CN213176369U - Screw, transmission belt with screw and arm body - Google Patents

Abstract

The utility model relates to a screw, have drive belt and arm body of this screw, the screw includes screw body and locking portion, the screw body is equipped with first trompil, the screw body is equipped with the axial direction, the extending direction of the first trompil and the axial direction are first contained angle; the locking part extends from the screw body.

Description

Screw, transmission belt with screw and arm body

Technical Field

The utility model relates to the field of medical equipment, especially relate to a screw, have drive belt and the arm body of this screw.

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 minimally invasive surgery, the minimally invasive surgery 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 comprises a handle, a doctor sends a control command to the slave operation device through the operation handle, the slave operation device comprises a plurality of mechanical arms and an operation arm, the mechanical arms drive the operation arm to move, the operation arm is provided with a tail end instrument, and when the operation arm is in a working state, the tail end instrument moves along with the handle so as to realize remote operation. Have a plurality of arm bodies in current arm, the both ends of arm body all have two rotation portions, connect through drive belt (for example, the steel band), and the rate of tension of steel band need be adjusted when using, and general scheme is equipped with the screw that is used for adjusting, and because the space of arm body is limited, does not adjust under the normal conditions the screw, how design a convenient screw of adjusting, and then the rate of tension of convenient regulation drive belt, need solve at present.

Disclosure of Invention

In view of the above, it is desirable to provide a screw, a belt having the screw, and an arm body which are easy to handle.

A screw includes:

the screw comprises a screw body, a first screw rod and a second screw rod, wherein the screw body is provided with a first opening, the screw body is provided with an axial direction, and the extending direction of the first opening and the axial direction form a first included angle; and

the locking part extends from the screw body.

Preferably, the screw body is provided with a second opening, and the extending direction of the second opening and the axial direction form a second included angle.

Preferably, the extending direction of the first opening and the extending direction of the second opening form a third included angle.

Preferably, the second aperture extends through the body.

Preferably, the first aperture extends through the body.

Preferably, the screw body is cylindrical.

Preferably, the locking portion is formed to extend from the screw body in the axial direction.

Preferably, the first opening is a plurality of openings, the second opening is a plurality of openings, the first openings are arranged around the screw body at intervals in a plane perpendicular to the axial direction, and the second openings are arranged around the screw body at intervals in a plane perpendicular to the axial direction.

Preferably, the screw body is spherical.

A power transmission belt comprising:

a belt body; and

the adjusting part comprises an installation part connected with one end of the belt body and an adjusting part connected with the other end of the belt body, the adjusting part comprises the screw and an adjusting part body, the screw is movably installed on the adjusting part body, the locking part is fixedly locked on the installation part, and the screw is used for rotating and adjusting the distance between the adjusting part body and the installation part.

Preferably, the adjusting member body is provided with an installation space, the screw body is located in the installation space, and the locking part is located outside the installation space and locked with the installation member.

Preferably, the belt body is a steel belt.

Preferably, the steel strip comprises a plurality of steel sheets.

Preferably, the length of the outermost steel sheet is greater than the length of the steel sheets of its layer.

An arm body includes:

the above-described transmission belt; and

the shell comprises a shell body and two rotating parts positioned at two ends of the shell body;

wherein the drive belt cover is established in two rotation portions, the screw is used for rotating and adjusts the regulating part body with distance between the installed part, thereby the adjustment the rate of tension of drive belt.

Compared with the prior art, the utility model provides a screw has the trompil, the extending direction and the axial direction of first trompil are first contained angle, and the instrument can insert drive in the trompil the screw rotates to ensure under the limited circumstances in space, can conveniently operate the screw.

Drawings

Fig. 1 is a schematic structural diagram of a slave operation device of a surgical robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a main operation device of a surgical robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a manipulator of the slave operation device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an operation arm according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an arm according to an embodiment of the present invention;

FIG. 6 is a schematic view of the screw of FIG. 5;

fig. 7 is a schematic structural view of an arm body according to another embodiment of the present invention.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It should be noted that the terms "distal" and "proximal" are used herein as terms of orientation that are conventional in the medical device art, wherein "distal" refers to the end of the device that is distal from the operator during a surgical procedure, and "proximal" refers to the end of the device that is proximal to the operator during a surgical procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 4 are schematic structural views and partial schematic views of an embodiment of the surgical robot of the present invention.

