CN217660131U

CN217660131U - Integrated clamping device of accurate medical operation robot

Info

Publication number: CN217660131U
Application number: CN202220881531.6U
Authority: CN
Inventors: 颜子夜; 陈显贵
Original assignee: Taicang Delta Medical Technology Co ltd
Current assignee: Suzhou Shuxiushi Medical Equipment Co.,Ltd.
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2022-10-28
Anticipated expiration: 2032-04-18

Abstract

The utility model relates to an operation robot equips technical field, concretely relates to integrated clamping device of holding of accurate type medical treatment operation robot. The clamping head is arranged in the mounting seat and comprises a conical head part, the front end of the conical head part is provided with a clamping mouth in an extending mode, the clamping mouth comprises a pair of elastic pieces, a clamping mouth groove is formed between the elastic pieces, the bottom of the clamping mouth groove extends into the conical head part, and a clamping cavity is formed in the bottom of the clamping mouth groove; a conical cavity with the same taper as the conical head part is arranged in the mounting seat, the front end of the conical cavity is open, and the conical head part is arranged in the conical cavity; the screw thread ejector rod is in threaded connection with the mounting seat. The positioning precision is high through the matching of the conical head part and the conical cavity, and the locking effect is firm through the use of the threaded ejector rod. Therefore, the clamping firmness and precision of the surgical robot can be ensured, and the operation accidents of the surgical robot caused by the clamping and positioning errors are avoided.

Description

Integrated clamping device of accurate medical operation robot

Technical Field

The utility model relates to an operation robot equips technical field, concretely relates to integrated clamping device of holding of accurate type medical treatment operation robot.

Background

The medical operation robot is a comprehensive body integrating a plurality of modern high-tech means. Is mainly used for cardiac surgery and prostatectomy. Surgeons can operate with the machine remotely from the operating table, completely different from the traditional surgical concepts, and is a truly revolutionary surgical tool in the world field of minimally invasive surgery. The medical surgical robot has very high requirements on precision, and in the clamping device, the requirements on the precision of clamping and positioning of a surgical tool are very strict, so that the surgical quality can be influenced even a medical accident is caused by slight error.

SUMMERY OF THE UTILITY MODEL

For overcoming the deficiencies of the prior art, the utility model provides an integrated clamping device of holding of accurate type medical surgical robot guarantees clamping device's positioning accuracy.

In order to achieve the above purpose, the present invention is realized by the following technical solution: a precision medical surgical robotic integrated clip device, comprising: the clamping head is arranged in the mounting seat and comprises a conical head part, the front end of the conical head part is provided with a clamping mouth in an extending mode, the clamping mouth comprises a pair of elastic pieces, a clamping mouth groove is formed between the elastic pieces, the bottom of the clamping mouth groove extends into the conical head part, and a clamping cavity is formed in the bottom of the clamping mouth groove; a conical cavity with the same taper as the conical head part is arranged in the mounting seat, the front end of the conical cavity is open, and the conical head part is arranged in the conical cavity; still include the screw thread ejector pin, screw thread ejector pin and mount pad threaded connection, the card mouth one end contact is kept away from with the chuck to screw thread ejector pin front end, works as when the screw thread ejector pin pushes up the chuck forward and moves to conical head portion and the close laminating of awl chamber, the card mouth front end stretches out awl chamber opening end.

Among the above-mentioned device, an integrated clamping device of holding of accurate type medical surgery robot, its principle is: the mounting end of the surgical tool is provided with a clamping head which is matched with the clamping cavity, and when the surgical tool is mounted, the surgical tool is inserted into the clamping mouth groove at the front end of the clamping mouth until the clamping head enters the clamping cavity. And then the threaded ejector rod is rotated, the chuck arranged in the mounting seat is propped by the threaded ejector rod, one end of the elastic sheet close to the clamping cavity is fixed by the inner wall of the conical cavity through the matching of the conical cavity and the conical head, and the chuck of the surgical tool is firmly fixed in the clamping cavity. The positioning precision is high through the matching of the conical head part and the conical cavity, and the locking effect is firm through the use of the threaded ejector rod. Therefore, the clamping firmness and precision of the surgical robot can be ensured, and the operation accidents of the surgical robot caused by the clamping and positioning errors are avoided.

