CN217390869U - Drive device, slave operation device, and surgical robot - Google Patents

Abstract

The utility model provides a drive arrangement, from operating device and surgical robot, drive arrangement includes the driver and with the adapter that the driver detachably connects, the driver includes the shell and sets up a plurality of driving-discs in the shell, the adapter includes the casing and sets up a plurality of joint discs in the casing, joint disc and driving-disc one-to-one, the casing with one of them formation bit space of shell; the casing is formed with the projection with another evagination wherein of shell, the projection peg graft in the location space, the utility model discloses drive arrangement passes through the setting of reference column and projection, can align fast and accurately adjust the relative position and the plug of adapter and driver at the in-process of assembly and fix for whole assembly process is simple, quick, accurate.

Description

Drive device, slave operation device, and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially relate to a drive arrangement, follow operating device and operation robot that minimal access surgery used.

Background

The minimally invasive surgery is a surgery mode for performing surgery inside a human cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment, and has the advantages of small wound, light pain, quick recovery and the like. With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The surgical instruments are cleaned and sterilized and then are arranged on the mechanical arm of the robot, and the mechanical arm drives the surgical instruments to perform surgical operation.

In prior art designs, the surgical instrument generally includes a driver, a long shaft, and an end effector. Wherein, the driver is connected with the driving piece in the arm, wears to establish the drive cable who connects driver and end effector in the major axis to the arm can drive end effector and carry out the operation. Since the driver needs to be replaceable, cleaned, sterilized, etc., the driver is detachably mounted to the robot arm of the minimally invasive surgical robot through an adapter. However, in the prior art, the driver and the adapter are difficult to be assembled in place quickly and accurately, which causes inconvenience in use.

SUMMERY OF THE UTILITY MODEL

In view of the above, a driving device, a slave operation device, and a surgical robot are provided that can quickly and accurately assemble a driver and an adapter in place.

A driving device comprises a driver and an adapter detachably connected with the driver, wherein the driver comprises a shell and a plurality of driving disks arranged in the shell, the adapter comprises a shell and a plurality of engagement disks arranged in the shell, the engagement disks are in one-to-one butt joint with the driving disks, and the shell and one of the shell form a positioning space; the other of the shell and the outer shell is convexly provided with a convex column, and the convex column is inserted in the positioning space.

Preferably, one of the housing and the outer shell protrudes outward to form two positioning pillars, and the positioning space is formed between the two positioning pillars.

Preferably, each positioning column includes a positioning portion extending outward from one of the housing and the casing and a guiding portion extending from the positioning portion, and a width between the two guiding portions is gradually increased along a direction away from the positioning portion.

Preferably, each of the guiding portions includes a guiding surface facing the positioning space, and the two guiding surfaces are inverted-splayed as a whole.

Preferably, each positioning portion includes a first positioning surface facing the positioning space, two opposite sides of the protruding pillar respectively form a second positioning surface, a width between the two first positioning surfaces is equal to a width between the two second positioning surfaces, and each first positioning surface abuts against one second positioning surface for positioning.

Preferably, the positioning post extends axially outwards from an axial side end of one of the housing and the outer shell, and the convex post projects radially outwards from an outer peripheral surface of the other one of the housing and the outer shell.

Preferably, the first positioning surface is perpendicular to the axial side end, and the guide surface is inclined with respect to the first positioning surface.

Preferably, each positioning portion further includes a first aligning surface facing the axial side end, the outer circumferential surface forms a second aligning surface on two circumferential sides of the protruding pillar, and the first aligning surface and the second aligning surface are aligned in an abutting manner.

Preferably, the first alignment surface is perpendicular to the axial side end.

Preferably, a positioning block is formed on one of the housing and the outer shell in a protruding manner, and a positioning hole inserted into the positioning block is formed on the other of the housing and the outer shell in a recessed manner.

Preferably, the housing protrudes outward to form the two positioning pillars, and the housing protrudes outward to form the protruding pillar.

