CN219374918U - Main hand power-assisted opening and closing clamp and minimally invasive surgery robot - Google Patents

Abstract

The utility model relates to the technical field of medical robots, in particular to a main hand assisting opening and closing clamp and a minimally invasive surgery robot; the device comprises an operation part, a control part and a control part, wherein the operation part is rotatably arranged on one side of a shell; the operation part is provided with a pressure sensor and a sliding contact piece, the sliding contact piece is arranged on one side of the pressure sensor, can move towards the pressure sensor and squeeze the pressure sensor to disconnect the connection between the main hand auxiliary force opening and closing clamp and the multi-degree-of-freedom joint arm, and the sliding contact piece is provided with a clutch shifting piece for assisting in shifting the sliding contact piece; through the cooperation between sliding contact and the pressure sensor, adopt the response mode of travel switch structure, can not rely on complicated control system, realize signal "0" to "1" abrupt change, the reliability is high.

Description

Main hand power-assisted opening and closing clamp and minimally invasive surgery robot

The application is a divisional application of a Chinese patent application with the name of a main hand power-assisted opening and closing clamp and a minimally invasive surgery robot and the application number of 202221349156.7, which are filed on the 5 th month of 2022.

Technical Field

The utility model relates to the technical field of medical robots, in particular to a main hand assisting opening and closing clamp and a minimally invasive surgical robot.

Background

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 master hand) of the physician's console plays an important role in the performance of the overall robotic system.

The main hand opening and closing clamp is an important component of the main hand, is directly held by two hands of a doctor to operate, and is used for controlling the opening and closing action and the rotating action of the auxiliary hand surgical instrument.

Because the main hand opening and closing clamp needs to rotate in the using process, a plurality of cables are distributed in the main hand opening and closing clamp, and when the main hand opening and closing clamp rotates, the cables are wound, so that the stability of the main hand opening and closing clamp is poor in use.

Because the cable passing problem is difficult to solve, the chinese patent No. CN112638306a discloses a control input device with a control switch position sensing across a rotary joint, which uses a passive array sensor to replace the cable to work, and a switch contact part is further disposed 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 sensor.

However, on the one hand, the array type sensor has a complex structure, high cost and difficult assembly; on the other hand, the switch of the main hand power-assisted opening and closing clamp is realized through the change of the sensing distance of the sensor, and the distance is not abrupt, so that judgment is needed depending on control logic, the system stability is low, and the error probability is increased.

Disclosure of Invention

Aiming at the problems in the prior art, the utility model provides a main hand assisting opening and closing clamp and a minimally invasive surgery robot.

In order to solve the technical problems, the utility model is solved by the following technical scheme:

a main hand-assisted opening and closing clamp, which comprises,

an operation part rotatably arranged at one side of a shell;

a first sensor provided at one end of a link assembly in the operation part;

the second sensor is arranged at the tail end of a linkage rod in the shell, which is far away from the operation part, the tail end of the linkage rod, which is close to the operation part, is connected with the other end of the connecting rod assembly, and the linkage rod can move along the axial direction of the linkage rod under the drive of the connecting rod assembly;

the rotation limiting lock is arranged in the middle of the linkage rod and is respectively connected with the shell and the operation part, and the rotation limiting lock is matched with the shell and the operation part to realize that the linkage rod rotates in a preset angle along the circumferential direction of the linkage rod;

wherein the first sensor is used for being matched with the connecting rod assembly to realize the auxiliary movement of the linkage rod along the axial direction of the linkage rod; the second sensor is used for sensing and assisting rotation of the linkage rod along the circumferential direction of the linkage rod.

Preferably, the rotation limit lock comprises,

the sleeve is sleeved outside the linkage rod and is fixed on the operation part through a mounting disc which is relatively static with the sleeve so as to keep relative static with the linkage rod in the circumferential direction;

the inner ring is sleeved outside the sleeve and can rotate along the circumferential direction of the sleeve;

the first limiting mechanism is arranged between the sleeve and the inner ring and is used for limiting relative rotation of the inner ring and the sleeve in the circumferential direction so as to realize rotation of the inner ring relative to the sleeve within a preset angle range.

Preferably, the rotation limit lock further comprises,

the outer ring is sleeved outside the inner ring and can rotate along the circumferential direction of the inner ring;

the second limiting mechanism is arranged between the inner ring and the outer ring and is used for limiting relative rotation of the outer ring and the inner ring in the circumferential direction so as to realize rotation of the outer ring relative to the inner ring within a preset angle range;

wherein, keep relative stationary state between outer lane and the casing.

Preferably, the first limiting mechanism comprises,

the first bulge is arranged on the outer side wall of the sleeve;

the second bulge is arranged on the inner side wall of the inner ring and corresponds to the first bulge, and the second bulge is used for extruding with the first bulge so as to limit the inner ring in the circumferential direction.

Preferably, the second limiting mechanism comprises,

the third bulge is arranged on the outer side wall of the inner ring;

and the fourth bulge is arranged on the inner side wall of the outer ring and corresponds to the third bulge, and is used for extruding with the third bulge so as to limit the outer ring in the circumferential direction.