Furthermore, the integrated clamping device of precision type medical surgery robot, the chuck still includes the sleeve shaft, the sleeve shaft extends to set up the card mouth one end is kept away from to the conical head portion, the cover is epaxial to overlap and is equipped with the spring, the sleeve shaft corresponds the spring and keeps away from card mouth one end and is equipped with the spacing seat of spring, conical cavity rear end extends and is equipped with flexible chamber, the spacing seat of spring one end pressfitting is kept away from on the terminal surface of the nearly conical cavity one side in flexible chamber. As the utility model discloses an optimal scheme sets up the spring, when changing or dismantling the surgical instruments of installing on the chuck, reverse rotating screw ejector pin chuck this moment because the effect of spring is automatic to be removed inwards, and there is the clearance in the nearly card chamber one end of flexure strip and the awl chamber lateral wall this moment, can take place deformation, consequently can take out surgical instruments's dop from blocking the chamber. When the clamping device is not used, the front end of the clamping nozzle can be integrally retracted into the conical cavity, and preferably, a dust cover can be arranged at the open end of the conical cavity. Therefore, the surgical tool has the advantages of being convenient to disassemble and assemble and has the function of pollution prevention.

Furthermore, the integrated clamping device of the precision medical operation robot comprises a base body and a chuck cover which are connected with each other, and the conical cavity and the telescopic cavity are arranged between the base body and the chuck cover. As the preferred proposal of the utility model, the chuck cover is arranged to facilitate the disassembly and assembly of the chuck.

Furthermore, the integrated clamping device of holding of precision type medical surgery robot, the mount pad is whole for the cuboid form, is equipped with the lid chamber on the pedestal side, the clip lid suits with the lid chamber shape, the clip lid sets up in the lid intracavity. As the preferred scheme of the utility model, the chuck lid sets up at the lid intracavity, and overall structure is compact.

Furthermore, the integrated clamping device of precision type medical surgery robot, be equipped with a pair of connecting hole on the mount pad, the connecting hole is worn to establish on a pair of lateral wall in lid chamber, the connecting hole front end extends and gets into in the chuck lid. As the preferred scheme of the utility model, set up the connecting hole facilitates the use screw, fixes pedestal and chuck lid.

Furthermore, the integrated clamping device of precision type medical surgery robot, screw ejector pin keeps away from chuck one end and is equipped with the head of screwing, corresponds the screw ejector pin, be equipped with the screw perforation on the mount pad, the screw perforation is linked together with flexible chamber.

Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has:

1. the utility model provides an integrated clamping device that holds of accurate type medical surgery robot, cooperation positioning accuracy through conical head portion and awl chamber is high to through using the screw ejector pin, it is firm to lock the effect. Therefore, the clamping firmness and precision of the surgical robot can be ensured, and the operation accidents of the surgical robot caused by the clamping and positioning errors are avoided.

2. The utility model provides an integrated clamping device that holds of accurate type medical surgery robot sets up the spring, when changing or dismantling the surgical instruments of installing on the chuck, reverse rotating screw ejector pin chuck this moment because the effect of spring is automatic to be moved inwards, and there is the clearance in the nearly card chamber one end of flexure strip and the tapered cavity lateral wall this moment, can take place deformation, consequently can take out the dop of surgical instruments from blocking the chamber. When the device is not used, the front end of the clamping nozzle can be integrally retracted into the conical cavity, and a dust cover can be arranged at the open end of the conical cavity. Therefore, the surgical tool has the advantages of being convenient to disassemble and assemble and has the function of pollution prevention.

Drawings

Fig. 1 is a schematic structural view of an integrated clamping device of a precision medical surgical robot according to the present invention;

FIG. 2 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 1;

fig. 3 is an exploded view of the integrated clamping device of the precision medical surgical robot according to the present invention;

fig. 4 is a schematic structural view of the chuck of the integrated clamping device of the precision medical surgical robot of the present invention.

