CN219089645U - Main hand opening and closing assembly and surgical robot - Google Patents

Abstract

The application discloses owner's hand subassembly and surgical robot that opens and shuts, wherein, owner's hand subassembly that opens and shuts, including the wrist joint, the operating unit and connect the connecting end of two, the operating unit rotates and sets up on connecting end and with connect and be equipped with rotatory spacing subassembly between the tip, in this application embodiment, adopt foretell owner's hand subassembly and surgical robot that opens and shuts, the operating unit rotates and directly drives the transmission shaft and rotate, the transmission shaft only rotates, the structure complicacy that has avoided unnecessary axial translational motion to lead to and the big problem of operating resistance, adopt travel switch and sliding contact spare complex sensing mode, can not rely on complicated control system, realize the abrupt change of signal "0" to "1", the reliability is higher, realize opening and shutting the angle monitoring of operating clamp through first sensor simultaneously, gather the rotation trend of operating unit and record operating unit's rotation angle, the structure complexity and cost are reduced, and industrialization is favorable to.

Description

Main hand opening and closing assembly and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a main hand opening and closing assembly and a surgical robot.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.

A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and communicates input to the patient side cart that is connected to a teleoperated surgical instrument. Based on the surgeon's input at the surgeon console, the teleoperated surgical instrument is actuated at the patient side cart to operate on the patient, resulting in a master-slave control relationship between the surgeon console and the surgical instrument at the patient side cart. The structure and performance of the input device (i.e., the main hand) of the doctor console plays an important role in the performance of the whole robot system, and the main hand opening and closing clamp is an important component of the main hand and is directly held by two hands of the doctor to operate so as to control the opening and closing action and the rotating action of the slave hand surgical instrument.

(1) Chinese patent application CN114041882a discloses a surgical controller for a main hand tool, which includes a finger ring operating portion and a transmission shaft extending out of the finger ring operating portion, wherein the finger ring operating portion controls the transmission shaft to translate axially and rotate circumferentially; the device also comprises a first transmission component which is arranged at the extending end of the transmission shaft and is used for radially supporting the axial translation of the transmission shaft, and a second transmission component which is in rotary transmission fit with the first transmission component. The bearing mounting cavity is arranged in the driver shell, a supporting bearing which is rotatably supported by the transmission shaft is arranged in the bearing mounting cavity, and a bearing cover is mounted on the driver shell and plays a role in supporting the transmission shaft.

(2) Chinese patent CN112638306a discloses a control input device with control switch position sensing across rotary joints, which uses passive array type sensors to replace cables, and further has a switch contact portion on the main hand opening and closing clamp, and the switch of the main hand opening and closing clamp is realized by the change of the sensing distance of the array type sensors.

However, the above prior art has at least the following drawbacks:

1. in the scheme (1), the transmission shaft axially translates, a corresponding translation supporting structure is needed, the axial translation friction force is large, and corresponding motors are needed to assist, namely, two assisting motors for rotation and translation are respectively arranged, so that the structure is complex, the miniaturization and the light weight are not facilitated, and the cost is increased;

2. the scheme (1) does not disclose the structure of the clutch part for disconnecting the master hand from the slave hand, while the scheme (2) relies on the distance change of the array sensor to realize the signal change, and the distance is not abrupt, so that the signal cannot realize the abrupt change of '0' and '1', and the judgment needs to be performed by virtue of control logic, which inevitably leads to low system stability and increased error probability.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the main hand opening and closing assembly and the surgical robot which have simple structure, low cost and high reliability.

In order to achieve the above object, the present utility model is achieved by the following technical scheme.

The application provides a main hand opening and closing assembly, which comprises a wrist joint, an operation part and a connecting end part for connecting the wrist joint and the operation part, wherein a transmission shaft for connecting the operation part is rotationally arranged on the connecting end part;

the connecting end part is also provided with a rotary power assisting component for rotationally assisting the transmission shaft, and the operating part comprises a finger part bracket and two opening and closing operating clamps which are symmetrically and elastically rotationally arranged on the finger part bracket;

one end of the transmission shaft extends to the outer side of the connecting end portion and is fixedly connected with the finger support.

