CN219190260U

CN219190260U - Instrument arm and surgical robot

Info

Publication number: CN219190260U
Application number: CN202320068664.6U
Authority: CN
Inventors: 朱超; 钟鹏飞; 骆威
Original assignee: Innolcon Medical Technology Suzhou Co Ltd
Current assignee: Innolcon Medical Technology Suzhou Co Ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-06-16
Anticipated expiration: 2033-01-10

Abstract

The utility model discloses an instrument arm and a surgical robot, which comprises an arm main body, wherein the front end of the arm main body is provided with a shell, a clamping mechanism is arranged in the shell, the clamping mechanism comprises a connecting flange, the clamping mechanism and a driving mechanism, the connecting flange is fixedly connected with the arm main body, the clamping mechanism comprises two clamping arms which are symmetrically arranged relative to the connecting flange, the front end of each clamping arm is provided with a hook part, the hook part is positioned in a port of the shell, the middle part of each clamping arm is provided with a through hole, a positioning pin and a torsion spring are arranged in the through hole in a penetrating way, the positioning pin is fixedly connected with the shell, the lower pin of the torsion spring is abutted with the outer wall of each clamping arm so that the clamping arm can pivot relative to the positioning pin, the driving mechanism is arranged between the two clamping arms in a sliding way, and the two sides of the tail end of the driving mechanism are in sliding abutting connection with the inner wall of each clamping arm, and the driving mechanism drives the hook part to open and close through axial movement relative to the connecting flange so as to clamp the instrument. According to the scheme, the stability and the reliability of the clamping arm clamping device are effectively improved, the device is convenient and labor-saving, the convenience of quick replacement of the device is improved, and the use sense is optimized.

Description

Instrument arm and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to an instrument arm and a surgical robot.

Background

Surgical robots are increasingly used in modern minimally invasive medical surgery, and the ends of the mechanical arms of the surgical robots are connected to operating instruments which extend into the patient. For different operations, various operation instruments can be needed, and the operation instruments need to be disassembled and cleaned after being used, and the traditional mode of fixedly connecting the operation instruments with the tail ends of mechanical arms of the operation robot through screws is not applicable, so that great inconvenience in disassembly and assembly can be caused. Therefore, a clamping device is required to be arranged at the tail end of the mechanical arm for quick assembly and disassembly.

As disclosed in publication nos. CN 102494142A and CN 102168356A, some conventional clamping devices are provided with arc-shaped arms at the front ends to form jaws for clamping, and the operating device is clamped by controlling the opening and closing of the arms. Most of clamping arms used for clamping in the clamping mechanism are outwards protruded out of the mechanical arm, the tail ends of the clamping arms are located in the mechanical arm to rotate, the force arm of the stress end of the clamping arm structure is far greater than the driving end of the clamping arm structure, so that the clamping arms are subjected to overlarge pressure and easy to shake or damage. The clamping range of the arc-shaped clamping arm is limited, the diameter requirement on the operation instrument is high, and the application range is limited.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provides an instrument arm and a surgical robot.

The aim of the utility model is achieved by the following technical scheme:

the utility model provides an apparatus arm, includes the arm main part, the front end of arm main part is provided with the shell, be provided with the fixture that is used for holding the apparatus in the shell, fixture includes flange, fixture and actuating mechanism, flange with arm main part rigid coupling, fixture include two relative flange symmetry sets up the arm clamp, the front end of arm clamp is provided with the portion of colluding, it is located to collude the portion in the port of shell, the middle part of arm clamp is provided with a through-hole, wear to have locating pin and torsional spring in the through-hole, the locating pin with the shell rigid coupling, the lower pin of torsional spring with the outer wall butt of arm clamp makes the arm clamp can be relative the locating pin pivot, actuating mechanism slides and sets up in a pair of between the arm clamp, just actuating mechanism with the inner wall sliding butt of arm clamp, actuating mechanism drives through relative flange axial displacement colludes the portion and opens and shuts to hold the apparatus.

Preferably, the outer diameter of the through hole is larger than the thickness of the clamping arm, and a convex part is formed on the inner surface of the clamping arm so as to limit the tail end of the driving mechanism to axially move between the through hole and the connecting flange, and in the first state, the tail end of the driving mechanism is abutted with the outer wall of the through hole, and the distance between the two hook parts is minimum so as to clamp the instrument; in the second state, the tail end of the driving mechanism is abutted with the front end face of the connecting flange, and the distance between the two hook parts reaches the maximum to loosen the instrument.

