CN214966582U - Operation robot tail end rotation device and operation robot tail end mechanism - Google Patents

Abstract

The utility model relates to a minimal access surgery apparatus field especially relates to a terminal rotation device of surgical robot and surgical robot end mechanism. A surgical robot tip rotation 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; and the rotation driving assembly comprises a sleeve and a rotation driving module, and the rotation driving module drives the fixed finger to rotate through the sleeve. 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

Operation robot tail end rotation device and operation robot tail end mechanism

Technical Field

The utility model relates to a minimal access surgery apparatus field especially relates to a terminal rotation device of surgical robot and surgical robot end mechanism.

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 device and the driving device of the instrument are arranged together or the transmission device is arranged close to the execution end, so that the components of the instrument are more, heavy, large in size and easy to couple, and in addition, the tolerance accumulation of many components causes the precision and the stability of the instrument to be poor.

2. The acting force is manually provided by the doctor to control the execution end to rotate, open and close and push the cutter to act, so that the labor intensity of the doctor in the operation work is high, and the operation precision of the execution end is low.

3. The steel wire rope traction mode that transmission adopted, steel wire rope belong to the flexible coupling, inevitably can appear skidding at steel wire wheel rotation ground in-process, and steel wire rope itself is yielding, and this all makes and utilizes steel wire wheel turned angle to control the turned angle or the removal displacement of execution end and can appear the deviation, can't realize accurate control, and on the other hand, steel wire rope is also easy loss, stability can be poor owing to the nature of itself in long-term traction stretching process.

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 terminal rotation device of the surgical robot and the end mechanism of the surgical robot, which solves the technical problems. The technical scheme of the utility model as follows:

a surgical robot tip rotation 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; and the rotation driving assembly comprises a sleeve and a rotation driving module, and the rotation driving module drives the fixed finger to rotate through the sleeve.

According to an embodiment of the present invention, the rotation driving module includes a connector, a first end of which is configured as a plugging end; the first end of the rotation sleeve is fixedly connected with the second end of the connector, the second end of the rotation sleeve is fixedly connected with the first end of the sleeve by means of a guide sleeve, and the second end of the sleeve is fixedly connected with the fixed finger.

According to the utility model discloses an embodiment, still include the 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, the first end of connector extends the round pin body along radial direction, 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.

The utility model provides a terminal mechanism of surgical robot, adopts foretell terminal rotation device of surgical robot, still includes the device that opens and shuts, the device that opens and shuts includes: the first end of the opening and closing push rod is movably connected with the execution assembly, and the opening and closing push rod is arranged in the sleeve; 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, the second end of the opening and closing transmission rod is in threaded connection with the first end of the first screw rod, the opening and closing transmission rod is arranged in the connector, and the first screw rod is arranged in the rotation sleeve; 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 second 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, the first end of the push rod that opens and shuts is configured with 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.

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 still includes the broach device, the broach device includes: the push knife is assembled with the opening and closing push rod in a sliding mode; the push broach driving assembly comprises a push broach driving rod and a push broach linear driving module, the push broach driving rod is arranged in the connector, 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, push broach linear drive module includes: the first end of the push broach transmission rod is provided with a stress end, and the push broach transmission rod is arranged in the autorotation sleeve; 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, one side of the nut seat is connected with the first end of the push-type broach driving rod, the second end of the push-type broach driving rod penetrates through the guide sleeve to be connected with the push-type broach, and the nut seat is limited in rotation.

According to the utility model discloses an embodiment, from changeing the sleeve and being formed with at least a set of spline mouth, be provided with on the nut seat with spline mouthful complex spline is protruding with the limited rotation nut seat.

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 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 utility model, the first end of broach drive shaft passes the first end of rotation drive shaft, the first end of the drive shaft that opens and shuts passes the first end of broach drive shaft.

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

1. the utility model has the advantages that the self-rotation device is internally provided with the push broach driving component, the open-close push rod and the open-close linear driving module are internally provided with the push broach driving component, through the arrangement of the above mode, the space occupation of the robot end mechanism is reduced, the lightening and miniaturization of the robot end mechanism are facilitated, in addition, compared with the prior art that the gear and the steel wire rope are adopted to drive the executing part, the robot end mechanism has more parts, complex structure and large occupied space, the driving shaft and the driving rod adopted by the application drive the robot end mechanism to perform the self-rotation, the opening and closing and the push broach action, the structure is greatly simplified, the parts are less, the size is small, the miniaturization of the robot end mechanism can be really realized, in addition, the application does not arrange the driving and the transmission at the position close to the executing component or the driving module, and avoids the overlarge weight difference at the two ends of the end structure, therefore, the stability of the robot end mechanism in use is good.

