CN214966581U - Surgical robot tail end opening and closing device and surgical robot tail end mechanism - Google Patents

Abstract

The utility model relates to a minimal access surgery apparatus field especially relates to a surgical robot end device and surgical robot end mechanism that opens and shuts. A surgical robot tip opening and closing device comprising: the actuating assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, a first end of the movable finger is in hinged fit with a fixed end of the fixed finger, and a second end of the movable finger is configured to be a free end; the opening and closing driving assembly comprises an opening and closing push rod and an opening and closing linear driving module, and the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod. The technical problems of more parts, heavy weight, large volume and poor stability of the tail end mechanism of the surgical robot in the prior art are solved.

Description

Surgical robot tail end opening and closing device and surgical robot tail end mechanism

Technical Field

The utility model relates to a minimal access surgery apparatus field especially relates to a surgical robot end device and surgical robot end mechanism that opens and shuts.

Background

The minimally invasive surgery has the characteristics of small wound, less bleeding, quick recovery and the like, and is widely applied in clinical surgeries, so that the development of a simple and practical surgical instrument with high action precision and low operation difficulty is of great significance for the minimally invasive surgery. The following problems exist with current surgical instruments:

1. the transmission and the drive device of the instrument are arranged together or the transmission is arranged close to the execution end, so that the parts are more, the weight is large, the size is large, the coupling is easy to occur, in addition, the tolerance accumulation of a plurality of parts enables the instrument to be incapable of being accurately controlled, and the stability is poor.

2. The acting force is provided manually by the doctor and the autorotation, the opening and the closing of the executing end and the push broach action are controlled, so that the operation work intensity of the doctor is high, and the operation precision is low.

3. The rotation and the opening and closing action of the instrument are realized by a steel wire rope traction mode adopted by the transmission device, and the knife action of the instrument is realized by a mode of adding gear control to a motor, so that the structure of the transmission device is complex, the rotation, the opening and closing and the push broach action are mutually coupled, therefore, the instrument cannot be accurately controlled, and the stability is poor.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems of more parts, heavy weight, large volume and poor stability of the end mechanism of the surgical robot in the prior art, the utility model provides a device and end mechanism of the surgical robot for opening and closing the end of the surgical robot, which solves the technical problems. The technical scheme of the utility model as follows:

a surgical robot tip opening and closing device comprising: the actuating assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, a first end of the movable finger is in hinged fit with a fixed end of the fixed finger, and a second end of the movable finger is configured to be a free end; the opening and closing driving assembly comprises an opening and closing push rod and an opening and closing linear driving module, and the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod.

According to the utility model discloses an embodiment, the linear drive module that opens and shuts includes: the first end of the opening and closing transmission rod is set as a power end, and the second end of the opening and closing transmission rod is in threaded connection with the first end of the first screw rod; a guide sleeve fixedly assembled; and the first end of the rotation stopping piece is fixedly connected with the second end of the first screw rod, the second end of the rotation stopping piece penetrates through the guide sleeve and is fixedly connected with the first end of the opening and closing push rod, and the rotation stopping piece is limited by the guide sleeve.

According to the utility model discloses an embodiment, still include the drive shaft that opens and shuts, the first end of the drive shaft that opens and shuts is connected with the connecting piece that opens and shuts, the second end of the drive shaft that opens and shuts with the help of grafting linkage structure with the first end of the transfer line that opens and shuts is connected.

According to the utility model discloses an embodiment, grafting linkage structure includes slot and arch, protruding stretching into the slot is in order to carry out the linkage.

According to the utility model discloses an embodiment, the second end of the push rod that opens and shuts disposes the round pin axle, it indicates to be formed with the uide hole to decide, it indicates to move to go up to correspond and is formed with the bevel connection, the round pin axle passes in proper order the bevel connection with the uide hole is so that it is in to move the finger around the pin joint deflection under the effect of the push rod that opens and shuts.

The utility model provides a surgical robot end mechanism, adopts foretell surgical robot end device that opens and shuts, still includes the push broach device, the push broach device includes: the push knife is in sliding fit with the opening and closing push rod; the push broach driving assembly comprises a push broach driving rod and a push broach linear driving module, and the push broach linear driving module drives the push broach to do linear reciprocating motion through the push broach driving rod.

According to the utility model discloses an embodiment, the push rod that opens and shuts is formed with the broach groove that holds the broach, the broach sliding fit is in the broach groove.

According to the utility model discloses an embodiment, push broach linear drive module includes: the first end of the push broach transmission rod is set as a stress end, and the opening and closing transmission rod is arranged in the push broach transmission rod; the second screw rod is fixedly connected with the second end of the push broach transmission rod, and the first screw rod is arranged in the second screw rod; the nut seat is arranged on the second screw rod and limited in rotation, one side of the nut seat is connected with the push-type broach driving rod, and one end of the push-type broach driving rod penetrates through the guide sleeve and is connected with the push-type broach.