The utility model also provides a from operating means, including at least one arm, the arm includes a plurality of joints and one holds the arm of a tool, the motion of a plurality of degrees of freedom of arm of a tool is held in order to realize in the linkage of a plurality of joints, hold detachably and install surgical instruments on the arm of a tool, surgical instruments includes above-mentioned drive arrangement.

Preferably, the surgical instrument further comprises an end effector and a long shaft connecting the end effector and the surgical instrument, and the driving device and the end effector are respectively located at the proximal end and the distal end of the surgical instrument.

Preferably, the arm comprises an arm body and an instrument mounting rack capable of sliding on the arm body, and the driving device is mounted on the instrument mounting rack.

Preferably, a trocar is fixed at the far end of the holding arm, and the surgical instrument passes through the trocar to enter the human body during operation.

The utility model also provides a surgical robot, including main operation control platform and the above-mentioned slave operation equipment, slave operation equipment basis main operation control platform's instruction execution is to human operation.

Preferably, the master operating console and the slave operating device are wirelessly connected.

Preferably, the master operating console and the slave operating device are connected by wire.

Compared with the prior art, the utility model discloses drive arrangement passes through the setting of reference column and post, can align fast and accurately adjust the relative position and the plug of adapter and driver at the in-process of assembly and fix for whole assembly process is simple, quick, accurate.

Drawings

Fig. 1 is a schematic view of an embodiment of the surgical robot of the present invention.

Fig. 2 is a schematic structural diagram of an embodiment of the driving device of the present invention.

Fig. 3 is an exploded view of the driving device shown in fig. 2.

Fig. 4 is another angled view of the adapter of fig. 3.

Fig. 5 is a schematic alignment diagram of the driving device shown in fig. 1 before assembly.

Fig. 6 is a schematic view showing an assembly process of the driving apparatus shown in fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. One or more embodiments of the present invention are illustrated in the accompanying drawings to provide a more accurate and thorough understanding of the disclosed embodiments. It should be understood, however, that the present invention may be embodied in many different forms and is not limited to the embodiments described below.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it means that at least one of the elements is constrained by the other element, and the element is "decoupled", i.e., decoupled, meaning that two elements in a coupled relationship are no longer constrained by the other element. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. The terms "distal" and "proximal" are used herein as terms of orientation that are used conventionally in the art of interventional medical devices, where "distal" refers to the end that is distal from the operator during a procedure and "proximal" refers to the end that is proximal to the operator during a procedure.

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

Referring to fig. 1, the surgical robot includes a master operation table 1000 and a slave operation device 2000. The master console 1000 is configured to transmit a control command to the slave console device 2000 according to the operation of the doctor to control the slave console device 2000, and is further configured to display the image acquired by the slave device 2000. The slave operation device 2000 is used to respond to a control command sent from the master operation console 1000 and perform a corresponding operation, and the slave operation device 2000 is also used to acquire an image of the inside of the body.

Specifically, the slave operation device 2000 includes a robot arm 1, a power mechanism 2 provided on the robot arm 1, a surgical instrument 3 provided on the power mechanism 2, and a sleeve 4 on which the surgical instrument 3 is fitted. The mechanical arm 1 is used for adjusting the position of the surgical instrument 3; the power mechanism 2 is used for driving the surgical instrument 3 to execute corresponding operation; the surgical instrument 3 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument.

As shown in fig. 2, the surgical instrument 3 includes a driving device and an end effector 16 at the proximal end and the distal end of the surgical instrument 3, respectively, and a long shaft 15 between the driving device and the end effector 16, the driving device is configured to be connected to the power mechanism 2, and the power mechanism 2 has a plurality of actuators (not shown) therein, and the plurality of actuators are coupled to the driving device to transmit the driving force of the actuators to the driving device. The elongated shaft 15 is adapted to connect a drive device and an end effector 16, the elongated shaft 15 being hollow for passage of a drive cable therethrough, the drive device being operable by movement of the end effector 16 via the drive cable to cause the end effector 16 to perform an associated surgical procedure.

