CN217090895U - Easily maintain and intervene operation robot drive arrangement - Google Patents
Easily maintain and intervene operation robot drive arrangement Download PDFInfo
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- CN217090895U CN217090895U CN202123424958.8U CN202123424958U CN217090895U CN 217090895 U CN217090895 U CN 217090895U CN 202123424958 U CN202123424958 U CN 202123424958U CN 217090895 U CN217090895 U CN 217090895U
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Abstract
The utility model provides an easy maintenance intervenes surgical robot drive arrangement, its includes first casing, sets up two centre gripping groups in the first casing outside and is used for driving the actuating mechanism of two centre gripping groups, centre gripping group passes through retaining member detachably and installs in actuating mechanism. The utility model discloses a with centre gripping group with screw locking's mode install alone on actuating mechanism, damage appears in centre gripping group, contaminated or other circumstances that need to be changed, directly take off centre gripping group from actuating mechanism, need not to change the whole operation robot slave end drive arrangement that intervenes, reduce the operation cost, alleviate patient's economic burden, overall structure is compact moreover, occupation space is less, the practicality is strong, has stronger popularization meaning.
Description
Technical Field
The utility model relates to a medical robot field especially relates to an easily maintain and intervene operation robot drive arrangement.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, the incision (puncture point) of the digital technology is only the size of rice grains, and the digital technology can treat a plurality of diseases which cannot be treated in the past, need surgical treatment or have poor curative effect in internal treatment without cutting human tissues, such as tumors, hemangioma, various kinds of bleeding and the like. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment.
In the process of carrying out guide wire (or catheter) clamping from the end surgical robot, a corresponding transmission mechanism is needed to drive the clamping group to clamp the guide wire (or catheter), and the traditional clamping group of the end surgical robot and a connecting arm of the transmission mechanism adopt an integrated forming mode, so that when the clamping group is damaged, the clamping group needs to be discarded integrally. In addition, in the operation process, if the clamping group is polluted by residual liquid such as blood and the like, the clamping group also needs to be integrally discarded, and the use cost is increased.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a novel easy-maintenance interventional surgical robot driving device for overcoming the defects in the prior art.
The utility model provides an easy maintenance intervenes surgical robot drive arrangement, its includes first casing, sets up two centre gripping groups in the first casing outside and is used for driving the actuating mechanism of two centre gripping groups, centre gripping group passes through retaining member detachably and installs in actuating mechanism.
Furthermore, the driving mechanism is accommodated in the first shell and is provided with two connecting rods which extend out of the first shell and are respectively matched and installed with the two clamping groups, and the two clamping groups are respectively detachably installed on the two connecting rods through locking pieces.
Furthermore, one side surface of the first shell, which faces away from the driving mechanism, is provided with two movable holes, the two connecting rods respectively extend out of the two movable holes, and the two clamping groups are respectively positioned around the two movable holes.
Furthermore, each movable hole edge is equipped with the chimb, and the corresponding centre gripping group closes in the chimb outside with the cooperation.
Further, the centre gripping group is equipped with the mounting hole, the connecting rod is equipped with the fixed orifices of inside extension, the retaining member is fixed screw, fixed screw stretches into and fixes with the fixed orifices locking of connecting rod from the mounting hole.
Further, the inner space of the mounting hole is T-shaped to accommodate the head of the locking piece.
Furthermore, a fixing groove is formed in one side, close to the driving mechanism, of the clamping group and communicated with the mounting hole.
Further, the connecting rod extends into the fixing groove of the clamping group.
Furthermore, the outer sides of the two clamping groups are respectively sleeved with a jacket which is directly contacted with the slender medical instrument.
Furthermore, the inner sides opposite to the two clamping sleeves are respectively provided with an elastic protection sheet.
The beneficial effects of the utility model reside in that: install on actuating mechanism alone through the mode with retaining member locking with the centre gripping group, damage appears in the centre gripping group, contaminated or other circumstances that need change, conveniently follow the first casing outside, directly take off the centre gripping group from actuating mechanism, need not to open first casing and change whole intervention operation robot from holding drive arrangement, reduce operation cost. The economic burden of the patient is reduced, the whole structure is compact, the occupied space is small, the practicability is high, and the popularization significance is high.