Preferably, the driving mechanism comprises a sliding block, two sides of the tail end of the sliding block are symmetrically provided with protruding blocks, and the protruding blocks are in sliding abutting connection with the inner wall of the clamping arm.

Preferably, the sliding block is provided with a hollow inner cavity, a guide shaft is arranged at the axis of the inner cavity, a guide hole matched with the guide shaft is arranged at the axis of the connecting flange, the guide shaft is arranged in the guide hole in a sliding penetrating mode, an elastic piece is arranged between the sliding block and the connecting flange, the elastic piece is sleeved on the guide hole and the guide shaft, and two ends of the elastic piece are respectively abutted to the end face of the inner cavity of the sliding block and the front end face of the connecting flange.

Preferably, the elastic piece comprises a first spring and a second spring, and the first spring is arranged in the second spring in a penetrating manner and is overlapped with the second spring.

Preferably, the driving mechanism further comprises a driving piece for driving the sliding block to axially move, the driving piece comprises a connecting rod and a stirring block, two ends of the connecting rod are respectively connected with the sliding block and the stirring block in a pivot mode, two sides of the bottom of the stirring block are connected with the shell in a pivot mode through pressing flanges, two sides of the bottom of the stirring block are further connected with bearings, the bearings are slidably embedded in mounting holes in the shell, and the stirring block drives the sliding block to axially move through rotating relative to the sliding block.

Preferably, the driving mechanism further comprises a driving piece for driving the sliding block to axially move, the driving piece is a push rod fixedly connected with the top of the sliding block, and the sliding block is driven to axially move by pushing the push rod.

Preferably, an indicator light and a sensor are arranged in the shell, the sensor is positioned at the front end of the sliding block and is opposite to the instrument, after the instrument is installed in place, the instrument triggers the sensor, the sensor controls the indicator light to light, a guide seat is fixedly arranged at a port of the shell, and the guide seat is provided with an opening matched with the connecting end of the instrument.

Preferably, the front end face and the rear end face of the hook part are inclined planes.

A surgical robot comprising an instrument arm as described above.

The beneficial effects of the utility model are mainly as follows:

1. the pivot points of the clamp arms are arranged in the middle of the clamp arms, so that the stress on two sides of the clamp arms is uniform, the front end hook parts of the clamp arms are arranged in the ports of the shell, the pressure caused by the dead weight of the instrument on the clamp arms is reduced, the clamping stability and reliability of the front end hook parts of the clamp arms are effectively improved, the clamp arms are not easy to break, the driving pressure of the driving mechanism for driving the clamp arms to open and close is reduced, the driving mechanism is convenient to control to drive the clamp arms to clamp or loosen the instrument, the convenience and the labor are saved, and the convenience of quick replacement of the instrument is improved, and the use sense is optimized;

2. the sensor and the indicator lamp are arranged to feed back the installation of the instrument in place, so that the installation is simple and clear, and an operator can conveniently check the assembly of the instrument;

3. the front end face and the rear end face of the hook portion are inclined planes, so that the fluency of clamping of the hook portion and the instrument is improved, and the inclined planes of the hook portion incline towards the inside of the shell in a clamping state, so that the instrument is further tensioned inwards, the connecting end of the instrument is connected with the guide seat more tightly, and the stability of the clamping mechanism for clamping the instrument is enhanced.

Drawings

The technical scheme of the utility model is further described below with reference to the accompanying drawings:

fig. 1: schematic diagram of clamping mechanism in the embodiment of the utility model;

fig. 2: in the embodiment of the utility model, the clamping mechanism is in a cross-sectional view in a first state;

fig. 3: in the embodiment of the utility model, the clamping mechanism is in a second state in a sectional view;

fig. 4: schematic diagram of a clamping mechanism in a first state in the embodiment of the utility model;

fig. 5: in the embodiment of the utility model, the clamping mechanism is shown in the second state.

Detailed Description

The present utility model will be described in detail below with reference to specific embodiments shown in the drawings. The embodiments are not limited to the present utility model, and structural, methodological, or functional modifications of the utility model from those skilled in the art are included within the scope of the utility model.

In the description of the embodiments, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in the specific orientation, and thus are not to be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the scheme, the direction approaching the operator is the near end, and the direction separating from the operator is the far end, with reference to the operator.