Referring to fig. 3, according to an embodiment of the present invention, the driving device includes a driver 10 and an adapter 20 detachably connected to the driver 10. The driver 10 includes a housing 12, and a plurality of driving disks 14 disposed in the housing 12, wherein the end effector 16 is connected to the driving disks 14 in the housing 12 through a long shaft 15. The adapter 20 includes a housing 22 and a plurality of adapter discs 24 disposed in the housing 22, each adapter disc 24 being connected to a corresponding one of the driving discs 14. When the device is used, the connector 20 is connected to the power mechanism 2 of the surgical robot, the actuator in the power mechanism 2 on one side of the joint plate 24 is connected, the other side of the joint plate is connected with the driving plate 14 of the driver 10, sterile isolation is formed between the power mechanism 2 and the driver 10, and the actuator in the power mechanism 2 drives the end effector 16 to perform surgical operation through the joint plate 24 and the driving plate 14.

Referring to fig. 4, the housing 22 of the adapter 20 is convex toward the driver 10 to form two positioning pillars 26, and the two positioning pillars 26 are spaced apart from each other to form a positioning space 27 therebetween. Preferably, two positioning posts 26 extend perpendicularly outwardly from the mounting face 21 of the housing 22, i.e., the edge position of the housing 22 facing an axial side end face of the driver 10. The two positioning posts 26 have the same structure, and each positioning post 26 includes a positioning portion 28 extending outward from the assembling surface 21 and a guiding portion 29 extending outward from the positioning portion 28. Each positioning portion 28 includes a first positioning surface 280 facing the other positioning portion 28 and a first aligning surface 282 facing the fitting surface 21. Each guide 29 comprises a guide surface 290 facing the other guide 29. The first positioning surface 280 and the first alignment surface 282 are substantially perpendicular to the mounting surface 21 of the housing 22, and the guide surface 290 is inclined at a predetermined angle with respect to the mounting surface 21.

In the orientation shown in fig. 3, the mounting surface 21 of the housing 22 is an XY plane, and the two first positioning surfaces 280 are parallel to the XZ plane and spaced apart from each other for positioning the driver 10 in the Y direction; the two first alignment planes 282 are coplanar and parallel to the YZ plane for aligning the actuator 10 in the X direction. Each guide surface 290 extends obliquely outward from the end of the corresponding first positioning surface 280 away from the other guide surface 290, and the two guide surfaces 290 are in an inverted-V shape as a whole. The width of the lower half of the positioning space 27, i.e., the portion located between the two first positioning surfaces 280, is constant; the width of the upper half of the positioning space 27, i.e., the portion located between the two guide surfaces 290, is gradually increased in a direction away from the housing 22. As a whole, the positioning space 27 has a minimum width at a position corresponding to the first positioning face 280, and the end of the positioning space 27 is flared outward.

As shown in fig. 3, the edge of the housing 12 of the driver 10 is convexly formed with a convex column 17 for inserting and positioning with the positioning space 27. In the illustrated embodiment, the protruding pillar 17 is formed by radially protruding the outer peripheral surface of the housing 12, and two circumferential sides of the protruding pillar 17 respectively form a second positioning surface 18 for cooperating with the first positioning surface 280 of the adaptor 20 to position in the Y direction. The circumferential width of the stud 17, i.e. the width between the two second positioning surfaces 18, corresponds approximately to the width of the lower half of the positioning space 27. The outer peripheral surface of the housing 12 further forms a second alignment surface 19 on both sides of the protruding pillar 17 in the circumferential direction for aligning with the first alignment surface 282 of the adapter 20 in the X direction. In this embodiment, the first and second alignment surfaces 282 and 19 are flat surfaces, and in other embodiments, the first and second alignment surfaces 282 and 19 may also be concave surfaces and convex surfaces matching with each other, which is not limited to a specific embodiment.