Drawings
Fig. 1 is a schematic structural view of the driving device of the easy-maintenance interventional surgical robot clamping a slender medical instrument;
fig. 2 is a schematic structural view of the easy-maintenance interventional surgical robot driving device shown in fig. 1 after the first cover body and the second cover body are opened;
FIG. 3 is an exploded view of the easy-maintenance interventional surgical robotic drive of FIG. 2;
FIG. 4 is a schematic structural diagram of a driving mechanism of the easy-maintenance interventional surgical robot driving device shown in FIG. 2;
fig. 5 is a schematic structural diagram of the clamping group of the easy-maintenance interventional surgical robot driving device shown in fig. 2 when the clamping group is installed in cooperation with the chassis of the driving mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 5, the present invention provides an easy-maintenance interventional surgical robot driving device, which is installed on a slave end of an interventional surgical robot, and performs a clamping operation on an elongated medical device 100 (a guide wire or a catheter), and the interventional surgical robot pushes the clamped elongated medical device 100, i.e., the guide wire or the catheter, to be delivered forward or withdrawn backward to enter or exit the body of a surgical patient. In the following description, a direction in which the two clamping groups 30 clamp or unclamp the elongated medical device 100 is defined as a first direction, a direction in which the elongated medical device 100 is delivered forward or withdrawn backward is defined as a second direction, and a direction perpendicular to the first direction and the second direction is defined as a third direction. In the illustration, the first direction and the second direction are perpendicular to each other.
The easily-maintained interventional surgical robot driving device comprises a driving mechanism 10, a first shell 20 covering the driving mechanism 10, two clamping groups 30 arranged on the outer side of the first shell 20 and connected with the driving mechanism 10 through locking pieces, a clamping sleeve 50 sleeved on the outer side of the clamping groups 30, and a second shell 40 wrapped on the outer sides of the first shell 20 and the clamping sleeve 50, wherein the driving mechanism 10, the first shell 20 and the clamping groups 30 are non-consumable parts, and the second shell 40 and the clamping sleeve 50 are consumable parts.
The second housing 40 includes a main body 41, a first cover 42 movably mounted on one side of the main body 41, and a second cover 43 movably mounted on the other side of the main body 41, wherein one side of the first cover 42 is pivotally connected to the main body 41, and the first cover 42 can rotate from the main body 41, so that the first cover 42 covers the outer sides of the two clamping sets 30 or is opened outward to expose the two clamping sets 30.
One side of the second cover 43 is pivotally connected to the main body 41, the second cover 43 can rotate on the main body 41 to open or close the second cover 43 on the main body 41, when the second cover 43 is in an open state on the main body 41, the main body 41 exposes the bottom opening 414, the second housing 40 can be freely disassembled and assembled on the first housing 20, when the second cover 43 covers the second cover 43, the second cover 43 seals the bottom opening 414 of the first housing 20, and the second cover 43 and the main body 11 can be installed in an auxiliary manner through a snap structure or a magnetic attraction structure.
The main body portion 41 is arranged in a hollow manner, a butt joint portion 411 is arranged on one side of the main body portion 41, which faces away from the second cover 43, a long opening 412 extending along the first direction is arranged at the upper end of the butt joint portion 411, two opposite guide grooves 413 are arranged at the edge position of the opening 412 along the second direction, the guide grooves 413 are arranged in a V shape, and the groove width of the guide grooves 413 is gradually reduced from the edge inwards. The first cover 42 is provided with a through hole 421 at an opposite position, and when the first cover 42 is covered on the main body 41, the through hole 421 of the first cover 42 and the guide groove 413 are aligned with each other along the second direction.
The driving mechanism 10 comprises a base 11, two bottom frames 12 installed on the base 11, a linkage wheel 13 simultaneously connected to the two bottom frames 12, and a driver 14 for driving the two bottom frames 12 to move reversely along a first direction. The two under frames 12 are oppositely arranged. The linkage wheel 13 is arranged between the two under frames 12 and enables the two under frames 12 to synchronously approach or leave each other along a first direction. The inner sides of the two bottom frames 12 are respectively provided with a latch, the outer surface of the linkage wheel 13 is provided with a latch, and the linkage wheel 13 is simultaneously meshed with the bottom frames 12 of the first driving assembly through the latches. The driver 14 is connected with one of the base frames 12, and under the action of the linkage wheel 13, the driver 14 drives the two base frames 12 to move in opposite directions along a first direction. The two clamping sets 30 are driven to approach or depart from each other along the first direction, so as to drive the two clamping sets 30 to perform clamping or releasing actions.