According to the utility model discloses an embodiment still includes the broach drive shaft, the first end of broach drive shaft is connected with the broach connecting piece, the second end of broach drive shaft with the help of grafting linkage structure with the first end of broach transfer line is connected.

According to an embodiment of the present invention, the first end of the opening and closing drive shaft passes through the first end of the push broach drive shaft.

According to the utility model discloses an embodiment, be formed with the slide on the finger, the broach is in slide in the slide, it is provided with in the corresponding position and dodges the mouth to move the finger.

According to the utility model discloses an embodiment still includes rotation device, rotation device includes: the first end of the sleeve is fixedly connected with the fixed finger, and the opening and closing push rod is arranged in the sleeve; a cannula drive assembly for driving rotation of the cannula.

According to an embodiment of the present invention, the casing driving assembly includes: the first end of the connector is arranged to be an inserting end, a pin body extends out of the first end of the connector along the radial direction, and the push broach transmission rod is arranged in the connector; and the first end of the rotation sleeve is fixedly connected with the second end of the connector, and the second end of the rotation sleeve is fixedly connected with the guide sleeve.

According to the utility model discloses an embodiment, still include the rotation drive shaft, the first end of broach drive shaft is passed the first end of rotation drive shaft, the first end of rotation drive shaft is connected with the rotation connecting piece, the second end of rotation drive shaft be formed with grafting end complex socket, still be formed with in the rotation drive shaft and be used for the passageway that the round pin body slided in and the space that deflects that can deflect after the round pin body slides in, the rotation drive shaft still disposes gliding gag lever post, the gag lever post is located one side of passageway, after the round pin body gets into the space that deflects the gag lever post gets into the passageway is spacing the round pin body.

According to the utility model discloses an embodiment, the rotation drive shaft is formed with sliding assembly the mounting groove of gag lever post, still be equipped with the top in the mounting groove tightly the elastic component of gag lever post, be formed with the sliding key on the outer peripheral face of rotation drive shaft, the sliding key pass through the connecting rod connect in the gag lever post, the sliding key drives the gag lever post removes.

According to the utility model discloses an embodiment, from changeing the sleeve and being formed with at least a set of stall mouth, be provided with along radial direction on the nut seat with stall mouthful complex stall is protruding, so that the nut seat is restricted the commentaries on classics.

Based on the technical scheme, the utility model discloses the technological effect that can realize does:

1. the opening and closing driving component in the opening and closing device of the utility model is internally provided with the push broach driving component, the push broach driving component is internally provided with the sleeve driving component and the sleeve, through the arrangement of the mode, the space occupation of the robot tail end mechanism is reduced, the lightening and miniaturization of the robot tail end mechanism are facilitated, in addition, compared with the prior art that the executing part is driven by the gear and the steel wire rope, thereby leading to more parts of the robot end device, complex structure and large occupied space, the driving shaft and the driving rod adopted by the application can lead the robot end mechanism to carry out autorotation, opening and closing and push broach action, the structure is greatly simplified, the number of parts is less, the volume is small, can really realize the miniaturization, in addition, this application does not set up drive and transmission near executive component or near drive module department, avoids the weight difference at terminal structure both ends too big, and then makes robot end mechanism poor stability in use.

2. The utility model discloses a rotation drive shaft is passed to the first end of broach drive shaft to be connected with the broach connecting piece, the first end of broach drive shaft is passed to the first end of the drive shaft that opens and shuts, so that be connected with the connecting piece that opens and shuts, through the cascaded design of one end with the rotation drive shaft, the drive shaft that opens and shuts and the broach drive shaft, but the make full use of space is mutual motion noninterference each other simultaneously, is favorable to terminal mechanism miniaturization of robot and stability.

3. The first end of the rotation stopping piece is fixedly connected with the second end of the first lead screw, the second end of the rotation stopping piece passes through the guide sleeve and is fixedly connected with the first end of the opening and closing push rod, and the rotation stopping piece is limited by the guide sleeve, so that the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod; from changeing the sleeve and being formed with at least a set of splines mouth, correspond along radial direction on the nut seat and be provided with the spline arch, the spline arch stretches into the spline mouth, it is spacing to make the nut seat spacing by the spline mouth like this, and then make broach drive assembly drive broach carry out straight reciprocating motion, and the stop device that this application need not additionally set up carries on spacingly to the nut seat to robot end mechanism has been simplified, be favorable to robot end mechanism miniaturization and lightness.

4. The utility model discloses an rotation drive shaft forms detachable the being connected with the connector, the second end of the drive shaft that opens and shuts is connected with the first end of the transfer line that opens and shuts with the help of grafting linkage structure, the second end of broach drive shaft is connected with the first end of broach transfer line with the help of grafting linkage structure, make the drive shaft that opens and shuts and open and shut the transfer line, broach drive shaft and broach transfer line can install fast and dismantle through grafting linkage structure, make like this that the execution unit uses the back and is changed, and drive division can used repeatedly.