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 with the rotation drive shaft, open and shut the one end cascaded arrangement of drive shaft and 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; be formed with the spline mouth on the rotation sleeve, it is protruding to be provided with the spline along radial direction correspondence on the nut seat, the spline is protruding to stretch 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, stop device that this application need not set up carries on spacingly to the nut seat, thereby robot end mechanism has been simplified, place first lead screw in the second lead screw in addition, place the rotation sleeve in the second lead screw, occupation in reducible space like this, 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 the transfer line that opens and shuts through grafting linkage structure, broach drive shaft and broach transfer line can install fast and dismantle, make like this that the execution subassembly can be changed after using, 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 a rotation driving assembly;

FIG. 3 is a schematic structural view of the guide sleeve;

FIG. 4 is a schematic view of the mating structure of the housing and the connector;

fig. 5 is a sectional view of the rotation driving shaft;

fig. 6 is an exploded view of the spinning drive shaft;

FIG. 7 is a schematic view of the structure of the channel and deflection space;

FIG. 8 is a partial structural view of a rotation driving shaft;

fig. 9 is a schematic structural view of the engagement of the rotation driving shaft with the rotation coupling member;

FIG. 10 is a schematic view of the opening and closing device;

FIG. 11 is a schematic structural view of the opening/closing push rod;

FIG. 12 is a schematic view of the mating structure of the opening and closing drive shaft and the opening and closing connector;

FIG. 13 is a schematic structural view of the plugging linkage structure;

FIG. 14 is a schematic view of the structure of the push-type broach device;

FIG. 15 is an exploded view of the cooperation of the pusher drive shaft and the pusher drive link;

FIG. 16 is a schematic view of the mating arrangement of the pusher drive shaft and the pusher coupling;

FIG. 17 is a schematic view of the structure of the push-type broach in cooperation with the actuator assembly;

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-a rotation driving component; 21-a sleeve; 22-rotation driving module; 221-a connector; 2211-pin body; 2212-limit piece; 222-a spinning sleeve; 2221-rotation stop port; 2222-mounting projections; 223-a guide sleeve; 2231-square holes; 2232-a ring-shaped protrusion; 22321-mounting openings; 23-a housing; 231-rotation stopping grooves; 3-a self-rotation driving shaft; 31-U-shaped notch I; 32-channel; 33-a limiting rod; 331-a limit projection; 34-a deflection space; 35-a sliding key; 351-connecting rod; 352-first escape opening; 353-second escape opening; 36-an elastic member; 37-a limiting seat; 38-mounting grooves; 39-autorotation connection; 391-a first gear set; 3911-driving gear I; 3912-a first driven gear I; 4-an opening and closing device; 41-opening and closing push rod; 411-a pusher slot; 412-pin axis; 413-rotation limiting projection; 42-opening and closing linear driving module; 421-opening and closing transmission rod; 422-rotation stopping piece; 423-first lead screw; 43-opening and closing drive shaft; 431-a folding connector; 5-a splicing linkage structure; 51-a slot; 52-a protrusion; 6-a push-type broach device; 61-a push broach; 62-a push-broach drive assembly; 621-a push-knife drive rod; 622-push-broach linear drive module; 6221-a push-type broach transmission rod; 6222-a second lead screw; 6223-nut seats; 62231-stop rotation projection; 63-a push-broach drive shaft; 631-a push-broach attachment; 632-U-shaped notch I; 633-second gear set; 6331 — driving gear ii; 6332-first driven gear ii; 6333-a second driven gear; 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 terminal rotation device of the present embodiment includes an actuating assembly 1 and a rotation driving assembly 2, the actuating assembly 1 includes a fixed finger 11 and a movable finger 12, 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; rotation drive assembly 2 includes sleeve 21 and rotation drive module 22, and rotation drive module 22 passes through sleeve 21 drive and decides to indicate 11 to rotate, and then makes the rotation of sleeve 21 can drive and decide to indicate 11 and move and indicate 12 to rotate, and this embodiment sets up to the pipe fitting through the partial structure with rotation device to can embed other parts, in order to reduce the occupation in space, be favorable to the miniaturization of robot end mechanism.