Further limited, the above-mentioned main hand opening and closing assembly, wherein, operating portion department is equipped with travel switch, sliding contact spare is located travel switch's one side and can remove to contradict travel switch is in order to realize that main hand helping hand opens and shuts the clamp and the disconnection of being connected of multi freedom joint arm.

Further limited, the main hand opening and closing assembly, wherein the sliding contact piece comprises a clutch shifting piece and a sliding frame fixedly arranged on the clutch shifting piece, a limiting groove for sliding and guiding the sliding frame is formed in the finger support, and a reset spring is arranged between the sliding frame and the inner wall of the side corresponding to the limiting groove.

Further limited, the main hand opening and closing assembly is characterized in that a circuit board is arranged on one side end surface of the finger support;

the finger support is close to the mounting frame covering the circuit board is clamped on the end face of one side of the circuit board, and the limiting groove is specifically a slideway arranged on the mounting frame.

Further limited, the main hand opening and closing assembly is characterized in that a sliding seat is fixedly arranged on the end face of one side, far away from the circuit board, of the finger support, and the limiting groove is specifically a sliding groove arranged on the sliding seat.

Further limited, the main hand opening and closing assembly comprises the driven rotating shaft rotatably arranged on the finger support, a connecting rod fixedly arranged on the driven rotating shaft, and a finger plate fixedly arranged on the connecting rod and positioned outside the finger support;

the driven rotating shafts are connected with each other in a gear meshing manner, and an elastic piece is arranged between the two connecting rods.

Further limited, the above-mentioned master hand opening and closing assembly, wherein, be equipped with on the driven pivot be used for responding to the rotation of open and shut the operation clamp and record open and shut the operation clamp rotation angle's first sensor.

Further limited, the main hand opening and closing assembly is characterized in that a fixing cylinder is fixedly arranged on the connecting rod, the elastic piece is specifically provided as a clamp spring, and two ends of the clamp spring are respectively inserted into the fixing cylinders on the two connecting rods.

Further limited, the main hand opening and closing assembly comprises a rotary power assisting motor fixedly arranged on the connecting end part, and a bevel gear transmission assembly arranged between the power shaft of the rotary power assisting motor and the transmission shaft.

Further defined, the main hand opening and closing assembly comprises a second sensor for sensing circumferential rotation of the transmission shaft and recording the circumferential rotation angle of the transmission shaft;

the second sensor can send a signal to the rotary booster motor to control the rotary booster motor to be started or stopped.

Further limited, the main hand opening and closing assembly further comprises a rotation limiting assembly arranged between the connecting end portion and the transmission shaft, wherein the rotation limiting assembly is used for limiting the transmission shaft to rotate in a preset angle in the circumferential direction.

The application also provides a surgical robot, including doctor's control cabinet, doctor's control cabinet includes base, multi freedom joint arm, joint arm end-to-end connection has the main hand helping hand clamp that opens and shuts of arbitrary one of the above-mentioned.

The utility model has at least the following beneficial effects:

1. the opening and closing operation clamp only applies force by a human hand, and the rotation of the operation part directly drives the transmission shaft to rotate, so that the problems of complex structure and high operation resistance caused by redundant axial translation movement are avoided;

2. the first sensor can sense the rotation of the opening and closing operation clamp and record the rotation angle of the opening and closing operation clamp, so that the opening and closing angle of the opening and closing operation clamp is monitored;

3. the induction mode of matching the travel switch with the sliding contact is adopted, so that abrupt change from 0 to 1 of signals can be realized without depending on a complex control system, and the reliability is higher;

4. the two fingerboards are kept in an open state through the clamp spring, and when a doctor uses the opening and closing operation clamp (clamp and shear operation is carried out), the two fingerboards are only needed to be pinched by overcoming the elastic force of the clamp spring, so that the operation of the doctor is facilitated;

5. only set up rotatory helping hand subassembly to operating portion, gather the rotation trend of operating portion and record operating portion's rotation angle simultaneously through the second sensor, reduced structure complexity and cost, more do benefit to the industrialization.