Preferably, a driven bevel gear is arranged on the outer side wall of the sleeve; a rotary power-assisted motor is arranged in the shell, and a driving bevel gear which is matched with the driven bevel gear to realize the rotation of the sleeve is arranged on an output shaft of the rotary power-assisted motor;

the rotary power assisting motor is used for receiving signals sent by the second sensor to realize opening and closing of the rotary power assisting motor.

Preferably, an opening and closing power-assisted motor capable of receiving signals sent by the first sensor to realize opening and closing of the opening and closing power-assisted motor is arranged in the shell, and a spur gear is arranged on an output shaft of the opening and closing power-assisted motor; a fixing plate is arranged in the shell and positioned at a side wall far away from the operation part; the fixed plate is provided with a sliding rail extending towards the direction of the operation part; the sliding component is sleeved on the linkage rod through a bearing and is kept relatively static with the linkage rod in the axial direction, and the sliding component can relatively rotate with the linkage rod in the circumferential direction; the sliding rail penetrates through the sliding component, and the sliding component can reciprocate on the sliding rail along the extending direction of the sliding rail so as to assist the linkage rod to move along the axial direction of the linkage rod; and meshing teeth matched with the spur gear are arranged on the sliding component at positions corresponding to the spur gear.

Preferably, the drive bevel gear and the driven bevel gear are meshed with a certain clearance, and the spur gear and the meshing teeth are meshed with a certain clearance; the first sensor and the second sensor are both encoders;

the first sensor senses the rotation trend by utilizing the clearance between the spur gear and the meshing teeth, so as to send a signal to the opening and closing power-assisted motor to realize the assistance of the movement of the linkage rod along the axial direction of the linkage rod; the second sensor senses a rotation trend by using a gap between the driving bevel gear and the driven bevel gear, thereby sending a signal to the rotary booster motor to realize assisting the rotation of the link rod in the circumferential direction of the link rod.

Preferably, a first installation plane is arranged on the outer side wall of the sleeve; the driven bevel gear is provided with a first mounting ring which is coaxial with the driven bevel gear in an extending way; the first installation plane is provided with a first compression plate which is matched with the first installation ring to extrude the sleeve so as to fix the driven bevel gear on the sleeve.

A minimally invasive surgery robot is based on any one of the main hand power-assisted opening and closing clamps, and comprises a doctor console, wherein the doctor console comprises a base, a multi-degree-of-freedom joint arm and the main hand power-assisted opening and closing clamp connected to the tail end of the joint arm.

The utility model has at least the following beneficial effects:

1. through the setting of first sensor and second sensor, can realize gathering rotatory and the trend of opening and shutting to can record corresponding angle, reduce structure complexity and cost, more do benefit to the industrialization.

2. The inner ring, the outer ring and the sleeve are matched with a limiting structure, so that the operation part can rotate in a preset angle, the cable winding can be prevented while the use requirement is met, and the complex sensor structure and high cost caused by a passive structure are avoided.

3. Through the cooperation between sliding contact and the pressure sensor, adopt the response mode of travel switch structure, can not rely on complicated control system, realize signal "0" to "1" abrupt change, the reliability is high.

4. Through the cooperation between first pressure strip and first collar and second pressure strip and the second collar, adopt two side pressure structures, realize driving bevel gear and driven bevel gear's reliable connection, be applicable to the application scenario to the main hand that the reliability requirement is high.

Drawings

FIG. 1 is a schematic view of a master hand assisted clasp of example 1;

FIG. 2 is a schematic view of the main hand assisted opening/closing clip with the housing removed in embodiment 1;

FIG. 3 is a schematic view of the embodiment 1 with the housing and the half-section mounting frame removed by the main hand assisted opening and closing clamp;

FIG. 4 is a schematic view of the internal structure of a main hand-assisted opening/closing clamp according to embodiment 1;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is a schematic view of the rotation limiter lock, sleeve and mounting plate of example 1;

FIG. 7 is an exploded view of FIG. 6;

FIG. 8 is a schematic view of the inner ring in example 1;

FIG. 9 is a schematic view of the outer race of example 1;

fig. 10 is a first internal structure diagram of the operation section in embodiment 1;

FIG. 11 is a partial enlarged view at B in FIG. 10;

fig. 12 is a second internal structure diagram of the operation part in embodiment 1;

FIG. 13 is an enlarged view of a portion of FIG. 12 at C;

fig. 14 is a schematic view of an operation part in embodiment 1;

fig. 15 is an exploded view of the operation part in embodiment 1;

FIG. 16 is an exploded view of the drive bevel gear assembly of example 1;

FIG. 17 is a schematic view of a linkage rod in example 1;

FIG. 18 is a first schematic view of the finger top cover of example 1;

FIG. 19 is a second schematic view of the finger top cover of example 1;

FIG. 20 is a first schematic view of the finger rest of example 1;

FIG. 21 is a second schematic view of the finger rest of example 1;

FIG. 22 is a first schematic view of the finger rest of example 1;

fig. 23 is a second schematic view of the finger rest of example 1.

