sliding grooves are 101-1 and.
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, the minimally invasive surgery robot with a vertical telescopic joint comprises a vertical telescopic joint 1 and a mechanical arm 2, wherein the vertical telescopic joint 1 comprises a base 101, a spline housing 102, a spline shaft 103, a spline shaft seat 104, a ball screw 105, an upper lead screw support seat 106, a lower lead screw support seat 107, a nut seat 108, a brake 109, a booster shaft 110, a first gear 111, a second gear 112, a middle gear 113, a booster motor 114 and an arm connection seat 115, the spline housing 102 is fixedly connected with the top of the base 101 through screws, the spline shaft 103 passes through the spline housing 102 to be connected, the spline shaft seat 104 is fixedly connected with the lower end of the spline shaft 103 through screws, the upper lead screw support seat 106 is fixedly connected with the top of the base 101, the lower lead screw support seat 107 is fixedly connected with the bottom of the base 101, the upper end of the ball screw 105 is connected with a bearing in the upper lead screw support seat 106, the lower end of the ball screw 105, the nut seat 108 is connected with the ball screw 105, the spline shaft seat 104 is fixedly connected with the nut seat 108 through a screw, the brake 109 is fixedly installed at the bottom of the base 101 through screws, the brake 109 is provided with a brake block 109-1 and a shaft hole, the booster shaft 110 is fixedly connected with the lower end of the ball screw 105, the booster shaft 110 penetrates through the shaft hole of the brake 109, the brake block 109-1 of the brake 109 is connected with the booster shaft 110 through a flat key, the second gear 112 is fixedly connected with the lower end of the booster shaft 110, the booster motor 114 is fixedly connected with the lower portion of the base 101 through screws, the first gear 111 is connected with an output shaft of the booster motor 114, the intermediate gear 113 is rotatably connected with the end face of the bottom of the base 101, the intermediate gear 113 is meshed with the first gear 111, the second gear 112 is meshed with the intermediate gear 113, and the arm connecting seat 115 is connected with the upper end of the spline shaft 103 (preferably, screws are used for. The robot arm 2 is mounted on the arm connecting base 115, and the robot arm 2 may be fixedly connected, slidably connected, rotatably connected, etc. with the arm connecting base 115 by using a known structure.
The robotic arm 2 may be an instrument robotic arm or a physician robotic arm.
The locking of the vertical telescopic joint is realized by means of the locking function of the band-type brake, the band-type brake 109 can lock the ball screw 105, and when the power is off, the band-type brake block 109-1 in the band-type brake 109 is tightly held, the ball screw 105 cannot rotate, and the spline shaft 103 cannot move up and down. The band-type brake 109 is electrified, the band-type brake block 109-1 is released, the ball screw 105 rotates to drive the power-assisted shaft 110 to rotate, the second gear 112 rotates along with the power-assisted shaft 110, and the second gear 112 drives the first gear 111 to rotate through the intermediate gear 113. The ball screw has high transmission efficiency and small friction, so that the nut seat 108 can drive the ball screw and the power-assisted shaft 110 to rotate around the axis three 4 while performing linear motion.
When the vertical telescopic joint 1 works, the power-assisted motor 114 is driven to work through an external motor controller, the output torque of the power-assisted motor 114 is transmitted to the ball screw 105 through the first gear 111, the middle gear 113 and the second gear 112, and is converted into upward thrust along the first axis 3 and the third axis 4 through the nut seat 108 so as to overcome the gravity of the spline shaft seat 104, the spline shaft 103, the arm connecting seat 115 and the mechanical arm 2 which are combined together, and then the band-type brake 109 is electrified to release a band-type brake block; an operator slightly forcibly moves the arm connecting seat 115 upwards or downwards manually along the direction of the first axis 3 to drive the spline shaft seat 104, the spline shaft 103, the nut seat 108, the arm connecting seat 115 and the mechanical arm 2 to move upwards or downwards integrally along the first axis 3; after the mechanical arm 2 is adjusted to a certain position, the power of the brake 109 is cut off (the brake block of the brake 109 is tightly held), the power-assisted motor 114 stops outputting torque, the ball screw 105 cannot rotate, and then the spline shaft 103, the arm connecting seat 115 and the mechanical arm 2 are restrained from moving.
The ball screw has high precision, no transmission clearance, high motion precision of the vertical telescopic joint and flexible motion.
The assist motor 114 is preferably a servo motor.
The spline shaft 103 is preferably hollow to reduce weight, and the hollow position can also be used for threading wires.