Drawings

FIG. 1 is a schematic diagram of an execution module;

FIG. 2 is a schematic structural diagram of the opening/closing driving assembly;

FIG. 3 is a schematic structural view of the opening/closing push rod;

FIG. 4 is a schematic structural view of the guide sleeve;

FIG. 5 is a schematic structural view of the opening/closing driving shaft;

FIG. 6 is a schematic structural view of the plugging linkage structure;

FIG. 7 is a schematic view of the structure of the push-type broach device;

FIG. 8 is a schematic view of the construction of the pusher drive shaft;

FIG. 9 is an exploded view of the push broach drive shaft and push broach drive rod mating;

FIG. 10 is a schematic view of the structure of the engagement of the push-type broach and the actuator assembly;

FIG. 11 is a schematic structural view of a rotation device;

FIG. 12 is a schematic view of the mating structure of the housing and the connector;

fig. 13 is a sectional view of the rotation drive shaft;

FIG. 14 is a schematic view of the structure of the channel and deflection space;

fig. 15 is an exploded view of the spinning drive shaft;

fig. 16 is a partial structural view of the rotation driving shaft;

fig. 17 is a schematic structural view of the engagement of the rotation driving shaft with the rotation coupling member;

FIG. 18 is a schematic view of the engagement of the nut holder and the rotation sleeve;

FIG. 19 is a cross-sectional view of the mating of the opening and closing drive shaft, the pusher drive shaft and the rotation drive shaft;

FIG. 20 is a schematic view of the configuration of the mating of the base with the opening and closing links, the push-type links, and the autorotation links;

FIG. 21 is a schematic view of the fitting structure of the position limiting seat and the position limiting opening;

FIG. 22 is a schematic view of an electrical circuit;

FIG. 23 is a cross-sectional view of the robot end mechanism;

in the figure: 1-an execution component; 11-finger designation; 111-a pilot port; 112-a slide; 12-moving fingers; 121-bevel opening; 122-avoidance ports; 2-an opening and closing drive assembly; 21-opening and closing the push rod; 211-a pusher slot; 212-a pin shaft; 213-rotation limiting protrusion; 22-an opening and closing linear driving module; 221-an opening and closing transmission rod; 222-a guide sleeve; 2221-square hole; 223-rotation stop; 224-a first lead screw; 3-opening and closing the driving shaft; 31-a folding connector; 4-splicing linkage structure; 41-slot; 42-a protrusion; 5-a push-type broach device; 51-a push broach; 52-a push-knife drive assembly; 521-a push-knife drive rod; 522-push-broach linear driving module; 5221 push-type broach drive rod; 5222-second lead screw; 5223-nut seats; 52231-stop rotation projection; 53-a push-broach drive shaft; 531-push broach connection piece; 532-U shaped notch I; 533-first gear set; 5331-driving gear I; 5332-a first driven gear i; 5333-a second driven gear; 6-a rotation device; 61-a cannula; 62-a casing drive assembly; 621-a connector; 6211-a pin body; 6212-a stop; 622-rotation sleeve; 6221-rotation stopping mouth; 63-a housing; 631-a rotation stop groove; 64-a self-rotating drive shaft; 641-U type gap II; 642-channel; 643-a stop lever; 6431-limit projection; 644 — deflection space; 645 — sliding key; 6451-a connecting rod; 6452-first escape opening; 6453-second escape opening; 646-a resilient member; 647-limit seat; 648-mounting grooves; 65-autorotation connections; 651-second gear set; 6511-driving gear II; 6512-first driven gear II; 7-a base; 71-a limiting port; 81-a first electrode; 82-a second electrode; 83-third electrode, 84-fourth electrode.

A/B-electric line

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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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 is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1 to 23, the surgical robot end opening and closing device of the present embodiment includes an actuating assembly 1 and an opening and closing driving assembly 2, the actuating assembly 1 includes a fixed finger 11 and a movable finger 12, the fixed finger 11 is configured as a fixed assembly, a first end of the movable finger 12 is in hinged fit with a fixed end of the fixed finger 11, a second end of the movable finger 12 is configured as a free end, the opening and closing driving assembly 2 includes an opening and closing push rod 21 and an opening and closing linear driving module 22, and the opening and closing linear driving module 22 drives the movable finger 12 to deflect through the opening and closing push rod 21. Therefore, the driving part and the transmission part of the opening and closing device can be arranged along the axial direction, and other parts can be arranged in the opening and closing device, so that the space occupation is reduced, and the tail end mechanism of the robot can be miniaturized.