The names of the parts indicated by the numerical references in the drawings are as follows:

110. an operation unit; 120. a housing; 130. a grip portion; 210. a mounting frame; 310. a connecting rod assembly; 311. a fingerboard; 312. a finger ring; 320. a clutch shifting piece; 330. a rotation limit lock; 340. a second sensor; 350. a rotary booster motor; 360. an opening and closing power-assisted motor; 361. spur gears; 362. a slide rail; 363. a sliding assembly; 410. a linkage rod; 420. a driven bevel gear; 430. a drive bevel gear; 431. a second mounting ring; 432. a second compacting plate; 433. a second mounting plane; 440. a fixing plate; 450. a first compacting plate; 460. a first mounting ring; 510. meshing teeth; 610. a mounting plate; 710. a sleeve; 711. a first protrusion; 720. a first mounting plane; 730. an inner ring; 740. an outer ring; 810. a second protrusion; 820. a third protrusion; 910. a fourth protrusion; 1020. a finger middle frame; 1030. the finger is put down; 1040. a finger lower cover; 1110. a sliding contact; 1120. a pressure sensor; 1130. a return spring; 1210. a movable connecting rod; 1220. a pivot link; 1230. a pivot shaft; 1231. a pivoting gear; 1310. details; 1320. a thick part; 1510. a finger upper cover; 1810. a finger-operated support part; 1920. a return spring mounting groove; 1930. a first avoidance unit; 1940. a housing part; 1950. a first wire passing groove; 2010. sliding contact piece sliding grooves; 2020. a pressure sensor mounting hole; 2030. a second avoidance unit; 2110. a second wire passing groove; 2120. a first linkage rod chute; 2130. a pivot shaft mounting hole; 2140. a first via hole; 2210. the second linkage rod chute; 2220. a pivot gear shaft mounting hole; 2230. a second via hole; 2240. a pivot gear mounting hole; 2310. a first sensor bracket mounting hole; 2320. and a circuit board mounting groove.

Detailed Description

For a further understanding of the present utility model, the present utility model will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present utility model and are not intended to be limiting.

Example 1

As shown in fig. 1-23, the present embodiment provides a master hand assisted toggle clamp, comprising,

an operation part 110, wherein the operation part 110 is rotatably arranged at one side of a shell 120;

a first sensor provided at one end of a link assembly 310 in the operation part 110;

the second sensor 340 is disposed at the end of a linkage rod 410 in the housing 120, which is far away from the operation part 110, the end of the linkage rod 410, which is near to the operation part 110, is connected with the other end of the linkage rod assembly 310, and the linkage rod 410 can move along the axial direction of the linkage rod 410 under the driving of the linkage rod assembly 310;

the rotation limiting lock 330 is arranged in the middle of the linkage rod 410 and is respectively connected with the shell 120 and the operation part 110, and the linkage rod 410 rotates in a preset angle along the circumferential direction of the linkage rod 410 through the cooperation of the rotation limiting lock 330 with the shell 120 and the operation part 110;

wherein the first sensor is configured to cooperate with the link assembly 310 to facilitate movement of the linkage rod 410 in an axial direction of the linkage rod 410; the second sensor 340 is used to sense and assist the rotation of the link 410 in the circumferential direction of the link 410.

One end of the linkage rod 410 in the present embodiment extends into the operation part 110 and cooperates with the operation part 110 to keep the linkage rod 410 relatively stationary with the operation part 110 in the circumferential direction, and the other end extends into the housing 120; the first sensor and the second sensor 340 are both active structures.

The link assemblies 310 in this embodiment are symmetrically disposed on two sides of the operation portion 110; the linkage assembly 310 includes a movable link 1210, a pivot link 1220, and a fingerboard 311; one end of the movable link 1210 extends into the operation part 110 and is rotatably connected to one end of the link 410, and the other end extends out of the operation part 110; one end of the pivoting link 1220 extends into the operating part 110 and is rotatably connected to one end of the operating part 110 far from the housing 120 through the pivoting shaft 1230, and the other end extends out of the operating part 110; the other end of the movable connecting rod 1210 and the other end of the pivoting connecting rod 1220 are both rotatably connected to the fingerboard 311, and the fingerboard 311 is used for placing fingers; the finger plate 311 is also provided with a finger ring 312 for fixing the finger on the finger plate 311, and the finger ring 312 is made of a material with larger elasticity and variable diameter; the movement of the finger plate 311 relative to the operation part 110 drives the movable link 1210 and the pivoting link 1220 to rotate to achieve the movement of the link lever 410 in the axial direction of the link lever 410.

A pivoting gear 1231 is disposed at one end of the pivoting link 1220 in the present embodiment, and one end of the pivoting link 1220 is sleeved on the pivoting shaft 1230 through the pivoting gear 1231; the pivot gears 1231 on the symmetrically disposed pivot links 1220 are engaged with each other; the first sensor is provided at a lower end portion of the pivoting gear 1231 and can move synchronously with the pivoting gear 1231.

In the embodiment, a multi-degree-of-freedom joint arm is further arranged outside, and the multi-degree-of-freedom joint arm is connected with the main hand power-assisted opening and closing clamp in the embodiment; a holding part 130 for holding by a doctor is also arranged on the shell 120 and below the operation part 110; the finger ring 312 is stuck on the finger plate 311 by a magic tape; the first sensor and the second sensor 340 are both encoders and are arranged in the main hand power assisting opening and closing clamp in a cable wiring manner.

