CN211750044U

CN211750044U - Drive box, operation arm and surgical robot

Info

Publication number: CN211750044U
Application number: CN202020157070.9U
Authority: CN
Inventors: 黄健; 王雪生; 高元倩; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-02-09
Filing date: 2020-02-09
Publication date: 2020-10-27
Anticipated expiration: 2030-02-09

Abstract

The utility model discloses a driving box, an operating arm and a surgical robot, wherein the driving box is connected with a terminal instrument through a connecting rod and a driving wire penetrating through the connecting rod, the driving box comprises a base connected with the connecting rod and a driving shaft assembly arranged on the base, the driving shaft assembly comprises a rotation driving shaft wound with a driving wire group and a driven shaft connected with the rotation driving shaft through the driving wire group, and the driven shaft is rotationally connected with the connecting rod; the driven shaft comprises a shaft body used for winding the driving wire group, and a first lug is convexly arranged at the tail end of one side, close to the connecting rod, of the driven shaft along the axial direction of the driven shaft; the connecting rod is correspondingly provided with a notch part for accommodating the first lug at one side close to the driven shaft, so that when the driven shaft rotates, the connecting rod is driven to rotate through the first lug. The utility model discloses can improve the operation precision of operation arm in the minimal access surgery process.

Description

Drive box, operation arm and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a drive box, operation arm and surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.

The slave operation device generally includes a mechanical arm, a power mechanism disposed on the mechanical arm, and an operation arm, the mechanical arm is used to adjust a position of the operation arm, the operation arm is used to extend into a body and perform a surgical operation, and the power mechanism is used to drive a distal end instrument of the operation arm to perform a corresponding operation. However, when the existing operation arm performs an operation, a connecting rod of the operation arm may be loosened, so that an error exists in the rotation of the connecting rod, and further, the operation precision is low. Therefore, it is an urgent problem to improve the operation precision of the operation arm during the operation.

SUMMERY OF THE UTILITY MODEL

The main object of the utility model is to provide a drive box, operation arm and surgical robot aims at improving the operation precision of operation arm at the minimal access surgery in-process.

In order to achieve the above object, the present invention provides a driving box, which is connected to a terminal device through a connecting rod and a driving wire penetrating through the connecting rod, the driving box includes a base connected to the connecting rod, and a driving shaft assembly disposed on the base, the driving shaft assembly includes a rotation driving shaft wound with a driving wire set and a driven shaft connected to the rotation driving shaft through the driving wire set, and the driven shaft is rotatably connected to the connecting rod; the driven shaft comprises a shaft body used for winding the driving wire group, and a first lug is convexly arranged at the tail end of one side, close to the connecting rod, of the driven shaft along the axial direction of the driven shaft; the connecting rod is correspondingly provided with a notch part for accommodating the first lug at one side close to the driven shaft, so that when the driven shaft rotates, the connecting rod is driven to rotate through the first lug.

Preferably, the connecting rod includes stretch into from the drive shaft and with from the inner tube that the drive shaft is connected and with inner tube fixed connection's outer tube, breach portion locates be close to on the outer tube from one side of drive shaft, breach portion have with the lateral wall that first lug top was supported, first lug with the lateral wall of breach portion supports, in order when the follow drive shaft rotates, through first lug drives the outer tube rotates, thereby the drive the connecting rod rotates.

Preferably, the driven shaft is provided with a limit block along the periphery of the shaft body from the tail end of one side of the shaft body close to the connecting rod, and one surface of the limit block facing the base is connected with one surface of the base facing the connecting rod in an abutting mode.

Preferably, the outer diameter of the inner tube is smaller than or equal to the inner diameter of the driven shaft, and the inner diameter of the outer tube is larger than or equal to the inner diameter of the driven shaft.

Preferably, the driving wire group comprises a first driving wire and a second driving wire which are opposite in winding direction, the rotation driving shaft is provided with a first winding groove close to one side of the base for accommodating the first driving wire, and a second winding groove far away from one side of the base for accommodating the second driving wire; the driven shaft is provided with a third winding groove used for accommodating the first driving wire at a position corresponding to the first winding groove, and is provided with a fourth winding groove used for accommodating the second driving wire at a position corresponding to the second winding groove.

Preferably, the first drive wire paid-up/paid-out length and the second drive wire paid-up/paid-up length are correspondingly equal.