Drawings

Fig. 1 is a schematic structural diagram of a main hand opening and closing assembly according to an embodiment of the present application;

FIG. 2 is an exploded view of the "rotation limiting assembly" portion of the main hand opening and closing assembly according to the embodiment of the present application;

fig. 3 is a schematic view of the internal structure of the "connection end" and "operation end 300" of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 4 is a schematic view of the internal structure of the "connection end" portion of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 5 is a schematic view of the internal structure of the "connection end" portion of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 6 is an exploded view of the "operating end 300" portion of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 7 is an enlarged schematic view of the "travel switch 323" part of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 8 is a schematic view of the structure of the "mounting bracket 324" portion of the master arm assembly according to the present embodiment;

FIG. 9 is a schematic view of the structure of the "slider 325" portion of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 10 is a schematic view of the structure of the "finger rest 310" part of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 11 is a schematic structural view of a "clutch-plate 320" portion of the main-hand opening and closing assembly according to the embodiment of the present application;

FIG. 12 is an exploded view of the "clutch-plate 320" portion of the master-hand opening and closing assembly according to the present embodiment;

FIG. 13 is a schematic view of the structure of the "mounting bracket 324" of the master arm opening and closing assembly according to the embodiment of the present application;

FIG. 14 is a schematic view of the structure of the "fingerboard 330" portion of the main hand opening and closing assembly according to the embodiment of the present application;

FIG. 15 is an exploded view of the "fingerboard 330" portion of the main hand opening and closing assembly according to the present embodiment;

FIG. 16 is a schematic view of the structure of the "fingerboard 330" portion of the main hand opening and closing assembly according to the embodiment of the present application;

fig. 17 is a schematic structural view of a portion of a "drive shaft 420" of the main hand opening and closing assembly according to the embodiment of the present application.

Reference numerals

Wrist joint-100, end housing-210, end frame-220, operating portion-300, finger holder-310, first wire hole-311, clamping groove-312, clutch blade-320, blade body-3201, blade cover-3202, switch holder-322, travel switch-323, mounting bracket-324, slide-3241, via hole-3242, dodge portion-3243, slide-325, slide-326, slide-327, return spring-328, spring post-329, finger plate-330, connecting rod-340, tooth-341, clip spring-342, fixed cylinder-343, finger upper cover-351, finger lower cover-352, through groove-353, encoder-360, driven shaft-370, mounting sleeve-380, circuit board-390, rotary booster motor-410, drive shaft-420, driven bevel gear-430, shaft disc-440, drive bevel gear-450, second wire hole-441, pressure plate-510, limit sleeve-520, connection sleeve-530.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The main hand opening and closing assembly and the surgical robot provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.

As shown in fig. 1 to 17, the embodiment of the present application provides a main hand opening and closing assembly, which includes a wrist joint 100, an operation portion 300, and a connection end portion connecting the two, wherein the operation portion 300 is rotatably disposed on the connection end portion and a rotation limiting assembly is disposed between the operation portion and the connection end portion.

The connecting end part comprises an end part frame 220 connected with the wrist joint 100 and the operation part 300 and an end part shell 210 fixedly arranged on the end part frame 220, a transmission shaft 420 is arranged on the end part frame 220 in a penetrating way and in a bearing rotating way, one end of the transmission shaft 420 is positioned in the end part shell 210 and is provided with a rotation limiting assembly, and the other end of the transmission shaft 420 is connected with the operation part 300.

The operation part 300 includes a finger support 310 and two opening and closing operation clamps symmetrically and elastically rotatably provided on the finger support 310, the two opening and closing operation clamps being used to be held by a doctor to control opening and closing movements thereof, and the rotational movement of the entire operation part 300 with respect to the connection end can be controlled by holding the opening and closing operation clamps.

It can be understood that, since the whole operating portion 300 is fixedly connected with the transmission shaft 420 at the connection end, the rotating motion of the transmission shaft 420 is driven when the operating portion 300 rotates, and the rotation limiting assembly can limit the rotation angle of the operating portion 300 relative to the connection end in the process.

In this embodiment of the present application, the main hand opening and closing assembly is adopted, and the operation portion 300 rotates to directly drive the transmission shaft 420 to rotate, so that the opening and closing operation clamp only applies force through a hand, and the problems of complex structure and large operation damping caused by redundant axial movement are avoided.