When the multi-degree-of-freedom joint arm is used, the multi-degree-of-freedom joint arm and the main hand auxiliary force opening and closing clamp are started at first, so that the multi-degree-of-freedom joint arm is connected with the main hand auxiliary force opening and closing clamp; the doctor holds the hands on the holding part 130 and the operating part 110 respectively, and places the corresponding fingers on the finger plate 311 through the finger ring 312, and holds the hands simultaneously, so that the doctor can be relatively stable when operating the main hand assisting opening and closing clamp; when the doctor moves the finger plate 311 toward the operation part 110, the movable link 1210 and the pivoting link 1220 are rotated; because one end of the movable link 1210 is rotatably connected to the link 410, the movable link 1210 presses the link 410, so that the link 410 moves in a direction out of the housing 120; when the doctor moves the fingerboard 311 in the reverse direction, the movable link 1210 and the pivoting link 1220 are rotated in the reverse direction, so that the link lever 410 can be moved in the reverse direction, thereby realizing the opening and closing action of the main hand-assisted opening and closing clamp.

While the pivot link 1220 rotates on the pivot shaft 1230 through the pivot gear 1231, the pivot gear 1231 drives the first sensor to rotate at the same time, and the first sensor records the rotation angle and the trend of the rotation direction while the first sensor rotates, so as to realize the movement of the auxiliary link 410 along the axial direction of the link 410.

Meanwhile, a doctor can rotate the operation part 110, and the linkage rod 410 can be kept relatively static with the operation part 110 in the circumferential direction due to the connection effect of the movable connecting rod 1210 and the linkage rod 410, so that the operation part 110 can rotate and simultaneously drive the linkage rod 410 to rotate through the movable connecting rod 1210, and the second sensor 340 can follow the linkage rod 410 to rotate simultaneously and record the trend of the rotating angle and the rotating direction.

Through the arrangement of the rotation limiting lock 330 in the present embodiment, the rotation of the operation portion 110 can be preferably limited in the circumferential direction, so that the operation portion 110 can only rotate within a predetermined angle, and the linkage rod 410 can only rotate within a predetermined angle, and both the first sensor and the second sensor 340 are disposed in the main hand power assisting opening and closing clamp in a wiring manner; by controlling the operation part 110 and the linkage rod 410 to rotate within a predetermined angle, on one hand, the use requirement of the operation part 110 and the linkage rod 410 for rotation can be better met, and on the other hand, accidents caused by mutual winding of a plurality of cables can be better avoided; at the same time, the complex sensor structure and high cost caused by the first sensor and the second sensor 340 with passive structures in the prior art can be avoided.

In this embodiment, the rotation limit lock 330 includes,

a sleeve 710, wherein the sleeve 710 is sleeved outside the linkage rod 410 and is fixed on the operation part 110 through a mounting disc 610 which is relatively static with the sleeve so as to keep relatively static with the linkage rod 410 in the circumferential direction;

an inner ring 730, wherein the inner ring 730 is sleeved outside the sleeve 710 and can rotate along the circumferential direction of the sleeve 710;

and a first limiting mechanism disposed between the sleeve 710 and the inner ring 730 for limiting relative rotation between the inner ring 730 and the sleeve 710 in a circumferential direction to achieve rotation of the inner ring 730 relative to the sleeve 710 within a predetermined angular range.

One end of the sleeve 710 in this embodiment extends into the housing 120, and the other end extends out of the housing 120; the other end of the sleeve 710 is provided with a mounting plate 610, and the operating part 110 is fixedly connected to the mounting plate 610; one end of the link lever 410 penetrates through the mounting plate 610 and protrudes into the operation part 110, and the link lever 410 is movable relative to the mounting plate 610 in the axial direction of the link lever 410; the inner ring 730 is disposed within the housing 120.

By the configuration in the present embodiment; the first limiting mechanism is arranged, so that the sleeve 710 and the inner ring 730 can only rotate relatively within a predetermined angle, and the sleeve 710 can only rotate within the predetermined angle, so that the operating portion 110 connected to the sleeve 710 through the mounting plate 610 can only rotate within the predetermined angle, and the cable connected to the first sensor and the second sensor 340 can be preferably prevented from being wound due to the overlarge rotating angle of the operating portion 110.

In this embodiment, the rotation limit lock 330 further comprises,

an outer ring 740, wherein the outer ring 740 is sleeved outside the inner ring 730 and can rotate along the circumferential direction of the inner ring 730;

a second limiting mechanism disposed between the inner ring 730 and the outer ring 740 and configured to limit relative rotation between the outer ring 740 and the inner ring 730 in a circumferential direction so as to implement rotation of the outer ring 740 within a predetermined angular range relative to the inner ring 730;

wherein a relatively stationary state is maintained between the outer race 740 and the housing 120.