Further, as shown in fig. 2, the casing driving assembly 22 of the present embodiment drives the actuating assembly 1 to rotate through the casing 21, specifically, the casing driving assembly 22 includes a connector 221 and a rotation sleeve 222, a first end of the connector 221 is configured as an insertion end, a first end of the rotation sleeve 222 is fixedly connected to a second end of the connector 221, a second end of the rotation sleeve 222 is fixedly connected to a first end of the guide sleeve 223, a second end of the casing 21 is fixedly connected to a second end of the guide sleeve 223, the connector 221 is driven to rotate under the action of an external force, and the rotation of the connector 221 drives the actuating assembly 1 to rotate through the casing 21.

As shown in fig. 2, 4 and 18, the connection head 221 of this embodiment can be driven by the housing 23 to move, specifically, at least one set of limiting members 2212 is formed at the second end of the connection head 221 along the radial direction, in this embodiment, the limiting members 2212 are provided as two sets of limiting keys, the two sets of limiting keys are symmetrically provided, the rotation stopping groove 231 matched with the limiting keys is formed on the housing 23, and the limiting keys partially extend into the rotation stopping groove 231, so that the housing 23 can drive the connection head 221 to move under the action of an external force.

Preferably, the rotation sleeve 222 of the present example is coupled with the guide sleeve 223, and in particular, the second end of the rotation sleeve 222 is formed with at least one set of mounting protrusions 2222 along the axial direction, in this embodiment, two sets of mounting protrusions 2222 are symmetrically arranged, the first end of the guide sleeve 223 is formed with an annular protrusion 2232 along the radial direction, the annular protrusion 2232 is formed with a mounting opening 22321 matched with the mounting protrusions 2222, the second end of the rotation sleeve 222 abuts against the annular protrusion 2232, and the mounting protrusions 2222 protrude into the mounting opening 22321, so that the guide sleeve 223 and the rotation sleeve 222 are coupled.

As shown in fig. 8 and 9, the surgical robot end mechanism of this embodiment further includes a rotation driving shaft 3, a rotation connecting member 39 is connected to a first end of the rotation driving shaft 3, the rotation connecting member 39 drives the connector 221 to rotate through the rotation driving shaft 3, specifically, the rotation connecting member 39 drives the rotation driving shaft 3 through a first gear set 391, a first end of the rotation driving shaft 3 is formed with at least one set of U-shaped notch i 31 along an axial direction, the first gear set 391 includes a driving gear i 3911 and a first driven gear i 3912, the first driven gear i 3912 is formed with a limit key i corresponding to the U-shaped notch i 31, the limit key i extends into the U-shaped notch i 31, so that, by mutual engagement of the driving gear i 3911 and the first driven gear i 3912, the rotation driving shaft 3 can rotate along with the first gear set 391, because the first end of the rotation driving shaft 3 is connected with the connector 221, the rotation of the rotation driving shaft 3 drives the connection head 221 to follow the rotation. The free end of the rotation connecting piece 39 can be connected with a power source such as a motor and the like, and the rotation driving shaft 3 can be driven to rotate.

Further, as shown in fig. 5 to 8, a socket matching with the plug end is formed at the second end of the rotation driving shaft 3 of this embodiment, a pin body 2211 is formed on the outer peripheral surface of the plug end of the connector 221, a channel 32 for sliding in the pin body 2211 and a deflection space 34 capable of deflecting after sliding in the pin body 2211 are further formed at the second end of the rotation driving shaft 3, a sliding stopper rod 33 is further disposed on the rotation driving shaft 3, the stopper rod 33 is located at one side of the channel 32, and after the pin body 2211 enters the deflection space 34, the stopper rod 33 enters the channel 32 to stop the pin body 2211. Preferably, in the present embodiment, the coupling head 221 is deflected and moved within the rotation driving shaft 3 by the driving housing 23.

The rotation driving shaft 3 of the present embodiment is formed with a mounting groove 38, the sliding of the limiting rod 33 in the mounting groove 38 is limited, specifically, the rotation driving shaft 3 is provided with the mounting groove 38 along the axial direction, the mounting groove 38 is communicated with the channel 32, one end of the limiting rod 33 is formed with a limiting projection 331, the mounting groove 38 is formed with an annular boss at a corresponding position, and the limiting projection 331 abuts against the boss to limit the moving position of the limiting rod 33 in the mounting groove 38.