When assembling, first, as shown in fig. 5, the assembling surface 21 of the adapter 20 is faced to the driver 10, and the positioning space 27 between the two positioning pillars 26 is substantially aligned with the convex pillar 17. Then, the stud 17 is inserted into the upper half of the positioning space 27 in the Z direction, i.e., between the guide surfaces 290 of the two guides 29. The inclined guide surface 290 makes the width of the upper half of the positioning space 27 larger than the circumferential width of the stud 17, so that it is possible to easily insert the stud 17 into the positioning space 27 even if the stud 17 is not completely aligned with the positioning space 27. As shown in fig. 6, as the stud 17 moves into the positioning space 27, the width of the positioning space 27 gradually decreases, and the guide surface 290 guides the stud 17 to align with the lower half of the positioning space 27 until the stud 17 is completely inserted into the positioning space 27.

At this time, the axial side end of the housing 12 of the driver 10 is positioned in the Z direction against the fitting surface 21 of the housing 22 of the adapter 20. The convex pillar 17 is sandwiched between the first positioning surfaces 280 of the two positioning portions 28, and the two second positioning surfaces 18 are respectively in contact with the first positioning surfaces 280 to form positioning in the Y direction, as shown in fig. 2. Preferably, as shown in fig. 3 and 4, two positioning holes 23 are further concavely formed on the mounting surface 21 of the housing 22 of the adapter 20, and the two positioning holes 23 are spaced apart from each other. Correspondingly, the housing 12 of the driver 10 is formed with a positioning block 13 protruding outward on its axial side end surface facing the adaptor 20 for being inserted into the positioning hole 23 for positioning in the X direction.

During the process of inserting the stud 17 into the positioning space 27, the relative position between the driver 10 and the adapter 20 is properly adjusted in the X direction to make the second alignment surface 19 contact with the first alignment surface 282, so that the positioning post 26 can be aligned with the positioning hole 23, and thus the positioning block 13 can be correspondingly inserted into the positioning hole 23 to be positioned in the X direction when the stud 17 is fully inserted into the guiding slot 27. In contrast, the first alignment surface 282 of the alignment post 26 and the second alignment surface 19 of the driver 10 can have larger dimensions, so as to quickly align the adapter 20 and the driver 10 in the X direction, thereby facilitating the subsequent insertion positioning of the positioning block 13 and the positioning hole 23.

The utility model discloses drive arrangement passes through reference column 26 and projection 17's setting, can align fast and accurately adjust the relative position and the plug of adapter 20 and driver 10 fixedly at the in-process of assembly for whole assembly process is simple, quick, accurate. After the assembly, driving-disc 14 docks with joint disc 24 one by one, and the doctor is through assigning the instruction to minimal access surgery robot, can drive the manipulator and drive driver 10 and carry out the operation, in addition, through reference column 26 and the setting of projection 17, can play and prevent slow-witted effect, even unfamiliar with the utility model discloses drive arrangement's structure also can rapid Assembly. It should be understood that, in the above embodiment, the driver 10 is formed with the positioning space 27 between the protruding pillar 17 and the positioning pillar 26 of the adapter 20 for inserting positioning, in other embodiments, the positioning pillar 26 and the positioning space 27 may also be formed on the driver 10, the protruding pillar 17 may also be formed on the adapter 20, and the same goes for inserting positioning.

In addition, in the above embodiment, the positioning block 13 of the actuator 10 is formed to be inserted into and positioned in the positioning hole 23 of the adapter 20, but in other embodiments, the positioning hole may be formed in the actuator 10, the positioning block may be formed in the adapter 20, and both are inserted into and positioned in the same manner. In addition, the positioning block and the protruding column may be an integral structure, for example, the positioning block is formed by protruding the end of the protruding column 17, and correspondingly, the housing 22 of the adapter 20 is recessed between the two positioning columns 26 to form a positioning hole to be inserted with the positioning block; alternatively, the positioning block may also be formed by integrally protruding the housing 22, for example, the housing 22 is integrally protruded at a position between the two positioning columns 26, and correspondingly, the end of the protruding column 17 is recessed to form a positioning hole for inserting the positioning block, which is not limited to the specific embodiment.