By the configuration in this embodiment, the outer ring 740 is kept stationary relative to the housing 120, and when the operation portion 110 rotates, the sleeve 710 is driven to rotate, and the sleeve 710 rotates to a predetermined angle relative to the inner ring 730 and is limited by the first limiting mechanism, so that the sleeve 710 and the inner ring 730 are kept relatively stationary; the operation part 110 continues to rotate, so that the inner ring 730 and the outer ring 740 rotate relatively under the state that the sleeve 710 and the inner ring 730 keep relatively static, and due to the arrangement of the second limiting mechanism, the inner ring 730 and the outer ring 740 can only rotate within a preset angle, so that the winding of the internal wiring of the main hand assisting opening and closing clamp is avoided while the rotating angle of the operation part 110 is further enlarged.

In this embodiment, the first limiting mechanism includes,

a first protrusion 711, the first protrusion 711 being provided on an outer sidewall of the sleeve 710;

and a second protrusion 810, wherein the second protrusion 810 is disposed on an inner sidewall of the inner ring 730 and at a position corresponding to the first protrusion 711, and the second protrusion 810 is configured to press against the first protrusion 711 to limit the inner ring 730 in a circumferential direction.

The first protrusion 711 in this embodiment is a screw that is screwed to the outer wall of the socket 710, and the screw is detachable.

By the configuration in this embodiment, when the operation portion 110 rotates, the operation portion 110 drives the sleeve 710 to rotate, and after the sleeve 710 rotates in the inner ring 730 by a certain angle, the first protrusion 711 contacts with the second protrusion 810, so that the sleeve 710 and the inner ring 730 can keep relatively static under the blocking effect of the second protrusion 810 on the first protrusion 711, and thus the rotation between the sleeve 710 and the inner ring 730 in a predetermined angle is achieved, and since the first protrusion 711 and the second protrusion 810 have a certain size, the relative rotation angle between the sleeve 710 and the inner ring 730 is in a range of less than 360 °.

In this embodiment, the second limiting mechanism includes,

a third protrusion 820, the third protrusion 820 being provided on an outer sidewall of the inner ring 730;

and a fourth protrusion 910, where the fourth protrusion 910 is disposed on an inner sidewall of the outer ring 740 and corresponds to the third protrusion 820, and the fourth protrusion 910 is configured to press against the third protrusion 820 to limit the outer ring 740 in a circumferential direction.

Through the configuration in this embodiment, when the sleeve 710 rotates to be kept relatively stationary with the inner ring 730 under the action of the first protrusion 711 and the second protrusion 810, the sleeve 710 continues to rotate, so that the first protrusion 711 pushes the second protrusion 810, so that the sleeve 710 drives the inner ring 730 to rotate in the outer ring 740, and when the inner ring 730 rotates in the outer ring 740 by a certain angle, the third protrusion 820 contacts with the fourth protrusion 910, so that the inner ring 730 can keep relatively stationary with the outer ring 740 under the blocking action of the fourth protrusion 910, and thus the rotation between the inner ring 730 and the outer ring 740 in a predetermined angle is realized, and because the third protrusion 820 and the fourth protrusion 910 have certain sizes, the angle of the relative rotation between the inner ring 730 and the outer ring 740 is in a range of less than 360 °; the relative rotation angle between the coupling sleeve 710 and the inner ring 730 is in a range of less than 360 °, so that the sleeve 710 can rotate in a range of 720 ° relative to the outer ring 740, thereby further expanding the rotation angle of the operation part 110, and simultaneously avoiding the winding of the inner cable of the main hand power assisted opening and closing clamp in a limited angle.

In this embodiment, the driven bevel gear 420 is disposed on the outer sidewall of the sleeve 710; a rotary power-assisted motor 350 is arranged in the shell 120, and a drive bevel gear 430 which is matched with the driven bevel gear 420 to realize the rotation of the sleeve 710 is arranged on an output shaft of the rotary power-assisted motor 350;

wherein the rotary booster motor 350 is turned on and off by receiving the signal from the second sensor 340.

In this embodiment, a mounting frame 210 is disposed in the housing 120, and the rotary booster motor 350 is disposed in the housing 120 through the mounting frame 210; outer race 740 is fixedly coupled to mounting bracket 210 to achieve a relatively stationary condition with housing 120.

By the configuration in the present embodiment; when the operation part 110 starts to rotate, the second sensor 340 transmits the collected trend of the rotation of the linkage rod 410 to the processor through a signal, and the processor transmits a start signal to the position of the rotation assisting motor 350, so that the rotation assisting motor 350 is started, the rotation assisting motor 350 can realize corresponding rotation according to the trend of the rotation direction of the linkage rod 410, and the rotation assisting motor 350 can realize auxiliary rotation of the linkage rod 410 through the cooperation of the driving bevel gear 430 and the driven bevel gear 420, thereby being convenient for a doctor to operate on one hand, and avoiding damage to the rotation assisting motor 350 on the other hand.