Further, one end of the mounting groove 38 of the present embodiment is provided with a limiting seat 37, the limiting seat 37 is fixedly connected with the mounting groove 38, and the mounting groove 38 is further provided with an elastic member 36 for tightly pushing the limiting rod 33, in the present embodiment, the elastic member 36 is configured as a spring, one end of the spring abuts against the limiting seat 37, and the other end of the spring abuts against the limiting protrusion 331, so that the limiting rod 33 can be prevented from moving freely in the mounting groove 38.

Preferably, in order to facilitate pushing the limiting rod 33 to move in the mounting groove 38, a sliding key 35 is formed on an outer circumferential surface of the rotation driving shaft 3 of the present embodiment, and the limiting rod 33 is driven to move by pushing the sliding key 35, specifically, a first avoiding opening 352 is formed on the outer circumference of the rotation driving shaft 3, the first avoiding opening 352 is communicated with the channel 32, a connecting rod 351 is disposed at one side of the sliding key 35, and the other end of the connecting rod 351 extends into the first avoiding opening 352 and is fixedly connected with a free end of the limiting rod 33, in addition, at least one second avoiding opening 353 is further formed on the rotation driving shaft 3, a buckle is formed at a corresponding position of the sliding key 35, the buckle extends into the second avoiding opening 353 and is hung on a side wall of the second avoiding opening 353, so that the sliding key 35 is prevented from being separated from the rotation driving shaft 3.

As shown in fig. 10-13, the surgical robot end mechanism of the present embodiment further includes an opening and closing device 4, the opening and closing device 4 includes an opening and closing push rod 41 and an opening and closing linear driving module 42, a first end of the opening and closing push rod 41 is movably connected to the executing component 1, the opening and closing push rod 41 is disposed in the casing 21, the opening and closing push rod 41 is slidably assembled with the casing 21, so that occupation of space can be reduced, the opening and closing linear driving module 42 drives the movable finger 12 to deflect through the opening and closing push rod 41, so that the driving of the opening and closing device 4 is arranged along the axial direction, and the driving and transmission portion of the opening and closing device 4 can be disposed in the rotation device, so that occupation of space can be reduced, and the robot end mechanism can be miniaturized.

Further, the opening and closing linear driving module 42 of the present embodiment pushes the movable finger 12 to perform an opening and closing action under the external force, specifically, the opening and closing linear driving module 42 includes an opening and closing transmission rod 421 and a rotation stopping member 422, a first end of the opening and closing transmission rod 421 is set as a power end, a second end of the opening and closing transmission rod 421 is in threaded connection with a first end of the first lead screw 423, the first lead screw 423 is embedded in the rotation sleeve 222, and the opening and closing transmission rod 421 is embedded in the connecting head 221; the first end of the rotation stopping piece 422 is fixedly connected with the second end of the first screw rod 423, the second end of the rotation stopping piece 422 passes through the guide sleeve 223 and is fixedly connected with the second end of the opening and closing push rod 41, and the rotation stopping piece 422 is limited by the guide sleeve 223.

Preferably, as shown in fig. 3 and 10, the rotation stopping member 422 of the present embodiment is limited in the movement direction by the guide sleeve 223, and specifically, the rotation stopping member 422 is provided as a square member, a square hole 2231 penetrating through the guide sleeve 223 is formed along the axial direction, the square hole 2231 is provided corresponding to the square member, and the square member passes through the square hole 2231 and is fixedly connected with the open-close push rod 41, so that the rotation stopping member 422 converts the rotation of the first screw rod 423 into a linear movement by using the rotation limiting property of the square member and the square hole, so that the open-close push rod 41 can only make a linear movement.

The second ends of the rotation stopping piece 422 and the opening and closing push rod 41 of the embodiment are both formed with fabrication holes, the guide sleeve 223 is formed with notches at corresponding positions, when the rotation stopping piece 422 and the second end of the opening and closing push rod 41 are installed, the rotation stopping piece 422 and the opening and closing push rod 41 are positioned by sequentially inserting bolts into the notches and the fabrication holes, and then the rotation stopping piece 422 and the opening and closing push rod 41 are welded, so that the precision of the robot end mechanism can be ensured.