Preferably, the rotation driving shaft assembly further includes a guide wheel located between the rotation driving shaft and the driven shaft, and the guide wheel is connected to the rotation driving shaft and the driven shaft through the second driving wire, respectively.

Preferably, the drive box further comprises a housing arranged on the base, and the housing and the base form an accommodating space to accommodate the rotation drive shaft assembly; the rotation driving shaft assembly further comprises an adjusting part fixedly connected with the guide wheel, and the adjusting part is connected with the shell in a sliding mode so as to adjust the position of the guide wheel.

Preferably, the casing is in the position of leading wheel to base direction extension has the support, regulating part include the body, be used for with casing sliding connection's first mounting, be used for with base sliding connection's second mounting and be used for with body threaded connection's regulating part, be equipped with on the body and be used for accomodating the recess of leading wheel, regulating part is used for when passing the body with the support top is supported, drive the leading wheel along with the direction opposite direction removal is advanced to the regulating part.

Preferably, the inner tube is keeping away from the concave holding tank that is equipped with in one end from the drive shaft, end apparatus has a connecting pipe, the connecting pipe has and is used for stretching into the body of outer tube, the connecting pipe certainly the body is close to one side end of inner tube, follows the axial extension of body has the third lug, the third lug is used for the body stretch into behind the outer tube with the holding tank of inner tube is connected.

In order to achieve the above object, the present invention further provides an operation arm, the operation arm includes the driving box, the connecting rod and the terminal apparatus as described above, the operation arm further includes a driving wire which runs through the connecting rod, and respectively with the terminal apparatus and the driving box is connected.

In order to achieve the above object, the present invention further provides a surgical robot, which includes the above operating arm.

The utility model provides a drive box, operation arm and surgical robot has the rotation drive shaft of drive silk group and passes through to set up the winding drive silk group with rotation drive hub connection from the drive shaft, wherein, rotate from the drive shaft and be connected with the connecting rod, and certainly be close to from the axis body of drive shaft the end of one side of connecting rod, along its axial to the protruding first lug of establishing of direction of connecting rod, the connecting rod is being close to correspond from one side of drive shaft and be equipped with and be used for holding the breach portion of first lug utilizes first lug with the cooperation of breach portion makes when rotating from the drive shaft, can utilize first lug drive the connecting rod rotates. In this way, the first projection and the notch part cooperate to drive the connecting rod to rotate when the driven shaft rotates, so that the rotation precision of the connecting rod under the driving action of the driven shaft can be improved, and the operation precision of the operation arm is improved.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of an operation arm of the present invention;

FIG. 2 is a schematic structural view of an embodiment of the autorotation drive shaft assembly of FIG. 1;

FIG. 3 is a schematic structural view of another embodiment of the autorotation drive shaft assembly of FIG. 1;

FIG. 4 is an exploded view of an embodiment of the regulating part of FIG. 3;

FIG. 5 is an assembled view of one embodiment of the slave drive shaft and connecting rod of FIG. 1;

FIG. 6 is an assembly view of an embodiment of the connecting rod and the connecting tube shown in FIG. 1.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a surgical robot, which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending a control command to the slave operating device according to the operation of a doctor so as to control the slave operating device; the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation. The slave operation equipment comprises a mechanical arm, a power mechanism arranged on the mechanical arm and an operation arm, wherein the operation arm is used for extending into a body to execute corresponding operation under the driving action of the power mechanism.

As shown in fig. 1, the operation arm 1 includes a driving box 10, a connecting rod 20, and a distal end instrument 30, which are connected in sequence, and the operation arm 1 further includes a driving wire penetrating through the connecting rod 20 and respectively connected to the distal end instrument 30 and the driving box 10.

As shown in fig. 1, the drive cassette 10 is connected to a distal instrument 30 via a linkage 20 and a drive wire extending through the linkage 20. The driving box 10 includes a base 11 connected to the connecting rod 20, a pitch angle driving shaft assembly (not shown), a roll angle driving shaft assembly (not shown), a rotation driving shaft assembly 12, a tip opening and closing driving shaft assembly (not shown) disposed on the base 11, and a housing 13 disposed on the base 11, wherein the housing 13 and the base 11 form an accommodating space to accommodate each driving shaft assembly. The pitch angle driving shaft assembly and the swing angle driving shaft assembly are arranged on the base 11 oppositely, and the rotation driving shaft assembly 12 and the tail end opening and closing driving shaft assembly are arranged on the base 11 oppositely. Of course, in other embodiments, the pitch angle drive shaft assembly and the roll angle drive shaft assembly are disposed adjacent to each other on the base 11, and similarly, the rotation drive shaft assembly 12 and the end opening/closing drive shaft assembly may also be disposed adjacent to each other on the base 11. The relative position of each driving shaft assembly on the base 11 can be reasonably set according to actual needs.