The opening and closing linear driving module 22 of the present embodiment pushes the movable finger 12 to perform an opening and closing action under the action of an external force, specifically, the opening and closing linear driving module 22 includes an opening and closing transmission rod 221, a guide sleeve 222 and a rotation stopping member 223, a first end of the opening and closing transmission rod 221 is set as a power end, and a second end of the opening and closing transmission rod 221 is in threaded connection with a first end of a first lead screw 224; the guide sleeve 222 is fixedly fitted; the first end of the rotation stopping member 223 is fixedly connected with the second end of the first screw 224, the second end of the rotation stopping member 223 passes through the guide sleeve 222 to be fixedly connected with the first end of the opening and closing push rod 21, and the rotation stopping member 223 is limited by the guide sleeve 222.

Further, as shown in fig. 2 and 4, the guide sleeve 222 of the present embodiment limits the rotation of the rotation stopping member 223, so that the rotation stopping member 223 can only reciprocate linearly, specifically, a square hole 2221 is formed on the guide sleeve 222 along the axial direction, the rotation stopping member 223 is configured as a square member corresponding to the square hole 2221, and the square member passes through the square hole 2221 and is fixedly connected with the open-close push rod 21, so that the rotation stopping member 223 cannot rotate by the rotation limiting property of the square member and the square hole 2221, and the open-close push rod 21 cannot rotate.

Preferably, fabrication holes are formed at the first ends of the rotation stopping member 223 and the opening and closing push rod 21 of the present embodiment, and when the rotation stopping member 223 and the first end of the opening and closing push rod 21 are installed, a plug is inserted into the fabrication holes to position the rotation stopping member 223 and the opening and closing push rod 21, and then the rotation stopping member 223 and the opening and closing push rod 21 are welded.

As shown in fig. 2, 3, and 10, the pushing finger 12 of the opening and closing push rod 21 of the present embodiment deflects around the fixed end of the fixed finger 11, specifically, the second end of the opening and closing push rod 21 is configured with a pin shaft 212, the fixed finger 11 is formed with a guide opening 111, the moving finger 12 is formed with a bezel 121 corresponding to the guide opening 111, the pin shaft 212 sequentially passes through the bezel 121 and the guide opening 111, under the action of an external force, the opening and closing push rod 21 is pushed to linearly reciprocate, the movement of the opening and closing push rod 21 drives the pin shaft 212 to move, and the movement of the pin shaft 212 applies a force to the bezel 121, so that the moving finger 12 deflects around the hinge point.

Preferably, the opening and closing push rod 21 of the present embodiment is configured to have a U-shaped cross section to form the push groove 211, and further, the opening and closing push rod 21 extends along the radial direction to form the rotation limiting protrusion 213.

As shown in fig. 5 and 6, the surgical robot end opening and closing device of the present embodiment further includes an opening and closing driving shaft 3, a first end of the opening and closing driving shaft 3 is connected to an opening and closing connecting member 31, the opening and closing connecting member 31 drives an opening and closing transmission rod 221 to rotate through the opening and closing driving shaft 3, specifically, a first end of the opening and closing driving shaft 3 is formed with an insertion hole i penetrating along a radial direction, a driving end of the opening and closing connecting member 31 is formed with an insertion hole ii at a corresponding position, when a plug is inserted into the insertion hole i and the insertion hole ii, the opening and closing driving shaft 3 rotates along with the driving end of the opening and closing connecting member 31, because a second end of the opening and closing driving shaft 3 is connected to the first end of the opening and closing transmission rod 221, the opening and closing transmission rod 221 rotates along with the opening and closing driving shaft 3, and a non-driving end of the opening and closing connecting member 31 can be connected to a power source such as a motor, and can drive the opening and closing transmission rod 221 to rotate.

Preferably, the second end of the opening and closing driving shaft 3 of the present embodiment is connected to the first end of the opening and closing transmission rod 221 by means of the insertion linkage structure 4, specifically, the insertion linkage structure 4 includes a slot 41 located on the inner circumferential surface of the opening and closing driving shaft 3 and a protrusion 42 located on the outer circumferential surface of the opening and closing transmission rod 221, and the protrusion 42 extends into the slot 41, so that the opening and closing transmission rod 221 can rotate along with the opening and closing driving shaft 3 and can also be detachably connected to the opening and closing transmission rod 221.

As shown in fig. 7 and 10, the present embodiment further provides a surgical robot end mechanism, which uses the above-mentioned surgical robot end opening and closing device, and further includes a push-broach device 5, where the push-broach device 5 includes a push-broach 51 and a push-broach driving component 52, and the push-broach 51 is slidably mounted in the push-broach slot 211, so that the push-broach 51 can only slide in the push-broach slot 211, and the push-broach slot 211 plays a role in guiding the push-broach 51. The push-knife driving assembly 52 comprises a push-knife driving rod 521 and a push-knife linear driving module 522, and the push-knife linear driving module 522 drives the push knife 51 to do linear reciprocating motion through the push-knife driving rod 521, so that the push knife 51 performs a cutting action.