The intermediate gear, namely three gears are preferably arranged, so that the size of each gear can be reduced, the corresponding structural size is reduced, and the meshing effect among the gears can be improved. If only two gears, i.e., the first gear 111 and the second gear 112, are provided, the respective diameters of the two gears become large, the structural size becomes large, and poor meshing is likely to occur.
It should be noted that, as shown in fig. 2-4, the optimized connection and matching manner among the first gear 111, the second gear 112 and the intermediate gear 113 is that the second gear 112 is fixedly connected with the power-assisted shaft 110 through the gear bushing 6 and can rotate together with the power-assisted shaft 110. The intermediate gear 113 is rotatably mounted on the intermediate gear holder 7 through a bearing. The intermediate gear seat 7 is mounted in the slide groove 101-1 of the base 101 and can move back and forth in the slide groove 101-1 in the direction of the axis line four 5. The intermediate gear 113 can adjust the meshing relationship with the first gear 111 and the second gear 112, eliminate the gear transmission clearance and improve the reliability. The side surface of the intermediate gear seat 7 is provided with a threaded hole 7-1, the base 101 is provided with a screw mounting hole 101-2, the screw mounting hole 101-2 is aligned with the sliding groove 101-1, the adjusting screw 8 is arranged in the screw mounting hole 101-2, and the adjusting screw 8 is connected with the threaded hole 7-1 on the side surface of the intermediate gear seat 7. After the intermediate gear seat 7 is installed in the chute 101-1, the position of the intermediate gear 113 can be adjusted and locked by pulling or pushing the intermediate gear seat 7 by rotating the adjusting screw 8.
It should be noted that the transmission between the assist motor 114 and the ball screw 105 may be replaced by another transmission mechanism in addition to the gear transmission.
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 (12)
1. A vertical telescopic joint is characterized by comprising a base, a spline housing, a spline shaft seat, a ball screw, an upper screw rod supporting seat, a lower screw rod supporting seat, a nut seat, a band-type brake, a power-assisted shaft, a power-assisted motor and an arm connecting seat, wherein the spline housing is fixedly connected with the top of the base, the spline shaft penetrates through the spline housing, the spline shaft seat is fixedly connected with the lower end of the spline shaft, the upper screw rod supporting seat is fixedly connected with the top of the base, the lower screw rod supporting seat is fixedly connected with the bottom of the base, the upper end of the ball screw is connected with the upper screw rod supporting seat, the lower end of the ball screw is connected with the lower screw rod supporting seat, the nut seat is connected with the ball screw, the spline shaft seat is fixedly connected with the nut seat, the band-type brake is fixedly connected with the bottom of the base, the band-type brake, the power-assisted shaft penetrates through a shaft hole of the band-type brake, and a band-type brake block of the band-type brake is connected with the power-assisted shaft; the power-assisted motor is fixedly connected with the base, an output shaft of the power-assisted motor is connected with the lower end of the power-assisted shaft through a transmission mechanism, and the arm connecting seat is connected with the upper end of the spline shaft.
2. The vertical telescopic joint according to claim 1, wherein the transmission between the booster motor and the booster shaft is a gear transmission.
3. The vertical telescopic joint as claimed in claim 2, wherein the gear transmission mechanism comprises a first gear, a second gear and an intermediate gear, the second gear is fixedly connected with the lower end of the power-assisted shaft, the first gear is connected with the output shaft of the power-assisted motor, the intermediate gear is rotatably connected with the bottom end face of the base, the intermediate gear is meshed with the first gear, and the second gear is meshed with the intermediate gear.
4. A vertical expansion joint according to claim 1, 2 or 3, characterized in that the booster motor is a servo motor.
5. The vertical expansion joint according to claim 1, 2 or 3, characterized in that the spline shaft is hollow.
6. The vertical telescopic joint as claimed in claim 3, further comprising an intermediate gear seat and an adjusting screw, wherein the second gear is fixedly connected with the power-assisted shaft through a gear bushing, the base is provided with a sliding groove and a screw mounting hole, the intermediate gear seat is arranged in the sliding groove of the base, the intermediate gear is rotatably connected with the intermediate gear seat, a threaded hole is formed in the side surface of the intermediate gear seat, the adjusting screw is arranged in the screw mounting hole of the base, and the adjusting screw is connected with the threaded hole in the side surface of the intermediate gear seat.