As shown in fig. 2, the rotation driving shaft assembly 12 includes a rotation driving shaft 121 provided on the base 11, a slave driving shaft 122, and a guide wheel 123 between the rotation driving shaft 121 and the slave driver. The rotation driving shaft 121 is wound with a driving wire set having opposite directions, the slave driving shaft 122 is connected to the rotation driving shaft 121 through the driving wire set, the guide pulley 123 is connected to the rotation driving shaft 121 and the slave driving shaft 122 through the driving wire set, respectively, and the guide pulley 123 can change the extending direction of the driving wire between the rotation driving shaft 121 and the slave driving shaft 122. The diameter of the rotation driving shaft 121 is larger than that of the driven shaft 122, and the transmission ratio of the rotation driving shaft 121 to the driven wire can be set as follows: 1:1.6, that is, when the rotation driving shaft 121 rotates one turn, the driven shaft 122 needs to rotate 1.6 turns correspondingly. The rotation driving shaft 121 is further provided with a stop block (not shown in the figure), so that the rotation range of the rotation driving shaft 121 is less than ± 180 °, that is, the rotation driving shaft rotates clockwise or counterclockwise within 180 ° with the stop block as a zero position. And the range of rotation of the driven shaft 122 is greater than ± 180 °. Of course, in other embodiments, the transmission ratio may be other reasonable ratios, and the invention is not limited in this respect.

It is understood that when the space size of the driving box 10 is enough, and there is no interference of the driving wire with other structures, the guide wheel 123 may not be needed; in order to make the space structure of the driving box 10 relatively compact and small and avoid the interference between the driving wire and other structures in the driving box 10, the guiding wheel 123 may be provided to steer the driving wire, so as to bypass other structures and avoid the interference. In addition, the position of the guide wheel 123 may be fixed or adjustable.

When the guide wheel 123 is adjustably disposed, the rotation driving shaft assembly 12 further includes an adjusting portion 140 fixedly connected to the guide wheel 123, and the adjusting portion 140 is slidably connected to the housing 13 to adjust the position of the guide wheel 123. The housing 13 has a bracket 133 extending toward the base 11 at the position of the guide wheel 123, and the adjusting portion 140 includes a body 141, a first fixing member 142 slidably connected to the housing 13, a second fixing member 143 slidably connected to the base 11, and an adjusting member 144 threadedly connected to the body 141. The housing 13 is provided with a first guide groove 145, so that the first fixing member 142 slides in the first guide groove 145. The base 11 is provided with a second guide groove 146 at a position opposite to the first guide groove 145, so that the second fixing member 143 can slide in the second guide groove 146. The body 141 is provided with a groove 147 for accommodating the guide wheel 123, the adjusting member 144 is used for acting on the bracket 133 through the pushing force generated by rotating the adjusting member 144 when the adjusting member 144 passes through the body 141 and the bracket 133 abuts against, then the bracket 133 abuts against to generate a reaction force applied to the adjusting member 144, the guide wheel 123 is driven by the reaction force to move along the direction opposite to the advancing direction of the adjusting member 144, and the tension of the driving wire group is adjusted. It can be understood that a plurality of through holes (not shown) are formed in the body 141 for the first fixing element 142, the second fixing element 143, and the adjusting element 144 to pass through, so that the first fixing element 142, the second fixing element 143, and the adjusting element 144 are respectively fixed on the body 141, which is not described in detail herein.

The driving wire group comprises a first driving wire 124 and a second driving wire 125 which are wound in opposite directions, and the rotation driving shaft 121 is provided with a first winding groove 126 close to one side of the base 11 and used for accommodating the first driving wire 124 and a second winding groove 127 far away from one side of the base 11 and used for accommodating the second driving wire 125. The slave driving shaft 122 is provided with a third winding groove 128 for receiving the first driving wire 124 at a position corresponding to the first winding groove 126, and a fourth winding groove 129 for receiving the second driving wire 125 at a position corresponding to the second winding groove 127. The length of the first drive wire 124 that is tightened/loosened and the length of the second drive wire 125 that is loosened/tightened are correspondingly equal.

