CN215018099U - Driving device - Google Patents

Abstract

The utility model relates to a driving device, it has solved the technical problem that the driving device for driving pincers page or leaf to open and shut in the end effector of the existing surgical instruments is complicated in structure, the motion flexibility is poor, it includes driving gear, drive wheel, godet wheel, silk festival and wire rope, driving gear and drive wheel fixed connection, wire rope passes through silk festival and drive wheel fixed connection, wire rope passes through the silk festival, silk festival and wire rope fixed connection, two terminal surfaces of silk festival are the inclined planes that are parallel to each other, be equipped with silk festival mounting groove on the drive wheel, silk festival mounting groove is equipped with two inclined planes, silk festival imbeds in silk festival mounting groove and welds together, two inclined planes of silk festival mounting groove match with two inclined planes of silk festival; the steel wire rope is wound on the driving wheel and then wound around the wire guide wheel in a crossing way. The utility model discloses extensively be used for minimal access surgery robot technical field.

Description

Driving device

Technical Field

The utility model relates to a minimal access surgery surgical instruments technical field particularly, relates to a drive arrangement.

Background

Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.

Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.

With reference to the invention patent publication No. CN105286989B and the invention patent publication No. CN105286999B, surgical instruments are essential tools for surgical procedures that can perform various functions including clamping, cutting, suturing, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation. During surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient.

However, the existing surgical instrument end effector has poor flexibility, and two forceps blades move simultaneously, so that the flexibility of opening and closing the forceps blades is limited, and the types of operations are also limited. The driving device for driving the opening and closing of the pincers is complex in structure and poor in movement flexibility.

Disclosure of Invention

The utility model discloses be exactly for having solved the complicated, the poor technical problem of motion flexibility of the drive arrangement structure that is used for driving pincers page or leaf to open and shut among the current surgical instruments end effector, provide a structure and connect list, compact, the motion is more nimble, improves the drive arrangement of apparatus security.

The utility model provides a driving device, including driving gear, drive wheel, godet wheel, silk festival and wire rope, driving gear and drive wheel fixed connection, wire rope passes through silk festival and drive wheel fixed connection, wire rope passes through the silk festival, silk festival and wire rope fixed connection, two terminal surfaces of silk festival are the inclined plane that is parallel to each other, be equipped with silk festival mounting groove on the drive wheel, silk festival mounting groove is equipped with two inclined planes, the silk festival imbeds in silk festival mounting groove and welds together, two inclined planes of silk festival mounting groove and two inclined planes of silk festival match; the steel wire rope is wound on the driving wheel and then wound around the wire guide wheel in a crossing way.

Preferably, the wire section and the steel wire rope are fixed together by crimping.

Preferably, the drive means further comprises a driven gear, the driven gear being in mesh with the drive gear.

The beneficial effects of the utility model are that, compact structure, the motion is nimble, and two trend parts cross contactless of wire rope have avoided wire rope's contact friction, increase the security of apparatus.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a schematic view of a multi-degree of freedom surgical instrument with independently moving jaws;

FIG. 2 is a schematic view of the end effector mounted on the instrument shaft;

FIG. 3 is a schematic structural view of an end effector;

FIG. 4 is a schematic structural view of an end effector;

FIG. 5 is a schematic view of the connection of the first driven gear with the first jaw;

FIG. 6 is a schematic view of the connection of the second driven gear with the second jaw;

FIG. 7 is a schematic view of the pitch ring configuration;

FIG. 8 is a partial cross-sectional view of a pitch ring;

FIG. 9 is a schematic view of the structure of the central shaft;

FIG. 10 is a schematic view of the first drive gear coupled to the first drive wheel;

FIG. 11 is a schematic view of two wire ropes passing around godet wheel III and connected to a pitch ring;

FIG. 12 is a schematic view of a first drive gear fixedly coupled to a first drive wheel;

FIG. 13 is a schematic view of a first drive gear fixedly coupled to a first drive wheel;

FIG. 14 is a front view of the structure shown in FIG. 13;

FIG. 15 is a side view of the structure shown in FIG. 13;

FIG. 16 is a perspective view of a first wire segment;

fig. 17 is a top view of a first wire segment.