In this embodiment, an opening and closing power-assisted motor 360 capable of receiving the signal sent by the first sensor to open and close the housing 120 is provided in the housing, and a spur gear 361 is provided on an output shaft of the opening and closing power-assisted motor 360; a fixing plate 440 is disposed in the housing 120 and located at a side wall far from the operation portion 110; the fixed plate 440 is provided with a slide rail 362 extending toward the operation part 110; a sliding component 363 is arranged at the other end of the linkage rod 410, the sliding component 363 is sleeved on the linkage rod 410 through a bearing and keeps relative static with the linkage rod 410 in the axial direction, and the sliding component 363 can rotate relative to the linkage rod 410 in the circumferential direction; the sliding rail 362 is disposed through the sliding component 363, and the sliding component 363 can reciprocate on the sliding rail 362 along the extending direction of the sliding rail 362 to assist the movement of the linkage rod 410 along the axial direction of the linkage rod 410; the sliding component 363 is provided with meshing teeth 510 matched with the spur gear 361 at a position corresponding to the spur gear 361.

By the configuration in the present embodiment; when a doctor drives the pivot connecting rod 1220 to rotate through the fingerboard 311, the first sensor can acquire the rotating angle of the pivot gear 1231 and the trend of the rotating direction and send corresponding signals to the processor, the processor transmits starting signals to the opening and closing power-assisted motor 360, so that the opening and closing power-assisted motor 360 is started, the opening and closing power-assisted motor 360 can correspondingly rotate according to the trend of the rotating direction of the pivot gear 1231, the spur gear 361 is correspondingly rotated, and the sliding component 363 can correspondingly move along the axial direction of the linkage rod 410 under the guiding action of the sliding rail 362 due to the fact that the sliding component 363 is matched with the spur gear 361, so that the sliding component 363 drives the linkage rod 410 to correspondingly move along the axial direction of the linkage rod 410, the movement of the linkage rod 410 is assisted, on the one hand, the use of the doctor is facilitated, and on the other hand, the damage of the opening and closing power-assisted motor 360 can be better avoided.

In this embodiment, the drive bevel gear 430 and the driven bevel gear 420 have a certain clearance in engagement, and the spur gear 361 and the engagement teeth 510 have a certain clearance in engagement; the first sensor and the second sensor 340 are both encoders;

wherein, the first sensor senses the rotation trend by using the gap between the spur gear 361 and the engagement teeth 510, so as to send a signal to the opening and closing power-assisted motor 360 to realize assistance of the movement of the linkage rod 410 along the axial direction of the linkage rod 410; the second sensor 340 senses a rotation trend using a gap between the drive bevel gear 430 and the driven bevel gear 420, thereby transmitting a signal to the rotation assisting motor 350 to achieve assisting the rotation of the link lever 410 in the circumferential direction of the link lever 410.

Through the configuration in this embodiment, when the doctor drives the pivot link 1220 to rotate through the finger plate 311, the engaging teeth 510 move along the axial direction of the link 410 along with the link 410, and at this time, the moving range of the engaging teeth 510 is in the gap between the spur gear 361 and the engaging teeth 510, so that at this time, the engaging teeth 510 cannot generate thrust to the spur gear 361, meanwhile, the first sensor senses the rotation trend, so as to send a corresponding signal to the processor, and the opening and closing booster motor 360 can perform corresponding rotation according to the trend of the rotation direction of the pivot gear 1231 after receiving the start signal transmitted by the processor, so that the spur gear 361 performs corresponding rotation, thereby realizing assisting the movement of the engaging teeth 510 through the rotation of the spur gear 361, and preferably avoiding the spur gear 361 from being pushed by the engaging teeth 510 to rotate.

When the operation part 110 starts to rotate, the driven bevel gear 420 rotates along with the sleeve 710, at this time, the rotation range of the driven bevel gear 420 is within the gap between the driven bevel gear 420 and the drive bevel gear 430, so that the driven bevel gear 420 does not generate thrust to the drive bevel gear 430 at this time, meanwhile, the second sensor 340 senses the rotation trend, and accordingly signals are sent to the processor, the rotation assisting motor 350 can correspondingly rotate after receiving the starting signals transmitted by the processor, so that the drive bevel gear 430 correspondingly rotates, and the rotation assisting of the driven bevel gear 420 through the rotation of the drive bevel gear 430 is realized, and the situation that the driven bevel gear 420 pushes the drive bevel gear 430 to rotate can be better avoided.

In this embodiment, a first mounting plane 720 is disposed on an outer sidewall of the shroud 710; a first mounting ring 460 coaxial with the driven bevel gear 420 extends on the driven bevel gear 420; the first mounting plane 720 is provided with a first pressing plate 450 for pressing the socket 710 in cooperation with the first mounting ring 460 to fix the driven bevel gear 420 to the socket 710.

The first mounting ring 460 is fixedly connected with the first pressing plate 450 through bolts in the embodiment.

In this embodiment, the linkage rod 410 may be divided into a thick portion 1320 and a thin portion 1310 with different diameters, the thin portion 1310 is inserted into the sleeve 710 and can move in the sleeve 710, and the thick portion 1320 can abut against the sleeve 710 to limit the limit movement range of the linkage rod 410; meanwhile, the detail 1310 of the linkage rod 410 is not contacted with the inner side wall of the sleeve 710, so that friction force is not generated between the linkage rod 410 and the sleeve 710, and the driven bevel gear 420 is fixed on the sleeve 710, so that the rotation and opening and closing actions of the main hand assisting opening and closing clamp are not influenced and are independent, and the stability of the main hand assisting opening and closing clamp during operation is further improved.