In one embodiment, the guide wheel 123 is connected to the rotation driving shaft 121 and the driven driving shaft 122 through the second driving wire 125. It is understood that the closer the guide wheel 123 is to the driven shaft 122, the more force loss generated when the second driving wire 125 passes through the guide wheel 123 can be reduced. Of course, in other embodiments, the guide wheel 123 may also be connected to the rotation driving shaft 121 and the driven driving shaft 122 through the first driving wire 124. The position of the guide wheel 123 relative to the base 11 can be set reasonably.

As shown in fig. 2, the driven shaft 122 has a hollow shaft body 120, and the shaft body 120 is used for winding the driving wire set. As shown in fig. 5, the slave drive shaft 122 is rotatably connected to the connecting rod 20. The connecting rod 20 includes an inner tube 21 extending into the driven shaft 122 and connected to the driven shaft 122, and an outer tube 22 fixedly connected to the inner tube 21. Wherein, the outer diameter of the inner tube 21 is smaller than or equal to the inner diameter of the driven shaft 122, and the inner diameter of the outer tube 22 is larger than or equal to the inner diameter of the driven shaft 122. The inner tube 21 and the outer tube 22 may be fixed by an adhesive material. It is understood that the length of the inner tube 21 extending into the driven shaft 122 (i.e. the length of the inner tube 21 protruding relative to the outer tube 22) is less than or equal to the length of the driven shaft 122, and when the outer diameter of the inner tube 21 is adapted to the inner diameter of the driven shaft 122, the longer the inner tube 21 extends into the driven shaft 122, the stronger the fixing strength between the inner tube 21 and the driven shaft 122 will be.

Specifically, a first protrusion 130 is protruded from the end of the driven shaft 122 on the side close to the link 20 from the shaft body 120 in the axial direction of the driven shaft toward the link 20, and a notch 131 corresponding to the first protrusion 130 is formed in the outer tube 22 on the side close to the driven shaft 122. The notch 131 is used for accommodating the first protrusion 130, and the notch 131 has a side wall 100 abutting against the first protrusion 130, and the first protrusion 130 abuts against the side wall 100 of the notch 131, so that when the driven shaft 122 rotates, the first protrusion 130 drives the outer tube 22 to rotate, thereby driving the connecting rod 20 to rotate. In this way, by the cooperation between the first protrusion 130 and the notch 131, the rotation accuracy of the link 20 under the driving action of the slave driving shaft 122 can be improved when the slave driving shaft 122 rotates, thereby improving the operation accuracy of the operation arm 1.

As shown in fig. 3, a stop block 132 is further protruded from the end of the driving shaft 122 at a side of the shaft body 120 close to the connecting rod 20 along the periphery of the shaft body 120, and one surface of the stop block 132 facing the base 11 is in abutting connection with one surface of the base 11 facing the connecting rod 20. In this manner, the secondary drive shaft 122 can be restricted from moving in the drive cartridge 10 in a direction away from the base 11.

As shown in fig. 4, the inner tube 21 is recessed with a receiving groove 210 at an end away from the driving shaft 122, the distal end instrument 30 has a connecting tube 31, the connecting tube 31 has a tube 300 for extending into the outer tube 22, the connecting tube 31 extends from the end of the tube 300 near the inner tube 21 with a third protrusion 310 along the axial direction of the tube 300, and the third protrusion 310 is used for connecting with the receiving groove 210 of the inner tube 21 after extending into the outer tube 22. It will be understood that the inner tube 21 and the outer tube 22 are not the same length near the end of the connecting tube 31, and specifically, the end of the inner tube 21 near the connecting tube 31 does not protrude beyond the outer tube 22. The connecting tube 31 is also a tubular structure, and the outer diameter of the connecting tube 31 may be the same as the outer diameter of the inner tube 21. In this embodiment, the connecting tube 31 extends into the outer tube 22, and is connected to the accommodating groove 210 of the inner tube 21 via the first protrusion 130, so as to achieve the fixing and connecting function between the connecting tube 31 and the connecting rod 20, and the third protrusion 310 and the accommodating groove 210 are disposed to further increase the fixing strength between the connecting tube 31 and the connecting rod 20, thereby preventing the connecting tube 31 from slipping off from the connecting rod 20.