Further, the push broach 51 of the present embodiment is guided to slide in the fixed finger 11, specifically, the fixed finger 11 is formed with the slide rail 112, the push broach driving rod 521 drives the push broach 51 to slide in the slide rail 112, so that the push broach 51 is guided, and the movable finger 12 is provided with the avoidance opening 122 at the corresponding position to avoid interference with the movement of the push broach 51.

As shown in fig. 7, 8 and 9, the push-broach linear driving module 522 of the present embodiment pushes the push-broach 51 to perform a cutting action under the action of an external force, and specifically, the push-broach linear driving module 522 includes a push-broach transmission rod 5221, a second lead screw 5222 and a nut seat 5223, a first end of the push-broach transmission rod 5221 is provided with a force-receiving end, the second lead screw 5222 is fixedly connected with a second end of the push-broach transmission rod 5221, preferably, the first lead screw 224 is embedded in the second lead screw 5222, the push-broach transmission rod 5221 rotates under the action of the external force, the second lead screw 5222 rotates along with the second lead screw, the nut seat 5223 is disposed on the second lead screw 5222, meanwhile, the nut seat 5223 is limited to rotate, one side of the nut seat 5223 is connected with the first end of the push-broach driving rod 521, in the present embodiment, the nut seat 5223 and the push-broach driving rod 521 are in a snap-fit manner, the second end of the push-broach driving rod 521 passes through the guide sleeve 222 to be connected with the push-broach 51, preferably, the push-knife driving rod 521 is formed in a square shape, so that the guide sleeve 222 guides the push-knife 51 to limit the moving direction of the push-knife 51, and thus the push-knife 51 is driven by the push-knife driving rod 521 to reciprocate linearly by an external force, thereby performing a cutting action.

Further, the surgical robot end mechanism of this embodiment further includes a push-broach driving shaft 53, a push-broach connecting member 531 is connected to a first end of the push-broach driving shaft 53, the push-broach connecting member 531 drives the push-broach transmission rod 5221 to rotate through the push-broach driving shaft 53, specifically, the first end of the push-broach driving shaft 53 is connected to the push-broach connecting member 531, the push-broach connecting member 531 drives the push-broach driving shaft 53 by means of a first gear set 533, the first end of the push-broach driving shaft 53 is formed with at least one set of U-shaped notches i 532 along the axial direction, the first gear set 533 includes a driving gear i 5331, a first driven gear i 5332 and a second driven gear 5333, the driving gear i 5331 is engaged with the first driven gear i 5332, the first driven gear i 5332 is engaged with the second driven gear 5333, a limit key i corresponding to the U-shaped notch i 532 is formed on the second driven gear 5333, the limit key i extends into the U-shaped notch i 532, thus, the push broach driving shaft 53 can rotate together with the first gear set 533, the second end of the push broach driving shaft 53 is connected with the first end of the push broach transmission rod 5221 by means of the insertion linkage structure 4, the rotation of the push broach driving shaft 53 drives the push broach transmission rod 5221 to rotate, and the free end of the push broach connecting piece 531 can be connected with a power source such as a motor, and the push broach driving shaft 53 can be driven to rotate.

As shown in fig. 9, 19 and 23, the second end of the push broach drive shaft 53 of the present embodiment is inserted into the first end of the push broach drive rod 5221, specifically, a protrusion 42 is formed on the outer peripheral surface of the second end of the push broach drive shaft 53, a slot 41 corresponding to the protrusion 42 is formed on the inner peripheral surface of the first end of the push broach drive rod 5221, the protrusion 42 extends into the slot 41, so that the push broach drive rod 5221 can rotate along with the push broach drive shaft 53, and meanwhile, the push broach drive rod 5221 and the push broach drive shaft 53 are detachably connected.

Further, in order to miniaturize and reduce the size of the end mechanism of the surgical robot, the opening/closing drive shaft 3 of the present embodiment is built in the push broach drive shaft 53, the first end of the opening/closing drive shaft 3 is connected to the opening/closing connection member 31 through the first end of the push broach drive shaft 53, and the opening/closing transmission rod 221 is built in the push broach transmission rod 5221.

As shown in fig. 11, the surgical robot end mechanism of the present embodiment further includes a rotation device 6, the rotation device 6 includes a sleeve 61 and a sleeve driving assembly 62, a first end of the sleeve 61 is fixedly connected to the fixed finger 11, preferably, the opening and closing push rod 21 is embedded in the sleeve 61, the sleeve driving assembly 62 is configured to drive the sleeve 61 to rotate, and thus the rotation of the sleeve 61 drives the fixed finger 11 and the movable finger 12 to rotate.

The casing drive assembly 62 of this embodiment drives the executive component 1 to rotate, specifically, the casing drive assembly 62 includes connector 621 and rotation sleeve 622, the first end of connector 621 is set up to the end of pegging graft, the first end of connector 621 extends pin body 6211 along radial direction, place connector 621 in push broach transfer line 5221, the first end of rotation sleeve 622 and the second end fixed connection of connector 621, the second end and the uide bushing 222 fixed connection of rotation sleeve 622, the second end uide bushing 222 fixed connection of casing 61, under the effect of external force, connector 621 passes through casing 61 and drives executive component 1 to rotate.

