CN219803790U

CN219803790U - Gear-driven end instrument clamping mechanism and intraocular surgery robot

Info

Publication number: CN219803790U
Application number: CN202321520866.6U
Authority: CN
Inventors: 马维敏; 王琛
Original assignee: Beijing Lianwei Medical Technology Co ltd
Current assignee: Beijing Lianwei Medical Technology Co ltd
Priority date: 2023-06-15
Filing date: 2023-06-15
Publication date: 2023-10-10
Anticipated expiration: 2033-06-15

Abstract

The utility model relates to the field of medical equipment, in particular to a gear-driven terminal equipment clamping mechanism and an intraocular surgery robot, which comprise a servo motor, a gear box and a terminal equipment, wherein a fixed assembly, an input gear and an output gear are arranged in the gear box; pressing the chuck when dismantling makes inserted bar and output gear looks butt to make the chuck comparatively stable be fixed in a department through rotating spacing section of thick bamboo, thereby can prevent effectively that output gear's rotation, fixed subassembly can't pass certainly, thereby effectively reduce the operation degree of difficulty.

Description

Gear-driven end instrument clamping mechanism and intraocular surgery robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a gear-driven end instrument clamping mechanism and an intraocular surgical robot.

Background

In intraocular surgery, an intraocular device typically undergoes a circular motion about the axis of the device in addition to a three-dimensional rotation about the point of penetration and movement along the axis of the device. And in the operation, different surgical instruments need to be switched according to actual conditions. The robotic tip is required to have a variety of ophthalmic microsurgical instruments that can be stably centered, clamped for desired clamping, and be quickly replaceable, and provide freedom of rotation of the instrument along its own axis of rotation.

In the replacement process of the tail end instrument, due to the lack of a locking structure for preventing the output gear from rotating, related structures can rotate in the replacement process, so that the replacement operation is not facilitated for a user, and the delay time is not beneficial to popularization and use.

Disclosure of Invention

The utility model provides a gear-driven terminal instrument clamping mechanism and an intraocular surgery robot, which are used for solving the technical problems that the inventor realizes that in the replacement process of a terminal instrument, due to the lack of a locking structure for preventing an output gear from rotating, related structures can rotate in the replacement process, the replacement operation is not facilitated for users, and the delay time is not beneficial to popularization and use.

The utility model provides a gear-driven end instrument clamping mechanism which comprises a servo motor, a gear box and an end instrument, wherein a fixing assembly, an input gear and an output gear are arranged in the gear box, the fixing assembly is used for fixing the end instrument, the input gear is meshed with the output gear, the output gear is arranged on the surface of the fixing assembly, the output end of the servo motor is connected with the input gear, a fixing cylinder is arranged on one side of the gear box, a jack is formed in one side of the gear box, the inner cavity of the fixing cylinder is communicated with the jack, a limiting cylinder is connected to the surface of the fixing cylinder in a threaded mode, a chuck is arranged in the inner cavity of the fixing cylinder, the size of the chuck is matched with that of the inner cavity of the fixing cylinder, an inserting rod is arranged on one side of the chuck, a reset spring is arranged on the surface of the chuck and is positioned outside the inserting rod, the size of the inserting rod is matched with that of the inserting rod, and the other side of the chuck extends to the outer part of the limiting cylinder.

In any of the above technical solutions, further, the fixing assembly includes a hollow shaft and a clamping sleeve, the clamping sleeve is inserted into an inner cavity of the hollow shaft, the output gear is disposed on the surface of the hollow shaft, one end of the hollow shaft is provided with a conical structure, a conical screwing sleeve is screwed on the surface of the hollow shaft, the conical screwing sleeve has a conical surface, and the conical surface of the conical screwing sleeve is matched with the shape and the size of the conical structure.

In any of the above technical solutions, further, the gear box includes a box body and a box cover, the top of the box body and the bottom of the box cover are detachably connected, a first opening is provided in the box body, a second opening is provided in the box cover, the first opening and the second opening are matched in position and size, output gear bearings are arranged in the first opening and the second opening, and the output gear bearings are arranged on the surface of the hollow shaft.

In any of the above technical solutions, further, a third opening is provided in the case body, a fourth opening is provided in the case cover, the third opening and the fourth opening are matched in size, input gear bearings are provided in the third opening and the fourth opening, and the input gear bearings are disposed on the surface of the input gear.

In any of the above technical solutions, the motor cover further comprises a fixing frame, wherein the fixing frame is detachably connected to the top of the box cover, and the fixing frame is arranged on the surface of the servo motor.