In a preferred embodiment, as shown in fig. 2, the rotation limiting assembly includes a pressing plate 510 embedded in an end of the transmission shaft 420 away from the operation portion 300, the pressing plate 510 is kept relatively stationary with the transmission shaft 420 in a circumferential direction, a limiting sleeve 520 capable of rotating along the circumferential direction of the transmission shaft 420 is sleeved on the pressing plate 510, a first limiting mechanism is disposed between the pressing plate 510 and the limiting sleeve 520, and the first limiting mechanism is used for limiting relative rotation of the pressing plate 510 and the limiting sleeve 520 in the circumferential direction so as to realize rotation of the transmission shaft 420 within a predetermined angle range relative to the limiting sleeve 520.

In this embodiment of the present application, the above-mentioned main hand opening and closing assembly is adopted, and the operation portion 300 can only rotate in a predetermined angle through the first limiting mechanism between the pressing plate 510 and the limiting sleeve 520, so as to avoid the winding of the control cable caused by the overlarge rotation angle of the operation portion 300.

In a preferred embodiment, as shown in fig. 2, an embedded groove is formed on one end of the transmission shaft 420, which is far away from the operation part 300, a pressing plate 510 is embedded in the embedded groove on the transmission shaft 420, an opening is formed on one end of the transmission shaft 420, which is far away from the operation part 300, the same is true, openings coaxial with the transmission shaft 420 are formed on the pressing plate 510 and the limiting sleeve 520, screws in threaded connection with the openings of the transmission shaft 420 are arranged in the openings of the limiting sleeve 520 and the pressing plate 510, and the pressing plate 510 and the limiting sleeve 520 can rotate relatively through the screws.

It is to be understood that the connection structure between the transmission shaft 420, the pressing plate 510 and the stop collar 520 is not limited to the above-mentioned one, for example, the pressing plate 510 can be disposed on the transmission shaft 420, or a rotation stop structure matched with the stop collar 520 is directly disposed at one end of the transmission shaft 420 far away from the operation portion 300, and likewise, the stop collar 520 can only ensure circumferential relative rotation with the stop collar 520, and the connection structure between the stop collar 520 and the transmission shaft 420 is not particularly limited.

In a preferred embodiment, as shown in fig. 2, the rotation limiting assembly further includes a connecting sleeve 530 sleeved on the limiting sleeve 520 and fixedly connected to the end frame 220, the limiting sleeve 520 can rotate relative to the limiting sleeve 520 along the circumferential direction of the limiting sleeve 520, and a second limiting mechanism is disposed between the limiting sleeve 520 and the connecting sleeve 530, and the second limiting mechanism is used for limiting the relative rotation of the limiting sleeve 520 and the connecting sleeve 530 in the circumferential direction so as to realize the rotation of the limiting sleeve 520 relative to the connecting sleeve 530 within a predetermined angle range.

The fastening sleeve 530 is fixedly disposed on the end frame 220 by bolts, and the fastening manner between the fastening sleeve 530 and the end frame 220 is not limited to the above-mentioned one, as long as the fastening sleeve 530 and the end frame 220 can be relatively stationary.

In this embodiment of the present application, with the above-mentioned main hand opening and closing assembly, the position of the connecting sleeve 530 relative to the end frame 220 is kept static, and when the operation portion 300 rotates to drive the transmission shaft 420 to rotate, the transmission shaft 420 rotates to a predetermined angle relative to the stop collar 520 and is then limited by the first limiting mechanism, so that the transmission shaft 420 and the stop collar 520 are kept relatively static; the operation part 300 continues to rotate, so that the stop collar 520 and the connecting sleeve 530 rotate relatively under the state that the transmission shaft 420 and the stop collar 520 are kept relatively static, and the stop collar 520 and the connecting sleeve 530 can only rotate within a preset angle due to the arrangement of the second stop mechanism, so that the winding of the internal wiring of the main hand assisting opening and closing clamp is avoided while the rotatable angle range of the operation part 300 is further enlarged.