By the configuration in the present embodiment; the first mounting ring 460 and the first pressing plate 450 form a double-sided pressing structure, so that reliable connection of the driven bevel gear 420 on the sleeve 710 can be better realized, and the device can be better suitable for application scenes with higher requirements on reliability.

In this embodiment, a second mounting plane 433 is disposed on an outer sidewall of the output shaft of the rotary booster motor 350; a second mounting ring 431 coaxial with the drive bevel gear 430 extends on the drive bevel gear 430; the second mounting plane 433 is provided with a second pressing plate 432 for pressing the output shaft of the rotary power assisting motor 350 in cooperation with the second mounting ring 431 to fix the drive bevel gear 430 on the output shaft of the rotary power assisting motor 350.

By the configuration in the present embodiment; the second mounting ring 431 and the second pressing plate 432 form a double-sided pressing structure, so that reliable connection of the drive bevel gear 430 on the output shaft of the rotary power-assisted motor 350 can be better realized, and the device is better suitable for application scenarios with higher reliability requirements.

In this embodiment, the operating portion 110 is provided with a pressure sensor 1120 and a sliding contact 1110, and the sliding contact 1110 is disposed on one side of the pressure sensor 1120 and can move towards the pressure sensor 1120 and squeeze the pressure sensor 1120 to disconnect the main hand power-assisted opening/closing clamp from the multi-degree-of-freedom joint arm.

In this embodiment, the sliding contact 1110 is provided with a clutch plate 320 for assisting in shifting the sliding contact 1110.

By the configuration in the present embodiment; because the movement range of the operation portion 110 is limited and the multi-degree-of-freedom joint arm can require a larger movement range, when the multi-degree-of-freedom joint arm is used, a doctor can drive the sliding contact 1110 to move towards the pressure sensor 1120 by stirring the clutch pulling piece 320, when the sliding contact 1110 contacts the pressure sensor 1120, the pressure sensor 1120 generates a corresponding signal, so that the main hand power opening and closing clamp is disconnected from the multi-degree-of-freedom joint arm, the position state of the operation portion 110 can be adjusted, after the adjustment is finished, the sliding contact 1110 is controlled to move reversely, so that the sliding contact 1110 is far away from the pressure sensor 1120, the pressure sensor 1120 generates a corresponding signal, the main hand power opening and closing clamp is connected with the multi-degree-of-freedom joint arm, the control of the multi-degree-of-freedom joint arm is continuously realized through the operation portion 110, and the abrupt change of the signal from 0 to 1 can be realized without depending on a complex control system by adopting a sensing mode of a travel switch structure, so that the reliability is high.

In this embodiment, a return spring 1130 is disposed between the sliding contact 1110 and the operating portion 110, and the return spring 1130 is configured to maintain the tendency of the sliding contact 1110 to move away from the pressure sensor 1120.

In this embodiment, a return spring 1130 is provided on the clutch plate 320.

By the configuration in the present embodiment; after the doctor removes the force applied to the clutch plate 320, under the action of the return spring 1130, the sliding contact 1110 and the pressure sensor 1120 can be preferably separated from each other, so that the connection between the main hand assisting opening and closing clamp and the multi-degree-of-freedom joint arm is preferably realized.

In the present embodiment, the operation section 110 includes,

a finger upper cover 1510, wherein a return spring mounting groove 1920 for mounting a return spring 1130, a first avoiding portion 1930 for mounting a pressure sensor 1120, a containing portion 1940 which is communicated with the first avoiding portion 1930 and is used for placing a cable, and a first wire passing groove 1950 which is communicated with the containing portion 1940 to realize cable routing are provided on the inner side surface of the finger upper cover 1510; a finger supporting portion 1810 communicated with the inner side surface of the finger upper cover 1510 and the return spring mounting groove 1920 is arranged on the outer side surface of the finger upper cover 1510, and the finger supporting portion 1810 is used for mounting the clutch plate 320;

a finger middle frame 1020, wherein a sliding contact sliding chute 2010 for installing a sliding contact 1110 is arranged on the side surface of the finger middle frame 1020 facing the finger upper cover 1510 and at a position corresponding to the return spring installation groove 1920, and a second avoidance portion 2030 is arranged at a position corresponding to the first avoidance portion 1930, and the first avoidance portion 1930 and the second avoidance portion 2030 are used for installing a pressure sensor 1120; the second avoiding portion 2030 is provided therein with a pressure sensor mounting hole 2020 for fixing the pressure sensor 1120;

a first linkage rod sliding groove 2120 which is communicated with the sleeve 710 and used for the linkage rod 410 to extend in is arranged on the side surface of the middle finger frame 1020 away from the upper finger cover 1510; the end of the middle finger frame 1020 near the sleeve 710 is provided with a second wire passing groove 2110 for the wire of the cable; the finger middle frame 1020 is provided with a pivot shaft mounting hole 2130 for mounting the pivot shaft 1230 and a first wire passing hole 2140 for wire routing on the side surface of the finger upper cover 1510 and at the end part far from the sleeve 710;