The surgical robot includes a slave manipulator 100 and a master manipulator 200 for controlling the operation of the slave manipulator 100.

The slave manipulator 100 includes a master arm 110, an adjustment arm 120, and a manipulator 130 connected in this order. The adjusting arm 120 and the manipulator 130 are two or more, for example four, the distal end of the main arm 110 has an orientation platform, the proximal end of the adjusting arm 120 is connected to the orientation platform, and the proximal end of the manipulator 130 is connected to the distal end of the adjusting arm 120. The manipulator 130 is for detachably connecting the manipulation arm 150, and the manipulator 130 has a plurality of joint assemblies. The operation arm 150 includes a driving device 160, a connecting rod 170, a connecting assembly 180 and a terminal device 190 connected in sequence, a plurality of joint assemblies may be formed by the connecting rod 170 and the connecting assembly 180, or only the connecting assembly 180 may form a plurality of joint assemblies, the connecting rod 170 is hollow for passing a driving cable, and the driving device 160 operates the plurality of joint assemblies to move through the driving cable so as to drive the terminal device 190 to move. The end instrument 190 has an end-of-image instrument 190 and an operating end instrument 190.

During operation, the manipulator 130 is located outside the patient, the distal end of the operation arm 150 is inserted into the patient through the puncture device 300 installed on the manipulator 130, and the doctor controls the manipulator 130 and the operation arm 150 to be linked to adjust the pose of the distal end instrument 190. Wherein the plurality of joint assemblies of the manipulator 130 are mainly used for positioning, the plurality of joint assemblies of the operation arm 150 are mainly used for orientation, and the manipulator 130 influences the position and the posture of the end instrument 190 through the movement of the operation arm 150.

The main console 200 has a handle 210 and a display, and a surgeon transmits a control command to the slave operation device 100 by operating the handle 210 to cause the slave operation device 100 to perform a corresponding operation according to the control command, and observes the operation region acquired by the end-of-image instrument 190 through the display.

Referring to fig. 5, in one embodiment, an arm 30 includes a belt 50 and a housing 30. The arm 30 is part of the manipulator 130.

The housing 30 includes a housing body 31, and two rotating portions 33 at both ends of the housing body 31. The housing body 31 is provided with a receiving space for placing the driving belt 50. The transmission belt 50 is used for being sleeved on the two rotating parts 33.

The driving belt 50 includes a belt body 51 and an adjusting component 53. The adjusting assembly 53 includes an installation member 531 connected to one end of the belt body 51 and an adjusting member 533 connected to the other end of the belt body 51, the adjusting member 533 includes a screw 10 and an adjusting member body 5331, and the screw 10 is movably installed on the adjusting member body 5331. The adjuster body is provided with a mounting space 5333.

Referring to fig. 6, the screw 10 includes a screw body 11 and a locking portion 13, and the locking portion 13 is formed by extending from the screw body 11.

The screw body 11 is provided with a plurality of groups of openings 111, and the openings 111 penetrate through the screw body 11. The screw body is provided with an axial direction Z, the locking part 13 shares the axial direction Z, and the extending direction of each opening 111 forms an included angle with the axial direction. In this embodiment, the included angle is 90 degrees, and in another embodiment, the included angle may be other included angles. The cross-sectional area of the locking portion 13 in a plane perpendicular to the axial direction Z is smaller than the cross-sectional area of the screw body 11 in the plane.

Each set of holes 111 is spaced around the screw body 11 in a plane perpendicular to the axial direction Z. The direction of extension of the openings 111 of each group is angled with respect to the direction of extension of the openings 111 of the other groups.