In a preferred embodiment, as shown in fig. 2, the first limiting mechanism includes a first protrusion disposed on an outer side surface of the pressing plate 510 and a second protrusion disposed on an inner sidewall of the limiting sleeve 520 and corresponding to the first protrusion, where the second protrusion is used to press against the first protrusion to limit the pressing plate 510 in a circumferential direction.

In this embodiment, adopt foretell owner's hand subassembly that opens and shuts, when operation portion 300 rotates and drives transmission shaft 420, clamp plate 510 and rotate, clamp plate 510 rotates certain angle back first protruding can contact with the second arch in stop collar 520, under the protruding effect of blockking of second to first arch, transmission shaft 420 can keep relatively static with stop collar 520 to realize the rotation in predetermined angle between transmission shaft 420 and the stop collar 520, because first arch all possesses certain size with the second arch, thereby make the angle of relative rotation between clamp plate 510 and the stop collar 520 be less than 360 within range.

In a preferred embodiment, as shown in fig. 2, the second limiting mechanism includes a third protrusion disposed on an outer side surface of the limiting sleeve 520 and a fourth protrusion disposed on an inner side wall of the connecting sleeve 530 and corresponding to the third protrusion, and the fourth protrusion is used for extruding with the third protrusion to limit the limiting sleeve 520 in a circumferential direction.

In this embodiment of the present application, with the above-mentioned main hand opening and closing assembly, when the transmission shaft 420 and the pressing plate 510 rotate to keep relative static with the stop collar 520 under the action of the first protrusion and the second protrusion, the transmission shaft 420 continues to rotate, so that the first protrusion pushes the second protrusion, so that the transmission shaft 420 drives the stop collar 520 to rotate in the connecting sleeve 530, when the stop collar 520 rotates in the connecting sleeve 530 for a certain angle, the third protrusion contacts with the fourth protrusion, so that under the blocking action of the fourth protrusion, the stop collar 520 can keep relative static with the connecting sleeve 530, and thus the rotation between the stop collar 520 and the connecting sleeve 530 in a predetermined angle is realized, and because the third protrusion and the fourth protrusion have a certain size, the relative rotation angle between the stop collar 520 and the connecting sleeve 530 is in a range of less than 360 °. The relative rotation angle between the combined transmission shaft 420 and the limit sleeve 520 is smaller than 360 degrees, so that the transmission shaft 420 can rotate within 720 degrees relative to the connecting sleeve 530, the rotation angle of the operation part 300 can be further enlarged, and meanwhile, the winding of cables inside the main hand assisting opening and closing clamp can be avoided within a limited angle.

In a preferred embodiment, as shown in fig. 2 to 5, a rotary power assisting component for rotationally assisting the transmission shaft 420 is further provided on the end frame 220, and the rotary power assisting component includes a rotary power assisting motor 410 fixedly provided on the end frame 220, and a power shaft of the rotary power assisting motor 410 is axially perpendicular to the transmission shaft 420 and is provided with a bevel gear transmission component between the power shaft and the transmission shaft 420.

The bevel gear transmission assembly includes a driven bevel gear 430 fixedly disposed on the transmission shaft 420 and a driving bevel gear 450 fixedly disposed on a power shaft of the rotary booster motor 410 and engaged with the driven bevel gear 430, and when the rotary booster motor 410 is started, the driven bevel gear 430 and the transmission shaft 420 can be driven to rotate by the driving bevel gear 450, thereby realizing the rotation booster to the operation part 300.

The sensor is arranged at the tail end of the power shaft of the rotary power assisting motor 410, when the operation part 300 starts to rotate, the collected rotation trend of the transmission shaft 420 is transmitted to the processor through a signal by the sensor arranged at the tail end of the power shaft of the rotary power assisting motor 410, and the processor transmits a starting signal to the rotary power assisting motor 410, so that the rotary power assisting motor 410 is started, the rotary power assisting motor 410 can correspondingly rotate according to the rotation direction trend of the transmission shaft 420, on one hand, the operation of a doctor is facilitated, and on the other hand, the damage to the rotary power assisting motor 410 can be avoided.

It is understood that the sensor disposed at the end of the power shaft of the rotation assisting motor 410 can be an encoder, and the encoder can record the rotation angle of the transmission shaft 420 when the operation part 300 drives the transmission shaft 420 to rotate.