As shown in fig. 1, 10 and 11, the movable finger 12 of the opening and closing push rod 41 of the present embodiment deflects around the fixed end of the fixed finger 11, specifically, the first end of the opening and closing push rod 41 is configured with a pin shaft 412, the fixed finger 11 is formed with a guide opening 111, the movable finger 12 is formed with an inclined opening 121 corresponding to the guide opening 111, the pin shaft 412 sequentially passes through the inclined opening 121 and the guide opening 111, under the action of an external force, the opening and closing push rod 41 is pushed to linearly reciprocate, the movement of the opening and closing push rod 41 drives the pin shaft 412 to move, and the movement of the pin shaft 412 applies a force to the inclined opening 121, so that the movable finger 12 deflects around a hinge point.

As shown in fig. 12, the opening and closing device 4 of this embodiment further includes an opening and closing driving shaft 43, a first end of the opening and closing driving shaft 43 is connected to an opening and closing connection member 431, the opening and closing connection member 431 drives the opening and closing transmission rod 421 to rotate through the opening and closing driving shaft 43, specifically, a first end of the opening and closing driving shaft 43 is formed with an insertion hole i penetrating in a radial direction, a driving end of the opening and closing connection member 431 is formed with an insertion hole ii at a corresponding position, when a bolt is inserted into the insertion hole i and the insertion hole ii, the opening and closing driving shaft 43 rotates along with the driving end of the opening and closing connection member 431, because a second end of the opening and closing driving shaft 43 is fixedly connected to the first end of the opening and closing transmission rod 421, the opening and closing transmission rod 421 rotates along with the opening and closing driving shaft 43, a free end of the opening and closing connection member 431 can be connected to a power source such as a motor, and the opening and closing transmission rod 421 can be driven to rotate.

Preferably, as shown in fig. 13, the second end of the opening and closing driving shaft 43 of the present embodiment is connected to the first end of the opening and closing transmission rod 421 by means of the inserting linkage structure 5, specifically, the inserting linkage structure 5 includes an inserting slot 51 located on the inner circumferential surface of the opening and closing driving shaft 43 and a protrusion 52 located on the outer circumferential surface of the opening and closing transmission rod 421, and the protrusion 52 extends into the inserting slot 51, so that the opening and closing transmission rod 421 can rotate along with the opening and closing driving shaft 43 and can be detachably connected to the opening and closing transmission shaft.

As shown in fig. 14 to 18, the surgical robot end mechanism of the present embodiment further includes a push-broach device 6, the push-broach device 6 includes a push-broach 61 and a push-broach driving assembly 62, the push-broach is slidably assembled with the opening-closing push rod 41, the push-broach driving assembly 62 includes a push-broach driving rod 621 and a push-broach linear driving module 622, and the push-broach linear driving module 622 drives the push-broach 61 to perform a linear reciprocating motion through the push-broach driving rod 621, so that the push-broach 61 performs a cutting action. In addition, the driving portion of the pusher mechanism 6 is provided in the axial direction, so that the pusher mechanism 6 can be built in the rotation mechanism to reduce the occupation of space, thereby miniaturizing the robot end mechanism.

Further, as shown in fig. 11 and 23, the push blade 61 of the present embodiment is slidably fitted with the opening and closing push rod 41, specifically, the opening and closing push rod 41 is provided with a U-shaped cross section to form a push blade groove 411, the push blade 61 is slidably fitted in the push blade groove 411, the push blade groove 411 guides the movement of the push blade 61, and further, the opening and closing push rod 41 is extended in a radial direction to form a rotation limiting protrusion 413 to prevent the opening and closing push rod 41 from being rotated freely.

Preferably, as shown in fig. 17, the push-type broach 61 of the present embodiment is guided by the fixed finger 11 during movement, specifically, the fixed finger 11 is formed with a slide track 112, the push-type broach driving rod 621 drives the push-type broach 61 to slide in the slide track 112, so that the push-type broach 61 is guided, and the movable finger 12 is provided with an avoiding opening 122 at a corresponding position to avoid interference with the movement of the push-type broach 61.