As shown in fig. 1 to 5, the utility model discloses an instrument arm, which comprises an arm main body 100, wherein a housing 9 is arranged at the front end of the arm main body 100, a clamping mechanism for clamping an instrument 10 is arranged in the housing 9, the clamping mechanism comprises a connecting flange 1, a clamping mechanism and a driving mechanism, the connecting flange 1 is fixedly connected with the arm main body 100, the clamping mechanism comprises two clamping arms 2 symmetrically arranged relative to the connecting flange 1, a hook 201 is arranged at the front end of the clamping arm 2, the hook 201 is positioned in a port of the housing 9, a through hole 200 is arranged in the middle of the clamping arm 2, a positioning pin 3 and a torsion spring 4 penetrate through the through hole 200, the positioning pin 3 is fixedly connected with the housing 9, a lower pin of the torsion spring 4 is abutted with the outer wall of the clamping arm 2 so that the clamping arm 2 can pivot relative to the positioning pin 3, the driving mechanism is slidably arranged between the pair of clamping arms 2, and the driving mechanism and the inner wall of the clamping arm 2 are slidably abutted with the driving mechanism to the inner wall of the clamping arm 2 to axially move relative to the connecting flange 201 to the clamping mechanism to open and close the instrument 10.

According to the utility model, the pivot points of the clamp arms 2 are arranged in the middle of the clamp arms, so that the stress on two sides of the clamp arms 2 is uniform, the front-end hook parts 201 of the clamp arms 2 are arranged in the shell 9, so that the shell 9 can share the weight of the instrument 10, the pressure of the dead weight of the instrument 10 on the clamp arms 2 is reduced, the clamping stability and reliability of the hook parts 201 of the clamp arms 2 are effectively improved, the clamp arms are not easy to break, the driving pressure of the driving mechanism for driving the clamp arms 2 to open and close is reduced, the clamp arms 2 are conveniently controlled to open and close, the instrument 10 is clamped or loosened, the strength is saved, the use feeling is optimized, the convenience of quick replacement of the instrument 10 is improved, and the device is beneficial to practical use.

Specifically, as shown in fig. 1, in this embodiment, the width of the two ends of the clamping arm 2 is greater than the height of the through hole 200, so as to form a butterfly shape, which is beneficial to enhancing the strength of the two ends of the clamping arm 2, and increasing the width of the hook 201 to improve the clamping stability between the hook 201 and the instrument 10. The apparatus 10 has a connection end 801 for connection with the clamping mechanism, and two sides of the connection end 801 form a clamping hole 802 matched with the hook 201 to be clamped with the hook 201.

Further, as shown in fig. 4, the front and rear end surfaces of the hook 201 are inclined surfaces, the fastening hole 802 forms an inclined surface matched with the hook 201, and the inclined surface structure of the hook 201 can improve the fluency of fastening the hook 201 and the instrument 8. The inclined surface structure of the hook 201 is inclined towards the inside of the housing 9 in the clamping state, so that the hook 201 forms an inward pulling force on the instrument 8 to further tighten the instrument 8 inwards, so that the connection end 801 of the instrument 8 is more tightly connected with the guide seat 10, and the stability of the clamping mechanism for clamping the instrument 8 is enhanced.

To further improve the pivoting stability of the clip arms 2, the bottom of the clip arms 2 is provided with a fixing frame 202, and both ends of the fixing frame 202 are perforated to allow the positioning pins 3 to pass through, so as to define the mounting positions of the two clip arms 2. To improve the stability of the fixing frame 202, a snap spring may be disposed in the housing 9 to fix the fixing frame 202.

The outer diameter of the through hole 200 is larger than the thickness of the clamping arm 2, so that a convex part is formed on the inner surface of the clamping arm 2 by the outer wall of the through hole 200, the convex part limits the driving mechanism, the tail end of the driving mechanism is limited to axially move between the through hole 200 and the connecting flange 1, in the first state, the tail end of the driving mechanism is abutted with the outer wall of the through hole 200, and the distance between the two hook parts 201 is minimum to clamp an instrument; in the second state, the tail end of the driving mechanism is abutted against the front end surface of the connecting flange 1, and the distance between the two hook parts 201 reaches the maximum to loosen the instrument.

Further, the driving mechanism includes a slider 5, two sides of the tail end of the slider 5 are symmetrically provided with a bump 501, the bump 501 is slidably abutted against the inner wall of the clamping arm 2, and the bump 501 moves axially between the through hole 200 and the connecting flange 1 to drive the clamping arm 2 to pivot, so that the hook 201 is opened to clamp or unclamp the instrument 10.