Likewise, the encoder can also be directly disposed on the drive shaft 420, so long as the rotational sensing and angle monitoring and recording of the drive shaft 420 can be achieved.

In a preferred embodiment, as shown in fig. 1 to 10 and 17, a shaft disc 440 for connecting the operation part 300 is fixedly arranged on one side end of the transmission shaft 420 away from the rotation limiting assembly, and the operation part 300 further comprises a mounting sleeve 380 fixedly arranged on the finger support 310 and in prescribed connection with the shaft disc 440.

The operation part 300 is provided with a sliding contact, the sliding contact comprises a clutch pulling piece 320 which is elastically arranged on the surface of the operation part 300 in a sliding manner, and a sliding frame 327 which is connected with the clutch pulling piece 320 and is positioned in the operation part 300, a travel switch 323 which can be abutted against the sliding frame 327 is arranged in the operation part 300 in the moving direction of the sliding frame 327, wherein the travel switch 323 is positioned in the sliding direction of the clutch pulling piece 320 for accumulating elastic potential energy.

It will be appreciated that, because the active space of the master hand is limited, and the slave hand may require a larger range of motion, a clutch is required to disconnect the control of the master hand from the slave hand, so that the master hand position can be readjusted when the master hand reaches the limit of the active space, during which no influence on the slave hand (the slave hand is fixed in place) is generated, and because the clutch-plate 320 can move back and forth (be moved by the fingers of the doctor) within a smaller range on the surface of the operating portion 300, the carriage 327 can be driven to abut against the travel switch 323 when the clutch-plate 320 moves, thereby generating an electrical signal, and the clutch-plate 320 accumulates elastic potential energy at this time; when the doctor releases the clutch-plate 320, the clutch-plate 320 releases elastic potential energy to drive the carriage 327 to reset away from the travel switch 323.

In this embodiment of the present application, the above-mentioned main hand opening and closing assembly is adopted, and the induction mode of matching the travel switch 323 with the clutch-pulling piece 320 is adopted, so that the abrupt change from signal "0" to signal "1" can be realized without depending on a complex control system, and the reliability is higher.

In a preferred embodiment, as shown in fig. 6 to 13, both sides of the finger support 310 are respectively fixed with a finger upper cover 351 and a finger lower cover 352 by bolts, the finger upper cover 351 and the finger lower cover 352 are respectively provided with through grooves 353 and 372 in a sliding manner, and a clutch plate 320 positioned on one side of the finger upper cover 351 or the finger lower cover 352 away from the finger support 310 is fixedly arranged at one side end of the finger support 310, which is far away from the finger support 310, and is arranged in the through grooves 353 and 372.

The finger support 310 has a limit groove for guiding the sliding frame 327 in the corresponding positions of the finger upper cover 351 and the finger lower cover 352, the sliding frame 327 is fixedly provided with a spring column 329 in the limit groove, and the spring column 329 is sleeved with a return spring 328 abutting against the inner wall of the corresponding side of the limit groove.

The finger support 310 is fixedly provided with switch supports 322 for mounting a travel switch 323 at corresponding positions of the finger upper cover 351 and the finger lower cover 352, and can abut against the travel switch 323 when the carriage 327 moves so as to realize induction control of the operation part 300.

When the doctor operates the clutch plate 320 to move, the sliding frame 327 drives the spring post 329 to move in the limiting groove, so that the reset spring 328 is extruded to accumulate elastic potential energy, and when the doctor releases the clutch plate 320, the sliding frame 327 is reset under the elastic force of the reset spring 328.

In a preferred embodiment, the operation part 300 is internally controlled actively, that is, elements in the operation part 300 need to be energized and wired, so that a corresponding circuit board 390 needs to be arranged, and due to the existence of the circuit board 390, the limit grooves on both sides of the finger support 310 are arranged in different manners, specifically, as shown in fig. 6 to 13, the circuit board 390 is fixedly arranged on one side end surface of the finger support 310 with respect to the finger lower cover 352.