a finger lower frame 1030, wherein a second linkage rod sliding groove 2210 is arranged on the side surface of the finger lower frame 1030 facing to the finger middle frame 1020 and at a position corresponding to the first linkage rod sliding groove 2120, and the second linkage rod sliding groove 2210 is used for being matched with the first linkage rod sliding groove 2120 so as to realize the movement of the linkage rod 410; the finger lower frame 1030 is provided with a pivot gear shaft mounting hole 2220, a pivot gear mounting hole 2240 for mounting a pivot gear 1231 with a first sensor, and a second via hole 2230 for cable routing on the side facing the finger middle frame 1020 and away from the sleeve 710;

the side surface of the finger lower frame 1030 far from the finger middle frame 1020 is provided with a circuit board mounting groove 2320 communicated with the second wire passing groove 2110 and the second wire passing hole 2230 and a first sensor bracket mounting hole 2310, and the position of the first sensor bracket mounting hole 2310 corresponds to the position of the pivoting gear mounting hole 2240; the circuit board mounting slot 2320 is used for mounting a circuit board.

A finger lower cover 1040, wherein the finger lower cover 1040 is configured to block the circuit board mounting groove 2320, the first sensor bracket mounting hole 2310, and the pivot gear mounting hole 2240;

the finger upper cover 1510, the finger middle frame 1020, the finger lower frame 1030, and the finger lower cover 1040 are sequentially and fixedly connected by bolts.

Through the structure in this embodiment, the realization that can be preferred carries out the dismouting to the part in the operating portion 110, and reasonable is laid out to part and cable in the operating portion 110 to the work efficiency that improves main hand helping hand clamp that opens and shuts that can be preferred is convenient for doctor's operation simultaneously.

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

In summary, the foregoing description is only of the preferred embodiments of the present utility model, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the utility model.

Claims (10)

1. The utility model provides a main hand helping hand clamp that opens and shuts which characterized in that: comprising the steps of (a) a step of,

an operation part rotatably arranged at one side of a shell;

the operation part is provided with a pressure sensor and a sliding contact piece, wherein the sliding contact piece is arranged on one side of the pressure sensor, can move towards the pressure sensor and is extruded by the pressure sensor to realize the disconnection of the main hand assisting opening and closing clamp and the connection of the multi-degree-of-freedom joint arm, and the sliding contact piece is provided with a clutch shifting piece for assisting in shifting the sliding contact piece.

2. The master hand assisted opening and closing clamp according to claim 1, wherein: and a return spring is arranged between the sliding contact and the operation part and is used for keeping the trend of the sliding contact moving towards the direction away from the pressure sensor.

3. A master hand assisted opening and closing clamp according to claim 2, wherein: the operation portion includes an operation portion that is configured to operate,

the outer side surface of the finger part upper cover is provided with a finger-poking supporting part which is used for installing the clutch poking plate; a reset spring mounting groove for mounting the reset spring is formed in the inner side surface of the finger upper cover;

and a sliding contact sliding groove for installing the sliding contact is formed in the position, corresponding to the reset spring installation groove, of the finger middle frame, wherein the finger middle frame faces to the side surface of the finger upper cover.

4. A master hand assisted opening and closing clamp according to claim 3, wherein: the finger upper cover further comprises a cover plate,

the reset spring mounting groove is positioned on the inner side surface of the finger part upper cover and is used for mounting the reset spring;

the first avoidance part is used for installing the pressure sensor.

5. The master hand assisted opening and closing clamp according to claim 4, wherein: the finger upper cover further comprises a cover plate,

the accommodating part is communicated with the first avoiding part and is used for accommodating the cable;

the first wire passing groove is communicated with the accommodating part to realize cable routing.

6. A master hand assisted clasp according to claim 4 or 5, wherein: the finger middle shelf also comprises a plurality of finger middle shelves,

the second avoidance part is arranged at a position corresponding to the first avoidance part, and the first avoidance part and the second avoidance part are used for installing the pressure sensor together;

wherein, the second dodges the portion and is equipped with the mounting hole that is used for fixed pressure sensor in the portion.

7. The master hand assisted toggle clamp of claim 6, wherein: the end part of the middle frame of the finger part, which is close to the shell, is provided with a second wire passing groove for the wire of the cable.

8. A master hand assisted opening and closing clamp according to claim 3, wherein: the operation portion may further include a plurality of operation portions,

the finger lower frame is provided with a circuit board mounting groove on the side surface far away from the finger middle frame for mounting a circuit board;

the finger lower cover is used for sealing the circuit board mounting groove.

9. The master hand assisted opening and closing clamp according to claim 8, wherein: the finger upper cover, the finger middle frame, the finger lower frame and the finger lower cover are sequentially and fixedly connected through bolts.

10. A minimally invasive surgical robot comprising a master hand assisted opening and closing clamp as claimed in any one of claims 1 to 9, characterized in that: the multifunctional hand-assisted folding and unfolding clamp comprises a doctor control console, wherein the doctor control console comprises a base, a multi-degree-of-freedom joint arm and a main hand-assisted folding and unfolding clamp connected to the tail end of the joint arm.