It should be noted that the present invention is not limited to the above embodiments, and other changes can be made by those skilled in the art according to the spirit of the present invention, and all the changes made according to the spirit of the present invention should be included in the scope of the present invention.

Claims (18)

1. A driving device comprises a driver and an adapter detachably connected with the driver, and is characterized in that the driver comprises a shell and a plurality of driving disks arranged in the shell, the adapter comprises a shell and a plurality of engagement disks arranged in the shell, the engagement disks are in one-to-one butt joint with the driving disks, and the shell and one of the shell form a positioning space; the other of the shell and the outer shell is convexly provided with a convex column, and the convex column is inserted in the positioning space.

2. The driving apparatus as claimed in claim 1, wherein one of the housing and the casing is protruded to form two positioning pillars, and the positioning space is formed between the two positioning pillars.

3. The driving apparatus as claimed in claim 2, wherein each positioning post includes a positioning portion extending outwardly from one of the housing and the casing and a guiding portion extending from the positioning portion, and a width between the two guiding portions is gradually increased in a direction away from the positioning portion.

4. The driving apparatus as claimed in claim 3, wherein each of said guide portions includes a guide surface facing said positioning space, and said two guide surfaces are formed in an inverted splayed shape as a whole.

5. The driving device as claimed in claim 4, wherein each positioning portion includes a first positioning surface facing the positioning space, two opposite sides of the protruding pillar respectively form a second positioning surface, a width between the two first positioning surfaces is equivalent to a width between the two second positioning surfaces, and each first positioning surface abuts against one of the second positioning surfaces.

6. The drive of claim 5, wherein the positioning post extends axially outwardly from an axial side end of one of the housing and the outer casing, and the post extends radially outwardly from an outer peripheral surface of the other of the housing and the outer casing.

7. The drive of claim 6, wherein said first locating surface is perpendicular to said axial side end, and said guide surface is inclined relative to said first locating surface.

8. The driving apparatus as claimed in claim 6, wherein each positioning portion further includes a first aligning surface facing the axial side end, the outer circumferential surface forms a second aligning surface on two circumferential sides of the protruding pillar, and the first aligning surface and the second aligning surface are aligned in an abutting manner.

9. The drive of claim 8, wherein the first alignment surface is perpendicular to the axial side ends.

10. The driving apparatus as claimed in claim 1, wherein one of the housing and the casing has a positioning block formed on an axial side thereof, and the other has a positioning hole formed on an axial side thereof.

11. The drive of claim 2, wherein said housing projects outwardly to form said two locating posts and said housing projects outwardly to form said posts.

12. A slave manipulator apparatus comprising at least one manipulator arm comprising a plurality of joints and a robot arm, the plurality of joints being linked to effect movement of the robot arm in a plurality of degrees of freedom, wherein: a surgical instrument comprising the drive device of any one of claims 1-11 is removably mounted on the arm.

13. The slave manipulator apparatus of claim 12, wherein the surgical instrument further comprises an end effector and a long shaft connecting the end effector to the surgical instrument, the drive device and end effector being located at the proximal and distal ends of the surgical instrument, respectively.

14. The slave manipulator according to claim 12, wherein the arm comprises an arm body and an instrument mount slidable on the arm body, the drive being mounted on the instrument mount.

15. The slave manipulator according to claim 12, wherein a trocar is fixed to a distal end of the holding arm, and the surgical instrument is passed through the trocar and into the human body during the operation.

16. A surgical robot, characterized by: comprising a master operation console and a slave operation device according to any of claims 12-15, which performs a surgical operation on a human body according to instructions of the master operation console.

17. A surgical robot as claimed in claim 16, wherein said master operating console and slave operating devices are wirelessly connected.

18. A surgical robot as claimed in claim 16, wherein said master operating console and slave operating devices are wired.

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