7. A minimally invasive surgery robot with a vertical telescopic joint is characterized by comprising a vertical telescopic joint and a mechanical arm; the vertical telescopic joint comprises a base, a spline housing, a spline shaft seat, a ball screw, an upper lead screw supporting seat, a lower lead screw supporting seat, a nut seat, a band-type brake, a power-assisted shaft, a power-assisted motor and an arm connecting seat, wherein the spline housing is fixedly connected with the top of the base, the spline shaft penetrates through the spline housing, the spline shaft seat is fixedly connected with the lower end of the spline shaft, the upper lead screw supporting seat is fixedly connected with the top of the base, the lower lead screw supporting seat is fixedly connected with the bottom of the base, the upper end of the ball screw is connected with the upper lead screw supporting seat, the lower end of the ball screw is connected with the lower lead screw supporting seat, the nut seat is connected with the ball screw, the spline shaft seat is fixedly connected with the nut seat, the band-type brake is fixedly connected with the bottom of the base, the band-, the power-assisted shaft penetrates through a shaft hole of the band-type brake, and a band-type brake block of the band-type brake is connected with the power-assisted shaft; the power-assisted motor is fixedly connected with the base, and an output shaft of the power-assisted motor is connected with the lower end of the power-assisted shaft through a transmission mechanism; the arm connecting seat is connected with the upper end of the spline shaft;
the mechanical arm is connected with the arm connecting seat.
8. The minimally invasive surgical robot with the vertical telescopic joint according to claim 7, wherein the transmission mechanism between the power-assisted motor and the power-assisted shaft is a gear transmission mechanism.
9. The minimally invasive surgical robot with the vertical telescopic joint according to claim 8, wherein the gear transmission mechanism comprises a first gear, a second gear and an intermediate gear, the second gear is fixedly connected with the lower end of the power-assisted shaft, the first gear is connected with an output shaft of the power-assisted motor, the intermediate gear is rotatably connected with the end face of the bottom of the base, the intermediate gear is meshed with the first gear, and the second gear is meshed with the intermediate gear.
10. The minimally invasive surgical robot with a vertical telescopic joint according to claim 7, 8 or 9, characterized in that the power motor is a servo motor.
11. The minimally invasive surgical robot having a vertical telescopic joint according to claim 10, wherein the robotic arm is an instrument robotic arm or a doctor robotic arm.
12. The minimally invasive surgery robot with the vertical telescopic joint according to claim 9, further comprising an intermediate gear seat and an adjusting screw, wherein the second gear is fixedly connected with the assistance shaft through a gear bushing, the base is provided with a chute and a screw mounting hole, the intermediate gear seat is arranged in the chute of the base, the intermediate gear is rotatably connected with the intermediate gear seat, a threaded hole is formed in the side surface of the intermediate gear seat, the adjusting screw is arranged in the screw mounting hole of the base, and the adjusting screw is connected with the threaded hole in the side surface of the intermediate gear seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921439081.XU CN211583476U (en) | 2019-08-30 | 2019-08-30 | Vertical telescopic joint and minimally invasive surgery robot with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921439081.XU CN211583476U (en) | 2019-08-30 | 2019-08-30 | Vertical telescopic joint and minimally invasive surgery robot with same |
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| CN211583476U true CN211583476U (en) | 2020-09-29 |
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| CN201921439081.XU Active CN211583476U (en) | 2019-08-30 | 2019-08-30 | Vertical telescopic joint and minimally invasive surgery robot with same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110403697A (en) * | 2019-08-30 | 2019-11-05 | 山东威高手术机器人有限公司 | Vertical telescopic joint and the micro-wound operation robot with vertical telescopic joint |
| CN113048210A (en) * | 2021-03-10 | 2021-06-29 | 极限人工智能有限公司 | Structure module for multi-shaft transmission torque and push-pull force transmission |
| CN113729953A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Initial adjustment vertical arm of surgical robot |
-
2019
- 2019-08-30 CN CN201921439081.XU patent/CN211583476U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110403697A (en) * | 2019-08-30 | 2019-11-05 | 山东威高手术机器人有限公司 | Vertical telescopic joint and the micro-wound operation robot with vertical telescopic joint |
| CN113048210A (en) * | 2021-03-10 | 2021-06-29 | 极限人工智能有限公司 | Structure module for multi-shaft transmission torque and push-pull force transmission |
| CN113048210B (en) * | 2021-03-10 | 2022-03-15 | 极限人工智能有限公司 | Structure module for multi-shaft transmission torque and push-pull force transmission |
| CN113729953A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Initial adjustment vertical arm of surgical robot |
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