Preferably, as shown in fig. 12, a first end of the connecting head 621 of this embodiment is configured as an inserting end, a pin 6211 is formed on an outer circumferential surface of the inserting end, in addition, the connecting head 621 of this embodiment can be driven by the housing 63 to move, at least one set of limiting members 6212 is formed on a second end of the connecting head 621 along a radial direction, in this embodiment, the limiting members 6212 are configured as two sets of limiting keys, the two sets of limiting keys are symmetrically configured, and a rotation stopping groove 631 corresponding to positions of the limiting keys is formed on the housing 63, so that the housing 63 can drive the connecting head 621 to move.

As shown in fig. 18, the rotation sleeve 622 of the present embodiment is formed with at least one set of rotation stoppers 6221, in the present embodiment, the rotation stoppers 6221 are provided in two sets, the two sets of rotation stoppers 6221 are symmetrically provided, the nut seat 5223 is correspondingly provided with rotation stopper protrusions 52231 along the radial direction, and the rotation stopper protrusion 52231 extends into the rotation stopper 6221, so that the nut seat 5223 is restricted by the rotation sleeve 622, cannot rotate with the second lead screw 5222, and can only move linearly with respect to the second lead screw 5222.

As shown in fig. 15 and 17, the surgical robot end mechanism of this embodiment further includes an autorotation driving shaft 64, a autorotation connecting member 65 is connected to a first end of the autorotation driving shaft 64, the autorotation connecting member 65 drives the connecting head 621 to rotate through the autorotation driving shaft 64, specifically, the autorotation connecting member 65 drives the autorotation driving shaft 64 by means of a second gear set 651, at least one set of U-shaped notches ii 641 is formed at the first end of the autorotation driving shaft 64 along the axial direction, the second gear set 651 includes a driving gear ii 6511 and a first driven gear ii 6512, a limit key ii corresponding to the U-shaped notch ii 641 is formed on the first driven gear ii 6512, and the limit key ii extends into the U-shaped notch ii 641, through the driving gear II 6511 and the first driven gear II 6512 intermeshing, the rotation drive shaft 64 can rotate along with the second gear set 651, and because the second end of the rotation drive shaft 64 is connected with the connector 621, the rotation of the rotation drive shaft 64 drives the connector 621 to rotate along with the connector 621. The free end of the rotation connecting piece 65 can be connected with a power source such as a motor and the like, and the rotation driving shaft 64 can be driven to rotate.

Preferably, the present embodiment receives the push-knife drive shaft 53 in the rotation drive shaft 64, and the first end of the push-knife drive shaft 53 is connected to the push-knife connecting member 531 through the rotation drive shaft 64.

Further, as shown in fig. 13, 14, 15, 16, and 21, a socket matching with the insertion end is formed at the second end of the rotation driving shaft 64 of the present embodiment, a channel 642 for sliding in the pin body 6211 and a deflection space 644 capable of deflecting after sliding in the pin body 6211 are further formed at the second end of the rotation driving shaft 64, the rotation driving shaft 64 is further provided with a sliding stopper rod 643, the stopper rod 643 is located at one side of the channel 642, and the stopper rod 643 enters the channel 642 to stop the pin body 6211 after the pin body 6211 enters the deflection space 644. Preferably, in the present embodiment, the coupling 621 is controlled to deflect and move within the rotation driving shaft 64 by the housing 63.

The rotation driving shaft 64 of the present embodiment is formed with an installation groove 648, and the sliding of the stopper rod 643 in the installation groove 648 is limited, specifically, the rotation driving shaft 64 is provided with the installation groove 648 along the axial direction, the installation groove 648 communicates with the channel 642, one end of the installation groove 648 is formed with an annular boss, the stopper rod 643 is formed with a stopper projection 6431 at the corresponding position, and the stopper rod 643 abuts against the boss through the stopper projection 6431, and the moving position of the stopper rod 643 at the installation groove 648 is limited.

Further, one end of the installation groove 648 of the present embodiment is provided with a limit seat 647, the limit seat 647 is fixedly connected with the installation groove 648, an elastic member 646 tightly propping against the limit rod 643 is further arranged in the installation groove 648, the elastic member 646 is set as a spring in the embodiment, one end of the spring leans against the limit seat 647, and the other end of the spring leans against the boss of the limit protrusion 6431, so that the limit rod 643 can be prevented from moving freely in the installation groove 648.