In the figure: 1-a chuck; 11-a cone head; 12-a bayonet; 121-an elastic sheet; 122-a card slot; 123-card cavity; 13-sleeve shaft; 14-a spring limiting seat; 2-mounting a base; 201-conical cavity; 202-a telescopic cavity; 203-threaded perforation; 21-a seat body; 211-cover cavity; 22-a clip cover; 23-a connection hole; 3-a threaded ejector rod; 31-screwing head; 4-a spring.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary intended for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The integrated clamping device for the precise medical operation robot shown in fig. 1 to 4 includes a clamping head 1 and a mounting base 2, the clamping head 1 is disposed inside the mounting base 2, the clamping head 1 includes a conical head portion 11, a clamping mouth 12 is extended from the front end of the conical head portion 11, the clamping mouth 12 includes a pair of elastic pieces 121, a clamping mouth groove 122 is disposed between the elastic pieces 121, the bottom of the clamping mouth groove 122 extends into the conical head portion 11, and a clamping cavity 123 is disposed at the bottom of the clamping mouth groove 122. Wherein, be equipped with the awl chamber 201 the same with awl head portion 11 tapering in the mount pad 2, awl chamber 201 front end is uncovered, awl head portion 11 sets up in awl chamber 201. Wherein, still include screw ejector pin 3,

screw ejector pin

3 and 2 threaded connection of mount pad, 3 front ends of screw ejector pin contact with chuck 1 and keep away from card mouth 12 one end, work as screw ejector pin 3 is pushed up chuck 1 forward and is moved to awl head portion 11 and awl chamber 201 when closely laminating, card mouth 12 front end stretches out the awl chamber 201 opening end.

In addition, in this embodiment, the chuck 1 further includes a sleeve shaft 13, the sleeve shaft 13 extends and is disposed at one end of the conical head portion 11, which is far away from the chuck mouth 12, the sleeve shaft 13 is sleeved with a spring 4, one end of the sleeve shaft 13, which is far away from the chuck mouth 12 and corresponds to the spring 4, is provided with a spring limiting seat 14, the rear end of the conical cavity 201 extends and is provided with a telescopic cavity 202, and one end of the spring 4, which is far away from the spring limiting seat 14, is pressed on an end surface of the telescopic cavity 202, which is close to one side of the conical cavity 201.

The integrated clamping device of precision type medical surgery robot described in this embodiment, its principle is: a chuck (not shown) corresponding to the chucking chamber 123 is provided at the mounting end of the surgical tool (not shown), and when the surgical tool is mounted, the surgical tool is inserted from the chuck slot 122 at the front end of the chuck 12 until the chuck enters the chucking chamber 123. And then the threaded mandril 3 is rotated, the chuck 1 arranged in the mounting seat 2 is propped by the threaded mandril 3, through the matching of the conical cavity 201 and the conical head part 11, one end of the elastic sheet 121 close to the clamping cavity 123 is fixed by the inner wall of the conical cavity 201, and the chuck of the surgical tool is firmly fixed in the clamping cavity 123. The positioning precision is high through the matching of the conical head part 11 and the conical cavity 201, and the locking effect is firm through the use of the threaded ejector rod 3. Therefore, the clamping firmness and precision of the surgical robot can be ensured, and the operation accidents of the surgical robot caused by the clamping and positioning errors are avoided. Moreover, the spring 4 is arranged, when the surgical tool installed on the chuck 1 is replaced or disassembled, the threaded mandril 3 is reversely rotated, at this time, the chuck 1 automatically moves inwards due to the action of the spring 4, and at this time, a gap exists between one end of the elastic sheet 121 close to the clamping cavity 123 and the side wall of the conical cavity 201, and deformation can occur, so that the chuck of the surgical tool can be taken out of the clamping cavity 123. When the card mouth 12 is not used, the front end of the card mouth can be integrally retracted into the conical cavity 201, and preferably, a dust cap can be arranged at the open end of the conical cavity 201. Therefore, the surgical tool has the advantages of being convenient to disassemble and assemble, and has the function of pollution prevention.