As shown in fig. 3-5, the sliding block 5 has a hollow inner cavity, the axial center of the inner cavity is provided with a guide shaft 502, the axial center of the connecting flange 1 is provided with a guide hole 101 matched with the guide shaft 502, the guide shaft 502 is slidably inserted into the guide hole 101, and the guide shaft 502 limits the sliding direction of the sliding block 5 to avoid the deviation thereof. An elastic piece is arranged between the sliding block 5 and the connecting flange 1, the elastic piece is sleeved on the guide hole 101 and the guide shaft 502, and two ends of the elastic piece are respectively abutted with the inner cavity end face of the sliding block 5 and the front end face of the connecting flange 1. The elastic piece is used for driving the sliding block 5 to reset.

Further, the elastic member includes a first spring 503 and a second spring 504, where the first spring 503 is inserted into the second spring 504 and overlapped with the second spring 504. The structure ensures that the elastic piece still has enough elasticity and expansion and contraction amount to reset the sliding block 5 under the condition of not changing the length of the elastic piece, so that the space occupation in the shell 5 is saved.

The top fretwork of shell 9 is in order to expose the top of slider 5, in preferred embodiment, actuating mechanism still includes the drive piece that is used for the drive slider 5 is axial displacement, the drive piece includes connecting rod 6 and stirs piece 7, the both ends of connecting rod 6 respectively with slider 5, stir piece 7 pivot connection, stir the pivot of the bottom both sides of piece 7 through compressing tightly flange (not shown in the figure) with shell 9 pivot connection, stir the pivot tip of the bottom both sides of piece 7 still to be connected with bearing 701, bearing 701 slip is inlayed in the mounting hole on shell 9, stir piece 7 through relative slider 5 rotation drives slider 5 is axial displacement. The end face of the poking block 7 is provided with an radian matched with a human finger, so that the poking block 7 is convenient to operate and press, an operator can drive the sliding block 5 to axially move by improving the pressing force, and the poking block 7 can be set to further facilitate the operation of a user, so that the operation efficiency is improved.

In other possible embodiments, other driving members capable of pushing the sliding block 5 may be used instead of the toggle block 7 and the connecting rod 6, for example, the driving mechanism further includes a driving member for driving the sliding block 5 to move axially, where the driving member is a push rod fixedly connected to the top of the sliding block 5, and the sliding block 5 is driven to move axially by pushing the push rod. For example, the top of the sliding block 5 can be provided with a fixed block protruding from the surface thereof for pushing. For example, a set of ribs is provided on the top of the slider 5 to facilitate pushing.

In order to facilitate the detection of the installation of the instrument 10 in place, an indicator light 8 and a sensor (not shown in the figure) are arranged in the housing 9, the sensor is positioned at the front end of the sliding block 5 and is opposite to the instrument 10, the front end of the sensor is provided with a contact switch, when the instrument 10 is installed in place, the instrument 10 triggers the contact switch to trigger the sensor, and the sensor is electrically connected with the indicator light, so that the sensor controls the indicator light 8 to be turned on to display that the instrument 10 is installed in place. The arrangement of the indicator light 8 visualizes the installation of the instrument 10 in place, so that an operator can check the installation of the instrument 10 in place, and the instrument 10 is prevented from falling and being damaged after the installation is not in place.

Further, a guide seat 10 is fixedly arranged at the port of the housing 9, and the guide seat 10 is provided with an opening matched with the connecting end 801 of the instrument 10. The connecting end 801 is clamped in the guide seat 10, so that the hook 201 is conveniently clamped with the connecting end 801.

The working principle of the clamping mechanism is as follows: firstly, the poking block 7 is pressed to push the sliding block 5 to move towards the connecting flange 1, the clamping arm 2 pivots along with the movement of the sliding block 5, the two hook parts 201 are gradually opened, and the distance between the two hook parts is enlarged;

then, the instrument 8 is clamped into the guide seat 10, so that the clamping holes 802 on the two sides of the connecting end 801 are positioned between the two hook parts 201;

finally, the toggle block 7 is loosened, the sliding block 5 is reset under the action of the elastic force of the elastic piece, the hook 201 is clamped with the clamping hole 802, at this time, the instrument 8 triggers the sensor, and the indicator light is lightened.

When the instrument 8 needs to be disassembled, the instrument 8 is pulled out by repeating the actions.

In addition, the utility model also discloses a surgical robot, which comprises the instrument arm, an operation device, an operation system and various types of instruments 10, and the surgical robot is not the focus of the scheme in the prior art and is not repeated herein.

It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.