FIG. 18 is a schematic view of a first wire rope being wound around a first drive wheel, godet wheel one;

FIG. 19 is a schematic view of the first driven gear at the lower end of the first jaw engaged with the first driving gear and the second driven gear at the lower end of the second jaw engaged with the second driving gear;

FIG. 20 is a schematic structural view of an arc-shaped wire groove arranged at the bottom of a pitch ring;

FIG. 21 is a partial cross-sectional view of a pitch ring;

FIG. 22 is a schematic view of the third wire segment installed in the wire segment positioning hole;

FIG. 23 is a schematic view of the structure in which the rotating shaft passes through the pitch ring and two clamp leaves are connected with the rotating shaft;

FIG. 24 is a view from another perspective of the structure shown in FIG. 18;

fig. 25 is a view from another perspective of the structure shown in fig. 18.

The symbols in the drawings illustrate that:

1. the end effector comprises an end effector, an opening and closing direction of 1-1, a deflection direction of 1-2, a supporting seat of 001, a pitching ring of 002, a rotating shaft connecting hole of 002-1 and a rotating shaft connecting hole of 002-2; 004-1 of a second driving wheel, 005 of a central shaft, 006 of a first clamp, 007 of a second clamp, 008 of a shaft 2, 009 of a first godet wheel, 010 of a second godet wheel, 011 of a third godet wheel, 012 of a shaft three, 013 of a shaft four, 014 of a shaft five, 015 of a first driven gear, 016 of a second driven gear, 020 of a third steel wire rope, 021 of a fourth steel wire rope; 2. instrument rod, 3. instrument box.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.

As shown in fig. 1, the surgical instrument with multiple degrees of freedom and independently moving jaws comprises an end effector 1, an instrument rod 2 and an instrument box 3, wherein the instrument rod 2 is connected with the instrument box 3, the end effector 1 is connected with the instrument rod 2, the instrument box 3 adopts a structure in the prior art, and the instrument rod 2 adopts a structure in the prior art. As shown in fig. 2, the end effector 1 has two clamp leaves, and the first clamp leaf 006 and the second clamp leaf 007 can be opened and closed and also can be deflected.

As shown in fig. 3 and 4. The end effector 1 comprises a supporting seat 001, a pitching ring 002, a first driving wheel 003-1, a first driving gear 003-2, a second driving wheel 004-1, a second driving gear 003-3, a first driven gear 015, a second driven gear 016, a central shaft 005, a first tong 006, a second tong 007, a rotating shaft 008, a first godet wheel 009, a second godet wheel 010, a third godet wheel 011, a third shaft 012, a fourth shaft 013 and a fifth shaft 014.

The first godet wheel 009 is rotationally connected with one side of the supporting seat 001 through the third shaft 12, the second godet wheel 010 is rotationally connected with the other side of the supporting seat 001 through the fourth shaft 013, and the third godet wheel 011 is rotationally connected with the middle of the supporting seat 001 through the fifth shaft 014.

As shown in fig. 5, the first driven gear 015 is fixedly coupled to a lower end of the first flapper 006, and as shown in fig. 6, the second driven gear 016 is fixedly coupled to the second flapper 007.

As shown in FIGS. 7 and 8, the pitching ring 002 is integrally in a shape of a Chinese character shan, and has a middle portion 002-1, a first side portion 002-2, and a second side portion 002-3, wherein the first side portion 002-2 is provided with a first axial hole 002-2-1, and the second side portion 002-3 is provided with a second axial hole 002-3-1. The middle part 002-1 is provided with a central shaft hole 002-1-1 along the width direction and an inclined hole 002-1-2 along the length direction. A first driven gear accommodating space is provided between the middle portion 002-1 and the first side portion 002-2, and a second driven gear accommodating space is provided between the middle portion 002-1 and the second side portion 002-3.