A slide seat 325 is fixedly arranged on one end face of the finger support 310, which is close to the finger upper cover 351, and a limit groove, in particular a slide groove 326 arranged on the slide seat 325, and a slide carriage 327 at a corresponding position is arranged in the slide groove 326 in a sliding manner.

The mounting frame 324 for covering the circuit board 390 is fixedly arranged on the end face of the finger part bracket 310, which is close to the finger part lower cover 352, the limit groove is specifically a slide way 3241 arranged on the mounting frame 324, the sliding frame 327 at the corresponding position is arranged in the slide way 3241 in a sliding way, and the inner wall of the slide way 3241 is provided with a avoiding part 3243 and a through hole 3242 for the sliding frame 327 to pass through.

In a preferred embodiment, as shown in fig. 12, the clutch plate 320 includes a plate main body 3201 fixedly connected with the carriage 327, and a plate cover 3202 is fixedly provided on an end surface of the plate main body 3201 on a side far from the finger support 310.

In a preferred embodiment, as shown in fig. 8 and 10, two clamping grooves 312 are symmetrically arranged on one side end surface of the finger support 310 with respect to the finger lower cover 352, and the mounting frame 324 is clamped in the clamping grooves 312 to fix the position on the finger support 310.

In a preferred embodiment, as shown in fig. 10 and 17, a first via hole 311 is formed through the finger holder 310 on the side of the mounting sleeve 380, and a second via hole 441 is formed through the hub 440, wherein the first via hole 311 and the second via hole 441 are used for wiring of active elements in the operation portion 300.

In a preferred embodiment, as shown in fig. 1 to 3 and 11 to 16, the opening and closing operation clamp includes a link 340 rotatably disposed on a finger support 310, a through slot for providing space for rotation of the link 340 is disposed on the finger support 310, a finger plate 330 located outside the finger support 310 is fixedly disposed on an end surface of one side of the link 340 away from the symmetry axis of the two opening and closing operation clamps, and an elastic member is fixedly disposed between the two links 340.

In a preferred embodiment, as shown in fig. 14 to 16, a fixing cylinder 343 is fixedly arranged on an end surface of the connecting rod 340 near to one side of the symmetry axis of the two opening and closing operation clamps, the elastic member is specifically provided with a clamping spring 342, and two ends of the clamping spring 342 are respectively inserted into the fixing cylinders 343 on the two connecting rods 340, so that the two opening and closing operation clamps are fixedly connected.

It is to be understood that the arrangement form of the elastic member is not limited to the above-mentioned one, and for example, a spring can be directly arranged between the two opening and closing operation clamps, or a torsion spring can be arranged on the rotating structure between the opening and closing operation clamps and the finger support 310, so long as the elastic rotation of the two opening and closing operation clamps can be realized.

In this embodiment of the present application, the above-mentioned main hand opening and closing assembly is adopted, two fingerboards 330 are kept in an open state through clamp spring 342, when a doctor uses the opening and closing operation clamp (clamp and shear operation), only the elasticity of clamp spring 342 needs to be overcome to pinch two fingerboards 330, and as the fingerboards 330 only need to be reset and kept in an open state, the elasticity of clamp spring 342 is very small, so that the doctor's operation is facilitated.

In a preferred embodiment, as shown in fig. 8, 14 and 15, a driven rotating shaft 370 rotatably connected to the finger support 310 is fixedly provided at one end of the connecting rod 340, and teeth 341 are fixedly provided on the two driven rotating shafts 370, respectively, and the two teeth 341 are engaged with each other.

One of the driven rotating shafts 370 is provided with an encoder 360, and the two opening and closing operation clamps are synchronous in rotation state because the tooth parts 341 on the two driven rotating shafts 370 are meshed with each other, and the encoder 360 can sense the rotation of the opening and closing operation clamps and record the rotation angle of the opening and closing operation clamps, so that the opening and closing angle monitoring of the opening and closing operation clamps is realized.

It will be appreciated that the teeth 341 have a much smaller number of teeth than the driven bevel gears 430, drive bevel gears 450 because the rotational movement needs to be very accurate, involving posture adjustment of the instrument tip, while the opening and closing movement involves "scissors" of the instrument tip, which is not a high requirement for accuracy.