The above list of detailed descriptions is only specific to practical embodiments of the present utility model, and they are not intended to limit the scope of the present utility model, and all equivalent embodiments or modifications that do not depart from the spirit of the present utility model should be included in the scope of the present utility model.

Claims

1. Instrument arm, including arm main part (100), the front end of arm main part (100) is provided with shell (9), be provided with the fixture who is used for centre gripping instrument (8) in shell (9), its characterized in that: clamping mechanism includes flange (1), clamping mechanism and actuating mechanism, flange (1) with arm main part (100) rigid coupling, clamping mechanism includes two relatively arm lock (2) that flange (1) symmetry set up, the front end of arm lock (2) is provided with colludes portion (201), collude portion (201) and be located in the port of shell (9), the middle part of arm lock (2) is provided with a through-hole (200), wear locating pin (3) and torsional spring (4) in through-hole (200), locating pin (3) with shell (9) rigid coupling, lower pin of torsional spring (4) with the outer wall butt of arm lock (2) makes arm lock (2) can be relative locating pin (3) pivot, actuating mechanism slide set up in a pair of arm lock (2) between, just actuating mechanism with the inner wall slip butt of arm lock (2), actuating mechanism passes through relative connection (1) axial direction of movement flange (8) open and close instrument (201).

2. The instrument arm of claim 1, wherein: the outer diameter of the through hole (200) is larger than the thickness of the clamping arm (2), a convex part is formed on the inner surface of the clamping arm (2) so as to limit the tail end of the driving mechanism to axially move between the through hole (200) and the connecting flange (1), and in the first state, the tail end of the driving mechanism is abutted with the outer wall of the through hole (200), and the distance between the two hook parts (201) is minimum so as to clamp an instrument; in the second state, the tail end of the driving mechanism is abutted with the front end face of the connecting flange (1), and the distance between the two hook parts (201) is maximized to loosen the instrument.

3. The instrument arm of claim 2, wherein: the driving mechanism comprises a sliding block (5), two sides of the tail end of the sliding block (5) are symmetrically provided with protruding blocks (501), and the protruding blocks (501) are in sliding abutting connection with the inner wall of the clamping arm (2).

4. An instrument arm according to claim 3, wherein: the sliding block (5) is provided with a hollow inner cavity, a guide shaft (502) is arranged at the axis of the inner cavity, a guide hole (101) matched with the guide shaft (502) is arranged at the axis of the connecting flange (1), the guide shaft (502) is slidably arranged in the guide hole (101) in a penetrating mode, an elastic piece is arranged between the sliding block (5) and the connecting flange (1), the elastic piece is sleeved on the guide hole (101) and the guide shaft (502), and two ends of the elastic piece are respectively abutted to the inner cavity end face of the sliding block (5) and the front end face of the connecting flange (1).

5. The instrument arm of claim 4, wherein: the elastic piece comprises a first spring (503) and a second spring (504), wherein the first spring (503) is arranged in the second spring (504) in a penetrating mode and is overlapped with the second spring (504).

6. The instrument arm of claim 5, wherein: the driving mechanism further comprises a driving piece for driving the sliding block (5) to axially move, the driving piece comprises a connecting rod (6) and a stirring block (7), two ends of the connecting rod (6) are respectively in pivot connection with the sliding block (5) and the stirring block (7), two sides of the bottom of the stirring block (7) are in pivot connection with the shell (9) through pressing flanges, two sides of the bottom of the stirring block (7) are further connected with bearings (701), the bearings (701) are slidably embedded in mounting holes in the shell (9), and the stirring block (7) is driven to axially move by rotating relative to the sliding block (5).

7. The instrument arm of claim 5, wherein: the driving mechanism further comprises a driving piece for driving the sliding block (5) to axially move, the driving piece is a push rod fixedly connected with the top of the sliding block (5), and the sliding block (5) is driven to axially move by pushing the push rod.

8. An instrument arm according to claim 3, wherein: an indicator lamp and a sensor are arranged in the shell (9), the sensor is positioned at the front end of the sliding block (5) and is opposite to the instrument (8), and after the instrument (8) is installed in place, the instrument (8) triggers the sensor, and the sensor controls the indicator lamp to be turned on; a guide seat (10) is fixedly arranged at the port of the shell (9), and the guide seat (10) is provided with an opening matched with the connecting end (801) of the instrument (8).

9. The instrument arm of claim 1, wherein: the front end face and the rear end face of the hook part (201) are inclined planes.

10. Surgical robot, its characterized in that: an instrument arm comprising any one of claims 1-9.