Preferably, in order to facilitate the pushing of the stopper rod 643 to move in the mounting groove 648, a sliding key 645 is formed on an outer circumferential surface of the rotation driving shaft 64 of the present embodiment, and the stopper rod 643 is driven to move by pushing the sliding key 645, specifically, a first escape opening 6431 is formed on an outer circumferential surface of the rotation driving shaft 64, the first escape opening 6431 communicates with the passage 642, a connecting rod 6451 is provided on one side of the sliding key 645, and the other end of the connecting rod 6451 extends into the first escape opening 6431 and is fixedly connected with a free end of the stopper rod 643, and in addition, at least one second escape opening 6453 is formed on the rotation driving shaft 64, and a catch is formed on the sliding key 645 at a corresponding position, and the catch extends into the second escape opening 6453 and is caught on a side wall of the second escape opening 6453, so that the sliding key 645 can be prevented from escaping from the rotation driving shaft 64.

As shown in fig. 20 and 22, the rotation connector 65, the opening and closing connector 31, and the push-type broach connector 531 of the present embodiment are integrally mounted on the base 7, so that the space occupation can be reduced, and the miniaturization of the robot end mechanism is facilitated, preferably, a limit opening 71 is formed on the base 7 of the present embodiment, one end of the limit seat 647 extends into the limit opening 71, and the rotation driving shaft 64 drives the limit seat 647 to rotate along the limit opening 71 to a limit position to be limited, and then to stop rotating.

Further, in the embodiment, two sets of first electrodes 81 are disposed on the base 7, two sets of second electrodes 82 are disposed at the second end of the rotation driving shaft 64, a third electrode 83 is disposed on the housing 63, and fourth electrodes 84 are disposed on the fixed finger 11 and the movable finger 12, so that a line a may be formed from the fourth electrode 84 on the fixed finger 11 to the third electrode 83 and then to the second electrode 82, and finally a line B may be formed from the fourth electrode 84 on the fixed finger 11 to the third electrode 83 and then to the second electrode 82, and finally to the first electrode 81. Finally, the two first electrodes 81 are connected with the robot to complete the electrocoagulation signal and energy transmission.

Based on the above structure, the distal end of the surgical robot of the present embodiment drives the movable finger 12 to perform the opening and closing actions by the structure of the opening and closing connection member 31, the opening and closing linear driving module 22, and the opening and closing push rod 21, and drives the push broach to perform the cutting or pushing actions by the structure of the cooperation of the push broach connection member 531, the push broach linear driving module 522, and the push broach driving rod 521, and the two sets of driving structures do not interfere with each other. In the embodiment, the rotation connecting piece 65, the sleeve 61 and the sleeve driving component 62 are matched to drive the fixed finger 11 and the movable finger 12 to rotate, meanwhile, the opening and closing connecting piece 31 is required to drive the opening and closing push rod 21 to make a linear motion, and the push-broach connecting piece 531 drives the push broach to make a linear motion, so that the rotation, opening and closing and pushing actions of the robot end mechanism are realized through the above manner.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (16)

1. A surgical robot end opening and closing device, comprising:

the actuating assembly (1) comprises a fixed finger (11) and a movable finger (12), wherein the fixed finger (11) is configured to be fixedly assembled, a first end of the movable finger (12) is in hinged fit with a fixed end of the fixed finger (11), and a second end of the movable finger (12) is configured to be a free end;

the opening and closing driving assembly (2), the opening and closing driving assembly (2) comprises an opening and closing push rod (21) and an opening and closing linear driving module (22), and the opening and closing linear driving module (22) drives the movable finger (12) to deflect through the opening and closing push rod (21).

2. The surgical robot tip opening and closing device according to claim 1, wherein the opening and closing linear driving module (22) comprises:

the first end of the opening and closing transmission rod (221) is set as a power end, and the second end of the opening and closing transmission rod (221) is in threaded connection with the first end of the first screw rod (224);

a guide sleeve (222), the guide sleeve (222) being fixedly fitted;

the first end of the rotation stopping piece (223) is fixedly connected with the second end of the first screw rod (224), the second end of the rotation stopping piece (223) penetrates through the guide sleeve (222) to be fixedly connected with the first end of the opening and closing push rod (21), and the rotation stopping piece (223) is limited by the guide sleeve (222).

3. The surgical robot tail end opening and closing device according to claim 2, further comprising an opening and closing driving shaft (3), wherein a first end of the opening and closing driving shaft (3) is connected with an opening and closing connecting piece (31), and a second end of the opening and closing driving shaft (3) is connected with a first end of the opening and closing transmission rod (221) through an inserting linkage structure (4).

4. The surgical robot tip opening and closing device according to claim 3, characterized in that the insertion linkage structure (4) comprises a slot (41) and a protrusion (42), the protrusion (42) extending into the slot (41) for linkage.

5. The surgical robot tail end opening and closing device according to claim 1 or 4, characterized in that a pin shaft (212) is arranged at the second end of the opening and closing push rod (21), a guide opening (111) is formed on the fixed finger (11), a bevel opening (121) is correspondingly formed on the movable finger (12), and the pin shaft (212) sequentially penetrates through the bevel opening (121) and the guide opening (111) so that the movable finger (12) can deflect around a hinge point under the action of the opening and closing push rod (21).