In this embodiment, the mounting base 2 includes a base body 21 and a chuck cover 22 connected to each other, and the tapered cavity 201 and the telescopic cavity 202 are disposed between the base body 21 and the chuck cover 22. The chuck cover 22 is arranged to facilitate the disassembly and assembly of the chuck 1. The whole mounting base 2 is rectangular, a cover cavity 211 is arranged on one side surface of the base body 21, the clip cover 22 is matched with the cover cavity 211 in shape, and the clip cover 22 is arranged in the cover cavity 211. The clip cover 22 is arranged in the cover cavity 211, and the whole structure is compact. In addition, a pair of connecting holes 23 are formed in the mounting base 2, the connecting holes 23 penetrate through a pair of side walls of the cover cavity 211, and the front ends of the connecting holes 23 extend into the clip cover 22. The connecting holes 23 are arranged, so that screws are convenient to use, and the base body 21 and the chuck cover 22 are fixed.

In this embodiment, a screwing head 31 is arranged at one end of the threaded mandril 3 far away from the chuck 1, a threaded through hole 203 is arranged on the mounting base 2 corresponding to the threaded mandril 3, and the threaded through hole 203 is communicated with the telescopic cavity 202.

The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the invention and should not be interpreted as limiting the scope of the invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims

1. The utility model provides an integrated clamping device of precision type medical surgery robot which characterized in that: the clamping head comprises a clamping head (1) and a mounting seat (2), wherein the clamping head (1) is arranged inside the mounting seat (2), the clamping head (1) comprises a conical head part (11), a clamping mouth (12) is arranged at the front end of the conical head part (11) in an extending mode, the clamping mouth (12) comprises a pair of elastic sheets (121), a clamping mouth groove (122) is formed between the elastic sheets (121), the bottom of the clamping mouth groove (122) extends into the conical head part (11), and a clamping cavity (123) is formed at the bottom of the clamping mouth groove (122); a conical cavity (201) with the same taper as the conical head part (11) is arranged in the mounting seat (2), the front end of the conical cavity (201) is open, and the conical head part (11) is arranged in the conical cavity (201); still include screw thread ejector pin (3), screw thread ejector pin (3) and mount pad (2) threaded connection, screw thread ejector pin (3) front end contacts with chuck (1) keep away from card mouth (12) one end, works as screw thread ejector pin (3) are pushed up forward chuck (1) and are moved to awl head (11) and awl chamber (201) when closely laminating, card mouth (12) front end stretches out awl chamber (201) opening end.

2. The integrated clip holding device of a precision medical surgical robot according to claim 1, wherein: chuck (1) still includes sleeve shaft (13), sleeve shaft (13) extend to set up cone head portion (11) are kept away from card mouth (12) one end, the cover is equipped with spring (4) on sleeve shaft (13), sleeve shaft (13) correspond spring (4) and keep away from card mouth (12) one end and are equipped with spacing seat of spring (14), awl chamber (201) rear end extends and is equipped with flexible chamber (202), spacing seat of spring (14) one end pressfitting is kept away from in spring (4) on the terminal surface of flexible chamber (202) nearly awl chamber (201) one side.

3. A precision medical surgical robotic integrated clip-holding device according to claim 2, wherein: the mounting seat (2) comprises a seat body (21) and a chuck cover (22) which are connected with each other, and the conical cavity (201) and the telescopic cavity (202) are arranged between the seat body (21) and the chuck cover (22).

4. A precision medical surgical robotic integrated clip-holding device according to claim 3, wherein: the whole cuboid shape that is of mount pad (2), be equipped with lid chamber (211) on pedestal (21) a side, clip lid (22) suits with lid chamber (211) shape, clip lid (22) set up in lid chamber (211).

5. The integrated clip holding device of a precision medical surgical robot according to claim 4, wherein: be equipped with a pair of connecting hole (23) on mount pad (2), connecting hole (23) are worn to establish on a pair of lateral wall of lid chamber (211), connecting hole (23) front end extends and gets into in the chuck lid (22).

6. The integrated gripper device of a precision medical surgical robot according to claim 5, wherein: one end, far away from the chuck (1), of the threaded ejector rod (3) is provided with a screwing head (31) corresponding to the threaded ejector rod (3), a threaded through hole (203) is formed in the mounting seat (2), and the threaded through hole (203) is communicated with the telescopic cavity (202).