As shown in fig. 14, the push broach linear driving module 622 of this embodiment pushes the push broach 61 to perform a cutting action under the action of an external force, specifically, the push broach linear driving module 622 includes a push broach transmission rod 6221, a second lead screw 6222 and a nut seat 6223, a first end of the push broach transmission rod 6221 is set as a force-bearing end, the push broach transmission rod 6221 is disposed in the connection head 221, the second lead screw 6222 is fixedly connected with a second end of the push broach transmission rod 6221, preferably, the first lead screw 423 is disposed in the second lead screw 6222, the push broach transmission rod 6221 rotates under the action of the external force, the second lead screw 6222 rotates accordingly, the nut seat 6223 is disposed on the second lead screw 6222, one side of the nut seat 6223 is connected with the first end of the push broach driving rod 621, in this embodiment, the nut seat 6223 is in snap-fit with the push broach driving rod 621, the second end of the push broach driving rod 621 passes through the guide sleeve 223 to be connected with the push broach 61, and at the same time, the nut holder 6223 is restricted in rotation by the guide sleeve 223.

Preferably, the push-knife driving rod 621 of the present embodiment is configured as a square member, and in addition, a hole matched with the push-knife driving rod 621 is formed on the guide sleeve 223, so that the guide sleeve 223 can guide the push knife 61 and limit the moving direction of the push knife 61, and thus, under the action of an external force, the push knife 61 is driven by the push-knife driving rod 621 to reciprocate linearly, thereby performing a cutting action.

Further, in order to ensure the stability of the rotation limitation of the nut holder 6223, as shown in fig. 18, the nut holder 6223 of this embodiment is further limited by the rotation sleeve 222, specifically, the nut holder 6223 extends at least one set of rotation stopping protrusions 62231 along the radial direction, the rotation stopping protrusions 62231 are provided in two sets in this embodiment, the two sets of rotation stopping protrusions 62231 are symmetrically provided, the rotation sleeve 222 is formed with rotation stopping openings matched with the rotation stopping protrusions 62231, so that the nut holder 6223 is limited, and at the same time, the nut holder 6223 is ensured to receive a balanced rotation force and cannot shake during the movement.

As shown in fig. 16, the push broach device 6 of this embodiment further includes a push broach driving shaft 63, a push broach connecting member 631 is connected to a first end of the push broach driving shaft 63, the push broach connecting member 631 drives the push broach driving rod 6221 to rotate through the push broach driving shaft 63, specifically, the first end of the push broach driving shaft 63 is connected to the push broach connecting member 631, the push broach connecting member 631 drives the push broach driving shaft 63 through a second gear set 633, the first end of the push broach driving shaft 63 is formed with at least one set of U-shaped notches ii 632 along the axial direction, the second gear set 633 includes a driving gear ii 6331, a first driven gear ii 6332 and a second driven gear 6333, the driving gear ii 6331 is engaged with the first driven gear ii 6332, the first driven gear ii 6332 is engaged with the second driven gear 6333, a limit key ii corresponding to the U-shaped notch ii 632 is formed on the second driven gear 6333, the limit key ii extends into the U-shaped notch ii 632, therefore, the push broach driving shaft 63 can rotate along with the first gear set, the second end of the push broach driving shaft 63 is in inserted fit with the first end of the push broach transmission rod 6221, the push broach driving shaft 63 rotates to drive the push broach transmission rod 6221 to rotate, and the free end of the push broach connecting piece 631 can be connected with a power source such as a motor and the like and can drive the push broach driving shaft 63 to rotate.

Further, as shown in fig. 15, the second end of the push broach driving shaft 63 of the present embodiment is inserted and matched with the first end of the push broach transmission rod 6221 by means of the insertion linkage structure 5, specifically, the insertion linkage structure 5 includes a protrusion 52 formed on the outer peripheral surface of the second end of the push broach driving shaft 63 and a slot 51 formed on the inner peripheral surface of the first end of the push broach transmission rod 6221, the protrusion 52 extends into the slot 51 to make the push broach driving shaft 63 and the push broach transmission rod 6221 form linkage, that is, the push broach transmission rod 6221 can rotate along with the push broach driving shaft 63, and at the same time, the push broach transmission rod 6221 rod and the push broach driving shaft 63 form detachable connection.

Further, in order to miniaturize the surgical robot end mechanism, the size of the surgical robot end mechanism is small, as shown in fig. 19, the first end of the opening and closing drive shaft 43 passes through the first end of the push-type broach drive shaft 63, and the first end of the push-type broach drive shaft 63 passes through the first end of the rotation drive shaft 3, so that the rotation drive shaft 3, the opening and closing drive shaft 43, and the first end of the push-type broach drive shaft 63 are distributed in a stepped manner, so as to reduce the occupied space and facilitate the miniaturization of the robot end mechanism.