The screw body 11 is located in the installation space 5333, and the locking portion 13 is located outside the installation space 5333 and locked with the installation member 531.

In this embodiment, the screw body 11 is cylindrical, and in another embodiment, the screw body 11 may have other shapes, such as a spherical shape, and the openings 111 of the screw body 11 penetrate through the center of the sphere and are radially distributed on the center of the sphere.

In actual use, a tool (for example, a straight-bar-shaped operating member) is inserted through the opening 111 of the screw 10, and the tool is held and the screw 10 is driven to rotate to adjust the distance between the adjusting member body and the mounting member, so as to adjust the tightness of the transmission belt. The operation is simple and convenient. Since the recess of the conventional screw docking tool is generally disposed in the axial direction of the screw, in the practical use process, the tool cannot operate the screw well due to the space limitation of the arm 30, and with the screw 10 in this embodiment, the tool can be inserted into the opening 111 from the side of the screw 10, and then the tool is rotated to drive the screw to rotate, thereby solving the problem of convenient operation of the screw in the case of limited operation space.

Referring to FIG. 7, in another embodiment, the belt 50 includes two adjustment assemblies 53. The tension of the belt 50 is adjusted by the two adjusting members 53 of the belt 50.

In one embodiment, the belt body 51 is a steel belt, and the steel belt comprises a plurality of steel sheets, and when one of the steel sheets is broken, the steel sheets can ensure normal operation. In another embodiment, the length of at least the outermost steel sheet of the plurality of steel sheets is greater than the length of the other steel sheets, so that when the short steel sheet is broken, the long steel sheet can continuously ensure the safety of the arm body.

The above-mentioned embodiments only express the embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims (15)

1. A screw, comprising:

the screw comprises a screw body, a first screw rod and a second screw rod, wherein the screw body is provided with a first opening, the screw body is provided with an axial direction, and the extending direction of the first opening and the axial direction form a first included angle; and

the locking part extends from the screw body.

2. The screw of claim 1, wherein: the screw body is provided with a second opening, and the extending direction of the second opening and the axial direction form a second included angle.

3. The screw of claim 2, wherein: and the extending direction of the first opening and the extending direction of the second opening form a third included angle.

4. The screw of claim 2, wherein: the second opening penetrates through the body.

5. The screw of claim 1, wherein: the first opening penetrates through the body.

6. The screw of claim 1, wherein: the screw body is cylindrical.

7. The screw of claim 1, wherein: the locking part extends from the screw body along the axial direction.

8. The screw of claim 3, wherein: the first trompil is a plurality of, the second trompil is a plurality of, a plurality of first trompils are in perpendicular the plane of axial direction is around screw body interval sets up, a plurality of second trompils are in perpendicular the plane of axial direction is around screw body interval sets up.

9. The screw of claim 1, wherein: the screw body is spherical.

10. A power transmission belt, comprising:

a belt body; and

the adjusting component comprises an installation part connected with one end of the belt body and an adjusting part connected with the other end of the belt body, the adjusting part comprises the screw and an adjusting part body according to any one of claims 1 to 9, the screw is movably arranged on the adjusting part body, the locking part is locked on the installation part, and the screw is used for rotating to adjust the distance between the adjusting part body and the installation part.

11. The belt of claim 10, wherein: the adjusting piece body is provided with an installation space, the screw body is located in the installation space, and the locking part is located on the outer side of the installation space and is locked with the installation piece.

12. The belt of claim 10, wherein: the belt body is a steel belt.

13. The belt of claim 12, wherein: the steel strip comprises a plurality of steel sheets.

14. The belt of claim 13, wherein: the length of the steel sheet at the outermost side is larger than that of the steel sheets on the layer of the steel sheet.

15. An arm body, comprising:

the power transmission belt according to any one of claims 10 to 14; and

the shell comprises a shell body and two rotating parts positioned at two ends of the shell body;

wherein the drive belt cover is established in two rotation portions, the screw is used for rotating and adjusts the regulating part body with distance between the installed part, thereby the adjustment the rate of tension of drive belt.

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