The above is only the optional embodiment of the present invention, and not therefore the limit of the patent scope of the present invention, all of which are in the concept of the present invention, the equivalent structure transformation of the content of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.

Claims

1. A driving box is connected with a tail end instrument through a connecting rod and a driving wire penetrating through the connecting rod, and is characterized by comprising a base connected with the connecting rod and a driving shaft assembly arranged on the base, wherein the driving shaft assembly comprises a rotation driving shaft wound with a driving wire set and a driven shaft connected with the rotation driving shaft through the driving wire set, and the driven shaft is rotatably connected with the connecting rod; the driven shaft comprises a shaft body used for winding the driving wire group, and a first lug is convexly arranged at the tail end of one side, close to the connecting rod, of the driven shaft along the axial direction of the driven shaft; the connecting rod is correspondingly provided with a notch part for accommodating the first lug at one side close to the driven shaft, so that when the driven shaft rotates, the connecting rod is driven to rotate through the first lug.

2. The drive cassette according to claim 1, wherein the link includes an inner tube extending into and connected to the driven shaft and an outer tube fixedly connected to the inner tube, the notch portion is provided on a side of the outer tube adjacent to the driven shaft, the notch portion has a side wall abutting against the first projection, and the first projection abuts against the side wall of the notch portion so that the outer tube is rotated by the first projection when the driven shaft is rotated, thereby driving the link to rotate.

3. The drive cassette of claim 1, wherein a stop block is further protruded from the end of the drive shaft near the connecting rod along the circumference of the shaft, and a surface of the stop block facing the base abuts against a surface of the base facing the connecting rod.

4. The drive cartridge of claim 2, wherein an outer diameter of the inner tube is less than or equal to an inner diameter of the slave drive shaft, and an inner diameter of the outer tube is greater than or equal to the inner diameter of the slave drive shaft.

5. The drive cartridge as claimed in claim 1, wherein the driving wire group includes a first driving wire and a second driving wire wound in opposite directions, the rotation driving shaft having a first winding groove for receiving the first driving wire at a side close to the base and a second winding groove for receiving the second driving wire at a side remote from the base; the driven shaft is provided with a third winding groove used for accommodating the first driving wire at a position corresponding to the first winding groove, and is provided with a fourth winding groove used for accommodating the second driving wire at a position corresponding to the second winding groove.

6. The drive cassette of claim 5, wherein a length of the first drive wire taken up/paid out and a length of the second drive wire taken up/paid out are correspondingly equal.

7. The drive cassette of claim 5, wherein the spinning drive shaft assembly further comprises a guide wheel disposed between the spinning drive shaft and the driven shaft, the guide wheel being connected to the spinning drive shaft and the driven shaft through the second drive wire, respectively.

8. The drive cassette of claim 7, further comprising a housing provided on the base, the housing forming an accommodation space with the base to accommodate the rotation drive shaft assembly; the rotation driving shaft assembly further comprises an adjusting part fixedly connected with the guide wheel, and the adjusting part is connected with the shell in a sliding mode so as to adjust the position of the guide wheel.

9. The drive cassette of claim 8, wherein the housing has a support extending toward the base at the position of the guide wheel, the adjusting portion includes a body, a first fixing member slidably connected to the housing, a second fixing member slidably connected to the base, and an adjusting member threadedly connected to the body, the body has a recess for receiving the guide wheel, and the adjusting member is configured to drive the guide wheel to move in a direction opposite to an advancing direction of the adjusting member when passing through the body and abutting against the support.

10. The drive cassette of claim 2, wherein said inner tube is recessed with a receiving slot at an end thereof remote from said drive shaft, said end device having a connecting tube, said connecting tube having a tube body for extending into said outer tube, said connecting tube having a third protrusion extending axially from a side of said tube body adjacent to said inner tube, said third protrusion being adapted to engage said receiving slot of said inner tube after said tube body has extended into said outer tube.

11. An operating arm comprising a drive cassette as claimed in any one of claims 1 to 10, a linkage and a tip instrument, the operating arm further comprising a drive wire extending through the linkage and connected to the tip instrument and the drive cassette respectively.

12. A surgical robot, characterized in that it comprises an operating arm according to claim 11.