A connecting rod 121 is disposed on each of the two bottom frames 12, the connecting rod 121 extends along the third direction, the connecting rod 121 can be disposed in the movable hole 21 in a displacement manner along the first direction, and in this embodiment, the actuator 14 is an electromagnetic actuator 14.
A fixing groove 31 is formed in one side, close to the driving mechanism 10, of the clamping group 30, an installation hole 32 communicated with the fixing groove 31 is formed in one side, opposite to the driving mechanism 10, of the clamping group 30, the inner space of the installation hole 32 is arranged in a T shape, an inward extending fixing hole 122 is formed in one side, away from the driving mechanism 10, of the connecting rod 121, and internal threads are formed in the fixing hole 122. One of the collet 50 and the clamping group 30 is provided with a magnet, and the other is provided with a magnet or an iron block at a position opposite to the first direction. The inner side of the clamping sleeve 50 is provided with a protection sheet, which has elasticity and can prevent the clamping force of the clamping group 30 on the slender medical device 100 from being too large to damage the medical device. The specific structure of the protective sheet, the jacket 50 and the clamping group 30 can be seen in the patent application name: a slave end drive device of a surgical robot with replaceable outer cover, which is disclosed in the patent application number: 202122324367.7, the entire contents of which are incorporated herein by reference.
During assembly, the first shell 20 and the driving mechanism 10 are installed in a matched mode, the first shell 20 and a base 11 of the driving mechanism 10 enclose a sealed space, an underframe 12, a linkage wheel 13 and a driver 14 of the driving mechanism 10 are arranged in the sealed space, and a connecting rod 121 of the underframe 12 extends out of a movable hole 21 of the first shell 20; two centre gripping groups 30 are installed respectively on two connecting rods 121 that stretch out from two activity holes 21 again, during the assembly, connecting rod 121 of chassis 12 stretches into in the fixed slot 31 of centre gripping group 30, set screw 60 stretches into and locks fixedly with the fixed orifices 122 of connecting rod 121 from the mounting hole 32 of one side of actuating mechanism 10 dorsad, and the head of set screw 60 can be accomodate better to the mounting hole 32 that the T-shaped set up, two centre gripping groups 30 are located respectively around two activity holes 21, chimb 22 on the first casing 20 stretches into in the fixed slot 31, and corresponding centre gripping group 30 cooperatedly encloses in the chimb 22 outside, further improves sealed effect.
Then, the clamping unit 30 is sleeved with the clamping sleeve 50, and the clamping sleeve 50 is magnetically fixed with the clamping unit 30 along the first direction. Finally, the second cover 43 of the second housing 40 is opened to expose the bottom opening 414 of the second housing 40, and the second housing 40 is covered on the outer side of the first housing 20, the first housing 20 extends from the bottom opening of the second housing 40, the clamping set 30 and the clamping sleeve 50 sleeved on the clamping set 30 extend into the elongated opening 412 of the abutting portion 411, and the center positions of the two clamping sets 30 are opposite to the two V-shaped guide slots 413.
When in use, the driver 14 of the driving mechanism 10 drives the two bottom frames 12 to move away from each other, a mounting gap is formed between the two clamping groups 30 respectively connected with the two bottom frames 12, the elongated medical device 100 is placed on the guide groove 413, then the driver 14 is controlled to drive the two bottom frames 12 to move in opposite directions, the clamping groups 30 approach to the central position, so that the clamping sleeves 50 on the two clamping groups 30 clamp the elongated medical device 100, and then the first cover body 42 is covered.
The utility model discloses still include two hall sensor 70, two hall sensor 70 is used for detecting first lid 42, second lid 43 respectively and whether completely covers on main part 41 to whether supplementary decision-making system can carry out the centre gripping operation, two hall sensor 70 is installed respectively on base 11, still be equipped with first detection magnet (not shown) and second detection magnet (not shown) respectively on first lid 42, the second lid 43, first lid 42, when second lid 43 completely covers on main part 41, two hall sensor 70 can detect the first detection magnet of first lid 42, the second detection magnet on the second lid 43 respectively, thereby judge whether first lid 42, the second lid 43 cover in place.