As shown in fig. 20 and 21, the rotation connector 39, the opening and closing connector 431, and the push broach connector 631 of the present embodiment are integrally mounted on the base 7, so that the occupied space can be reduced, and the miniaturization of the robot end mechanism is facilitated, and preferably, a limit opening 71 is formed on the base 7 of the present embodiment, one end of the limit seat 37 extends into the limit opening 71, and the rotation driving shaft 3 drives the limit seat 37 to rotate to a limit position along the limit opening 71 to be limited, and then stops rotating, so as to prevent the rotation angle from exceeding a set angle.

Further, as shown in fig. 22, two sets of first electrodes 81 are disposed on the base 7 of the present embodiment, two sets of second electrodes 82 are disposed at the second end of the rotation driving shaft 3, a third electrode 83 is disposed on the housing 23, and fourth electrodes 84 are disposed on the fixed finger 11 and the movable finger 12, so that a line a can 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 can be formed from the fourth electrode 84 on the fixed finger 11 to the third electrode 83 and then to the second electrode 82 to the first electrode 81, and the lines are actually routed from the inside of the shaft rod. Finally, the two first electrodes 81 are connected with the robot to complete the electrocoagulation signal and energy transmission.

Based on the above structure, as shown in fig. 23, in the surgical robot end mechanism of the present embodiment, the opening and closing connecting piece 431, the opening and closing linear driving module 42 and the opening and closing push rod 41 are matched to drive the movable finger 12 to perform the opening and closing movement, the push knife connecting piece 631, the push knife linear driving module 622 and the push knife driving rod 621 are matched to drive the push knife 61 to perform the cutting or pushing movement, and the two sets of driving structures do not interfere with each other. In the embodiment, the rotation connecting piece 39, the sleeve 21 and the sleeve driving assembly 22 are matched to drive the fixed finger 11 and the movable finger 12 to rotate, meanwhile, the opening and closing connecting piece 431 is required to drive the opening and closing push rod 41 to do linear motion, and the push knife connecting piece 631 drives the push knife 61 to do linear motion, so that the rotation, opening and closing and pushing actions of the robot end mechanism are realized in the manner described above.

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 terminal rotation 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 rotation driving assembly (2), the rotation driving assembly (2) comprises a sleeve (21) and a rotation driving module (22), and the rotation driving module (22) drives the fixed finger (11) to rotate through the sleeve (21).

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

the connector comprises a connector (221), wherein a first end of the connector (221) is set as a plug-in end;

and a first end of the rotation sleeve (222) is fixedly connected with a second end of the connector (221), a second end of the rotation sleeve (222) is fixedly connected with a first end of the sleeve (21) through a guide sleeve (223), and a second end of the sleeve (21) is fixedly connected with the finger (11).

3. The surgical robot tip spinning device according to claim 1 or 2, further comprising a spinning drive shaft (3), the first end of the rotation driving shaft (3) is connected with a rotation connecting piece (39), the second end of the rotation driving shaft (3) is provided with a socket matched with the insertion end, a pin body (2211) extends from the first end of the connecting head (221) along the radial direction, the self-rotation driving shaft (3) is also provided with a channel (32) for sliding in the pin body (2211) and a deflection space (34) which can deflect after the pin body (2211) is slid in, the rotation driving shaft (3) is also provided with a sliding limiting rod (33), the limiting rod (33) is positioned at one side of the channel (32), after the pin body (2211) enters the deflection space (34), the limiting rod (33) enters the channel (32) to limit the pin body (2211).

4. The surgical robot terminal rotation device according to claim 3, wherein the rotation driving shaft (3) is formed with a mounting groove (38) in which the stopper rod (33) is slidably mounted, an elastic member (36) for pressing against the stopper rod (33) is further disposed in the mounting groove (38), a sliding key (35) is formed on an outer circumferential surface of the rotation driving shaft (3), the sliding key (35) is connected to the stopper rod (33) through a connecting rod (351), and the sliding key (35) drives the stopper rod (33) to move.