6. A surgical robot tip mechanism using the surgical robot tip opening and closing device according to any one of claims 1 to 5, characterized by further comprising a pusher device (5), the pusher device (5) comprising:

the push knife (51), the push knife (51) is matched with the opening and closing push rod (21) in a sliding mode;

the push broach driving assembly (52), push broach driving assembly (52) include push broach actuating lever (521) and push broach linear drive module (522), push broach linear drive module (522) pass through push broach actuating lever (521) drive push broach (51) do the straight reciprocating motion.

7. The surgical robot tip mechanism according to claim 6, wherein the opening and closing push rod (21) is formed with a push blade groove (211) accommodating the push blade (51), the push blade (51) being slidably fitted in the push blade groove (211).

8. A surgical robotic tip mechanism according to claim 6 or 7, wherein the push-knife linear drive module (522) comprises:

a push broach transmission rod (5221), a first end of the push broach transmission rod (5221) is set as a stress end, and the push broach transmission rod (5221) is internally provided with the opening and closing transmission rod (221);

a second screw (5222), wherein the second screw (5222) is fixedly connected with a second end of the push-type broach transmission rod (5221), and the first screw (224) is arranged in the second screw (5222);

a nut seat (5223), wherein the nut seat (5223) is disposed on the second lead screw (5222), the nut seat (5223) is limited in rotation, one side of the nut seat (5223) is connected to a first end of the push-broach drive rod (521), and a second end of the push-broach drive rod (521) passes through the guide sleeve (222) and is connected to the push-broach (51).

9. The surgical robot tip mechanism according to claim 8, further comprising a pusher drive shaft (53), a pusher connector (531) connected to a first end of the pusher drive shaft (53), and a second end of the pusher drive shaft (53) connected to a first end of the pusher drive rod (5221) by means of the plugging linkage (4).

10. Surgical robot tip mechanism according to claim 9, characterized in that the first end of the opening and closing drive shaft (3) passes through the first end of the push-broach drive shaft (53).

11. The surgical robot tip mechanism according to claim 6, characterized in that a slide (112) is formed on the fixed finger (11), the push-type broach (51) slides in the slide (112), and the movable finger (12) is provided with an avoidance port (122) at a corresponding position.

12. A surgical robotic tip mechanism according to claim 10, further comprising a rotation device (6), said rotation device (6) comprising:

the first end of the sleeve (61) is fixedly connected with the fixed finger (11), and the opening and closing push rod (21) is arranged in the sleeve (61);

a cannula drive assembly (62), the cannula drive assembly (62) for driving the cannula (61) in rotation.

13. A surgical robotic tip mechanism according to claim 12, wherein the cannula drive assembly (62) comprises:

the first end of the connecting head (621) is arranged to be a plug-in end, a pin body (6211) extends out of the first end of the connecting head (621) along the radial direction, and the push broach transmission rod (5221) is arranged in the connecting head (621);

and a first end of the rotation sleeve (622) is fixedly connected with a second end of the connector (621), and a second end of the rotation sleeve (622) is fixedly connected with the guide sleeve (222).

14. The surgical robotic tip mechanism of claim 13, further comprising a self-rotating drive shaft (64), the first end of the push broach driving shaft (53) passes through the first end of the rotation driving shaft (64), the first end of the rotation driving shaft (64) is connected with a rotation connecting piece (65), the second end of the rotation driving shaft (64) is provided with a socket matched with the inserting end, the rotation driving shaft (64) is further provided with a channel (642) for sliding in the pin body (6211) and a deflection space (644) which can deflect after sliding in the pin body (6211), the self-rotation driving shaft (64) is also provided with a sliding limiting rod (643), the limiting rod (643) is positioned at one side of the channel (642), after the pin body (6211) enters the deflection space (644), the limiting rod (643) enters the channel (642) to limit the pin body (6211).

15. The surgical robot tip mechanism according to claim 14, wherein the rotation driving shaft (64) is formed with a mounting groove (648) for slidably mounting the position-limiting rod (643), an elastic member (646) for tightly pushing against the position-limiting rod (643) is further disposed in the mounting groove (648), a sliding key (645) is formed on an outer circumferential surface of the rotation driving shaft (64), the sliding key (645) is connected to the position-limiting rod (643) through a connecting rod (6451), and the sliding key (645) drives the position-limiting rod (643) to move.

16. The surgical robot tip mechanism according to claim 15, characterized in that the rotation sleeve (622) is formed with at least one set of rotation-stopping mouths (6221), and a rotation-stopping protrusion (52231) engaged with the rotation-stopping mouths (6221) is provided on the nut seat (5223) in a radial direction to allow the nut seat (5223) to be rotation-limited.

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