The rotating shaft 008 penetrates through the inclined hole 002-1-2 of the pitching ring 002, one end of the rotating shaft 008 is inserted into the first shaft hole 002-2-1 to achieve positioning, and the other end of the rotating shaft 008 is inserted into the second shaft hole 002-3-1 to achieve positioning.

As shown in fig. 9, the center shaft 005 is provided with an inclined through-hole 005-1, and the axis of the inclined through-hole 005-1 makes an angle a with the vertical line. The central shaft 005 passes through the central shaft hole 002-1-1 of the pitching ring 002, and the middle part of the rotating shaft 008 passes through the inclined through hole 005-1 of the central shaft 005. The pitch ring 002 can rotate about the center axis 005.

The first driven gear 015 is located in the first driven gear accommodating space of the pitch ring 002, and the second driven gear is located in the second driven gear accommodating space of the pitch ring 002. The lower extreme that the pivot 008 passed first pincers page 006 realized first pincers page 006 rotates with the pivot 008 to be connected, and the pivot 008 passes the centre bore of first driven gear 015. The lower extreme that second pincers page or leaf 007 was passed to pivot 008 realizes that the lower extreme of second pincers page or leaf 007 rotates with pivot 008 to be connected, and pivot 008 passes the centre bore of second driven gear.

As shown in fig. 10 and 11, the first driving gear 003-2 is fixedly connected to the first driving wheel 003-1. The first wire rope 0033 passes through the first wire section 0032, and the first wire section 0032 and the first wire rope 0033 are fixedly combined together in a compression joint mode. As shown in FIGS. 16-17, both end surfaces of the first wire section 0032 are beveled (beveled 0032-1, beveled 0032-2, respectively, beveled 0032-1 and beveled 0032-2 being parallel). As shown in FIGS. 12-15, the first knuckle mounting groove on the first drive wheel 003-1 is a skewed slot with a slope 003-1-1 and a slope 003-1-2 matching the slope 0032-1 and the slope 0032-2. The first wire section 0032 is embedded into the first wire section installation groove on the first driving wheel 003-1, the inclined surface 0032-1 is coincided with the inclined surface 003-1-1 and welded together, and the inclined surface 0032-2 is coincided with the inclined surface 003-1-2 and welded together. As shown in fig. 18, the first wire rope 0033 is wound around the first godet wheel 009 after being wound around the first driving wheel 003-1, and the first wire section installation groove is designed to be a chute and a slope of the first wire section, so that the intersection of two running parts of the first wire rope 0033 is free from contact (refer to fig. 24 and 25), contact friction of the wire rope is avoided, and safety of the instrument is improved. The first steel wire rope 0033 is connected with the first driving wheel 003-1 through the first wire section 0032, and the processing and the manufacturing are convenient.

In a similar way, the second driving gear is fixedly connected with the second driving wheel, the second steel wire rope penetrates through the second wire section, the second wire section and the second steel wire rope are fixedly combined together in a compression joint mode, two end faces of the second wire section are inclined planes which are parallel to each other, a second wire section mounting groove in the second driving wheel is a chute, and the chute is provided with two inclined planes matched with the two inclined planes of the second wire section. The second wire section is embedded into the second wire section mounting groove on the second driving wheel and welded together. The second steel wire rope is wound on the second driving wheel and then wound around the second wire guide wheel 010 in a crossed mode. The first steel wire rope 003 and the second steel wire rope pass through the supporting seat 001.