5. A surgical robot tip mechanism using the surgical robot tip spinning device according to any one of claims 1 to 4, further comprising an opening and closing device (4), wherein the opening and closing device (4) comprises:

the first end of the opening and closing push rod (41) is movably connected with the execution component (1), and the opening and closing push rod (41) is arranged in the sleeve (21);

the opening and closing linear driving module (42) drives the movable finger (12) to deflect through the opening and closing push rod (41).

6. Surgical robotic tip mechanism according to claim 5, characterized in that said opening and closing linear drive module (42) comprises:

the first end of the opening and closing transmission rod (421) is set as a power end, the second end of the opening and closing transmission rod (421) is in threaded connection with the first end of the first screw rod (423), the opening and closing transmission rod (421) is arranged in the connector (221), and the first screw rod (423) is arranged in the rotation sleeve (222);

the first end of the rotation stopping piece (422) is fixedly connected with the second end of the first screw rod (423), the second end of the rotation stopping piece (422) penetrates through the guide sleeve (223) to be fixedly connected with the second end of the opening and closing push rod (41), and the rotation stopping piece (422) is limited by the guide sleeve (223).

7. The surgical robot end mechanism according to claim 6, wherein a pin shaft (412) is disposed at a first end of the opening and closing push rod (41), 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 (412) sequentially passes through the bevel opening (121) and the guide opening (111) so that the movable finger (12) deflects around a hinge point under the action of the opening and closing push rod (41).

8. The surgical robot end mechanism according to claim 5 or 7, further comprising an opening and closing drive shaft (43), wherein a first end of the opening and closing drive shaft (43) is connected with an opening and closing connecting piece (431), and a second end of the opening and closing drive shaft (43) is connected with a first end of the opening and closing transmission rod (421) by means of an inserting linkage structure (5).

9. A surgical robotic end mechanism according to claim 8, wherein the socket linkage structure (5) comprises a socket (51) and a protrusion (52), the protrusion (52) extending into the socket (51) for linkage.

10. A surgical robot tip mechanism according to claim 5 or 9, characterized by further comprising a push-broach device (6), the push-broach device (6) comprising:

the push knife (61), the push knife (61) is assembled with the opening and closing push rod (41) in a sliding mode;

the push broach driving assembly (62), push broach driving assembly (62) include push broach drive lever (621) and push broach linear driving module (622), place in push broach drive lever (621) rotation sleeve (222), push broach linear driving module (622) pass through push broach drive lever (621) drive push broach (61) do straight reciprocating motion.

11. The surgical robotic tip mechanism of claim 10, wherein the pusher linear drive module (622) comprises:

the first end of the push broach transmission rod (6221) is set to be a stress end, and the push broach transmission rod (6221) is arranged in the connecting head (221);

the second screw rod (6222), the second screw rod (6222) and the second end of the push broach transmission rod (6221) are fixedly connected, and the first screw rod (423) is arranged in the second screw rod (6222);

the nut seat (6223) is arranged on the second screw rod (6222), one side of the nut seat (6223) is connected with the first end of the push broach driving rod (621), the second end of the push broach driving rod (621) penetrates through the guide sleeve (223) to be connected with the push broach (61), and the nut seat (6223) is limited in rotation.

12. The surgical robot tip mechanism according to claim 11, wherein the rotation sleeve (222) is formed with at least one set of rotation-stopping ports (2221), and the nut holder (6223) is provided with rotation-stopping protrusions (62231) fitted with the rotation-stopping ports (2221) to restrict rotation of the nut holder (6223).

13. The surgical robot tip mechanism according to claim 12, characterized in that a slide (112) is formed on the fixed finger (11), the push-type broach (61) slides in the slide (112), and the movable finger (12) is provided with an avoidance port (122) at a corresponding position.

14. The surgical robot tip mechanism according to claim 10, wherein the opening and closing push rod (41) is formed with a push blade groove (411) accommodating the push blade (61), the push blade (61) being slidably fitted in the push blade groove (411).

15. A surgical robot tip mechanism according to claim 11 or 14, characterized by further comprising a pusher drive shaft (63), a pusher connector (631) being connected to a first end of the pusher drive shaft (63), and a second end of the pusher drive shaft (63) being connected to a first end of the pusher drive rod (6221) by means of the plugging linkage (5).

16. The surgical robot tip mechanism according to claim 15, wherein a first end of the pusher driving shaft (63) passes through a first end of the rotation driving shaft (3), and a first end of the opening and closing driving shaft (43) passes through a first end of the pusher driving shaft (63).

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