The beneficial effects of the utility model reside in that: through installing centre gripping group 30 on actuating mechanism 10 alone with screw locking's mode, when centre gripping group 30 appears damaging, contaminated or other circumstances that need be changed, directly take off centre gripping group 30 from actuating mechanism 10, need not to change whole intervention operation robot slave end drive arrangement, reduce operation cost. The economic burden of the patient is reduced, the whole structure is compact, the occupied space is small, the practicability is high, and the popularization significance is high.
The above-described embodiments only represent one embodiment of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the spirit of the invention, and these are within the scope of the invention. Therefore, the protection scope of the utility model patent should be subject to the appended claims.
Claims (10)
1. The utility model provides an easy maintenance intervenes surgical robot drive arrangement which characterized in that, includes first casing, sets up two centre gripping groups in the first casing outside and is used for driving the actuating mechanism of two centre gripping groups, centre gripping group passes through retaining member detachably and installs in actuating mechanism.
2. A maintenance-friendly interventional surgical robotic drive as set forth in claim 1, wherein: the driving mechanism is accommodated in the first shell and is provided with two connecting rods which extend out of the first shell and are respectively matched and installed with the two clamping groups, and the two clamping groups are respectively detachably installed on the two connecting rods through locking pieces.
3. A maintenance-friendly interventional surgical robotic drive as set forth in claim 2, wherein: the side surface of the first shell, which faces away from the driving mechanism, is provided with two movable holes, the two connecting rods respectively extend out of the two movable holes, and the two clamping groups are respectively positioned around the two movable holes.
4. A maintenance-friendly interventional surgical robot actuation device as set forth in claim 3, wherein: each movable hole edge is equipped with the chimb, and the centre gripping group that corresponds encloses the closure in the chimb outside coordinately.
5. A maintenance-friendly interventional surgical robotic drive as set forth in claim 2, wherein: the centre gripping group is equipped with the mounting hole, the connecting rod is equipped with the fixed orifices of inside extension, the retaining member is fixed screw, fixed screw stretches into and can dismantle ground locking with the fixed orifices of connecting rod from the mounting hole and fix.
6. A maintenance-friendly interventional surgical robot actuation device as set forth in claim 5, wherein: the inner space of the mounting hole is T-shaped and is used for accommodating the head of the locking piece.
7. An easy-to-maintain interventional surgical robot actuation device as set forth in claim 5, wherein: and one side of the clamping group close to the driving mechanism is provided with a fixing groove, and the fixing groove is communicated with the mounting hole.
8. A maintenance-friendly interventional surgical robotic drive as set forth in claim 7, wherein: the connecting rod stretches into the fixing groove of the clamping group.
9. A maintenance-friendly interventional surgical robotic drive as set forth in claim 1, wherein: the outer sides of the two clamping groups are respectively sleeved with a jacket which is directly contacted with the slender medical instrument.
10. A maintenance-friendly interventional surgical robotic drive as set forth in claim 9, wherein: elastic protective plates are respectively arranged on the inner sides opposite to the two clamping sleeves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123424958.8U CN217090895U (en) | 2021-12-31 | 2021-12-31 | Easily maintain and intervene operation robot drive arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123424958.8U CN217090895U (en) | 2021-12-31 | 2021-12-31 | Easily maintain and intervene operation robot drive arrangement |
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| Publication Number | Publication Date |
|---|---|
| CN217090895U true CN217090895U (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123424958.8U Active CN217090895U (en) | 2021-12-31 | 2021-12-31 | Easily maintain and intervene operation robot drive arrangement |
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| Country | Link |
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| CN (1) | CN217090895U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023123780A1 (en) * | 2021-12-31 | 2023-07-06 | 深圳市爱博医疗机器人有限公司 | Sterile box and full-protection type interventional surgical robot slave-end driving apparatus having sterile box |
-
2021
- 2021-12-31 CN CN202123424958.8U patent/CN217090895U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023123780A1 (en) * | 2021-12-31 | 2023-07-06 | 深圳市爱博医疗机器人有限公司 | Sterile box and full-protection type interventional surgical robot slave-end driving apparatus having sterile box |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |
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| CP03 | Change of name, title or address |