In a preferred embodiment, the finger plate 330 is further provided with a finger ring for fixing the finger on the finger plate 330, and the finger ring can be made of a material with a relatively large elasticity and a variable diameter by adopting a sticking magic tape structure so as to facilitate the tight fit between the finger and the finger plate 330.

Based on the main hand opening and closing assembly, the embodiment also provides a surgical robot, which comprises a doctor console, wherein the doctor console comprises a base, a multi-degree-of-freedom joint arm and the main hand opening and closing assembly connected to the tail end of the joint arm.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims (12)

1. The main hand opening and closing assembly is characterized by comprising a wrist joint, an operation part and a connecting end part for connecting the wrist joint and the operation part, wherein a transmission shaft for connecting the operation part is rotatably arranged on the connecting end part;

the connecting end part is also provided with a rotary power assisting component for rotationally assisting the transmission shaft, and the operating part comprises a finger part bracket and two opening and closing operating clamps which are symmetrically and elastically rotationally arranged on the finger part bracket;

one end of the transmission shaft extends to the outer side of the connecting end portion and is fixedly connected with the finger support.

2. The master hand opening and closing assembly according to claim 1, wherein a travel switch and a sliding contact are arranged at the operation part, and the sliding contact is arranged on one side of the travel switch and can move to abut against the travel switch so as to realize connection and disconnection of the master hand assisting opening and closing clamp and the multi-degree-of-freedom joint arm.

3. The main hand opening and closing assembly according to claim 2, wherein the sliding contact piece comprises a clutch shifting piece and a sliding frame fixedly arranged on the clutch shifting piece, a limiting groove for sliding and guiding the sliding frame is formed in the finger support, and a reset spring is arranged between the sliding frame and the inner wall of the side corresponding to the limiting groove.

4. The main hand opening and closing assembly according to claim 3, wherein a circuit board is arranged on one side end surface of the finger support;

the finger support is close to the mounting frame covering the circuit board is clamped on the end face of one side of the circuit board, and the limiting groove is specifically a slideway arranged on the mounting frame.

5. The main hand opening and closing assembly according to claim 3 or 4, wherein a sliding seat is fixedly arranged on the end face of one side, far away from the circuit board, of the finger support, and the limiting groove is specifically a sliding groove arranged on the sliding seat.

6. The master hand opening and closing assembly according to claim 1, wherein the opening and closing operation clamp comprises a driven rotating shaft rotatably arranged on the finger support, a connecting rod fixedly arranged on the driven rotating shaft, and a finger plate fixedly arranged on the connecting rod and positioned outside the finger support;

the driven rotating shafts are connected with each other in a gear meshing manner, and an elastic piece is arranged between the two connecting rods.

7. The master arm opening and closing assembly according to claim 6, wherein the driven rotating shaft is provided with a first sensor for sensing rotation of the opening and closing operation clamp and recording a rotation angle of the opening and closing operation clamp.

8. The main hand opening and closing assembly according to claim 6, wherein a fixed cylinder is fixedly arranged on the connecting rods, the elastic piece is specifically provided as a clamp spring, and two ends of the clamp spring are respectively inserted into the fixed cylinders on the two connecting rods.

9. The master arm opening and closing assembly according to claim 1, wherein the rotation assisting assembly includes a rotation assisting motor fixedly provided on the connection end portion, a bevel gear transmission assembly provided between the rotation assisting motor power shaft and the transmission shaft.

10. The master arm opening and closing assembly according to claim 1 or 9, wherein the rotation assisting assembly comprises a second sensor for sensing the circumferential rotation of the transmission shaft and recording the circumferential rotation angle of the transmission shaft;

the second sensor can send a signal to the rotary booster motor to control the rotary booster motor to be started or stopped.

11. The master arm opening and closing assembly according to claim 1, further comprising a rotation limiting assembly disposed between the connection end and the drive shaft, the rotation limiting assembly for limiting rotation of the drive shaft in a circumferential direction within a predetermined angle.

12. A surgical robot comprising a doctor console, the doctor console comprising a base, a multi-degree of freedom articulated arm, the articulated arm end being connected with the master hand power assisted opening and closing clamp of any one of claims 1 to 11.

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