As shown in fig. 19, the first driven gear 015 of the lower end of the first tong 006 is engaged with the first driving gear 003-2, the second driven gear 016 of the lower end of the second tong 007 is engaged with the second driving gear 003-3, the first driven gear 015 of the lower end of the first tong 006 is not engaged with the second driving gear 003-3, and the second driven gear 016 of the lower end of the second tong 007 is not engaged with the first driving gear 003-2. When the first wire rope 0033 drives the first driving wheel 003-1 to rotate, the first driving gear 003-2 rotates along with the first driving wheel, and the first driving gear 003-2 drives the first driven gear 015 to rotate, so that the first tong leaf 006 rotates; when the second wire rope drives the second driving wheel to rotate, the second driven gear is driven to rotate, so that the second clamp leaf 007 rotates; therefore, the opening and closing of the two clamp pages are realized, and the movement of any one of the two clamp pages (one of the two clamp pages is static and the other one of the two clamp pages moves) can be independently controlled without mutual interference.

Two ends of the central shaft 005 are respectively fixedly connected with two side edges of the upper part of the supporting seat 001. Center shaft 005 passes through first drive wheel 003-1, and first drive wheel 003-1 is connected with center shaft 005 is rotated, and center shaft 005 passes through the centre bore of first driving gear 003-2. The central shaft 005 passes through the second driving wheel 004-1, the second driving wheel 004-1 is rotationally connected with the central shaft 005, and the central shaft 005 passes through the central hole of the second driving gear.

As shown in fig. 20, the pitch ring 002 has a first arc-shaped wire groove 002-4 and a second arc-shaped wire groove 002-5 in the bottom. As shown in FIG. 21, the pitch ring 002 has first wire segment positioning holes 002-6 and second wire segment positioning holes 002-7 on both sides. The first thread segment positioning hole 002-6 is communicated with the first arc-shaped thread groove 002-4. The second thread pitch positioning hole 002-7 is communicated with the second arc-shaped thread groove 002-5.

The third godet wheel 011 is provided with a first guide groove and a second guide groove. The third steel wire rope 020 bypasses the first guide groove of the third godet wheel 011 and then is embedded into the first arc-shaped wire groove 002-4 at the bottom of the pitching ring 002, and the fourth steel wire rope 021 bypasses the second guide groove of the third godet wheel 011 and then is embedded into the second arc-shaped wire groove 002-5 at the bottom of the pitching ring 002. The third thread section 019 is connected with the upper end of a third steel wire rope 020, and the third thread section 019 is fixedly installed in the first thread section positioning hole 002-6. The fourth wire section is connected with the upper end of a fourth wire rope 021, and the fourth wire section is fixedly installed in the second wire section positioning hole 002-7. The third steel wire rope 020 and the fourth steel wire rope 021 penetrate through the supporting seat 001.

Pulling third wire rope 020, pitch ring 002 rotates around 005 central axial one direction to drive 006 first pincers page or leaf and 007 the second pincers page or leaf and rotate certain angle simultaneously, realize the deflection motion. Pulling fourth wire rope 021, every single move ring 002 rotates around 005 central axial another direction to drive first pincers page or leaf 006 and second pincers page or leaf 007 rotate certain angle simultaneously, realize the deflection motion.

The end effector of the utility model has compact structure and flexible movement, saves space and reduces the size of the forceps head of the surgical instrument. Meanwhile, various forceps heads such as needle holders and grasping forceps can be equipped.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.

Claims (3)

1. A driving device is characterized by comprising a driving gear, a driving wheel, a yarn guide wheel, a yarn section and a steel wire rope, wherein the driving gear is fixedly connected with the driving wheel, the steel wire rope is fixedly connected with the driving wheel through the yarn section, the steel wire rope penetrates through the yarn section, the yarn section is fixedly connected with the steel wire rope, two end faces of the yarn section are inclined planes which are parallel to each other, a yarn section installation groove is formed in the driving wheel, two inclined planes are arranged in the yarn section installation groove, the yarn section is embedded into the yarn section installation groove and welded together, and the two inclined planes of the yarn section installation groove are matched with the two inclined planes of the yarn section; and the steel wire rope is wound on the driving wheel and then wound around the wire guide wheel in a crossed manner.

2. The drive of claim 1, wherein the wire segments and the wire rope are secured together by crimping.

3. The drive of claim 1 or 2, further comprising a driven gear in mesh with the drive gear.

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