In any of the above embodiments, further, the number of the tapered structures is at least two.

In any of the above technical solutions, further, a mounting frame is provided on the surface of the box, and mounting holes are symmetrically provided on the mounting frame.

In any of the above technical solutions, further, the surfaces of the box body, the box cover and the conical screwing sleeve are coated with wear-resistant coatings.

In any of the above technical solutions, further, the case body is detachably connected with the case cover through a screw, a bolt or a rivet, and the fixing frame is detachably connected with the top of the case cover through a screw, a bolt or a rivet.

The utility model provides an intraocular surgical robot, comprising a gear-driven end instrument clamping mechanism as described in any one of the above.

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

1. pressing the chuck when dismantling makes inserted bar and output gear looks butt to make the comparatively stable one place of being fixed in of chuck through rotating spacing section of thick bamboo, thereby can prevent effectively that output gear's rotation, fixed subassembly can't autorotate, thereby effectively reduce the operation degree of difficulty.

2. The conical screwing sleeve is rotated, the conical structure is extruded by the conical screwing sleeve, so that the tail end instrument is pressed, and the clamping sleeves with different sizes are replaced according to the outer diameters of different tail end instruments, so that the tail end instrument is adapted to different tail end instruments.

It is to be understood that both the foregoing general description and the following detailed description are for purposes of example and explanation and are not necessarily limiting of the utility model. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of the utility model. Meanwhile, the description and the drawings are used to explain the principles of the present utility model.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a clamping mechanism for an end instrument according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a structure of a fixing barrel according to an embodiment of the present utility model;

FIG. 3 is a schematic view (cross-sectional view) of a stationary barrel according to an embodiment of the present utility model;

FIG. 4 is a schematic diagram of a box structure according to an embodiment of the present utility model;

FIG. 5 is a schematic view (front view) of a case according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of the end instrument and servo motor drive configuration in accordance with an embodiment of the present utility model;

FIG. 7 is a schematic view of a case cover according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a fixing assembly according to an embodiment of the present utility model;

FIG. 9 is a schematic view (cross-sectional view) of a conical screw sleeve according to an embodiment of the present utility model;

fig. 10 is a schematic view of a structure of a clamping sleeve according to an embodiment of the utility model.

Icon:

100-servo motor; 200-a gear box; 201-a box body; 202-case cover; 203-a first opening; 204-a second opening; 205-a third opening; 206-fourth opening; 207-output gear bearing; 208-input gear bearings; 209-mounting rack; 210-fixing frame; 211-mounting holes; 300-end instrument; 400-input gear; 500-output gear; 600-fixing assembly; 601-hollow shaft; 602-clamping sleeve; 603-conical screwing sleeve; 604-a conical structure; 700-jack; 701-fixing a barrel; 702-a limiting cylinder; 703-a chuck; 704-inserting a rod; 705-return spring.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown.

All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not 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 present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1, 2, 3, 4 and 5, in one or more embodiments, a geared end instrument clamping mechanism is provided, including a servo motor 100, a gear box 200 and an end instrument 300, a fixing assembly 600, an input gear 400 and an output gear 500 are disposed in the gear box 200, the fixing assembly 600 is used for fixing the end instrument 300, the input gear 400 and the output gear 500 are meshed, the output gear 500 is disposed on a surface of the fixing assembly 600, an output end of the servo motor 100 is connected with the input gear 400, one side of the gear box 200 is provided with a fixing cylinder 701, one side of the gear box 200 is provided with a jack 700, an inner cavity of the fixing cylinder 701 is communicated with the jack 700, a surface of the fixing cylinder 701 is in threaded connection with a limiting cylinder 702, an inner cavity of the fixing cylinder 701 is provided with a chuck 703, a size of the chuck 703 is matched with an inner cavity of the fixing cylinder 701, one side of the chuck 703 is provided with a plug 704, a size of the plug 704 is matched with a size of the jack 700, the other side of the chuck 703 extends to an outer portion 604 of the limiting cylinder, and the number of tapered structures is at least two.

In this embodiment, when the end instrument 300 is replaced, the chuck 703 is pressed, the chuck 703 overcomes the elastic force of the return spring 705, so that the plunger 704 moves in the direction away from the inside of the gear box 200 through the insertion hole 700, thereby pressing the surface of the output gear 500, preventing the rotation of the output gear 500, fixing the position of the plunger 704 through the limiting cylinder 702, and when the pressing operation is stopped, the counter-rotating limiting cylinder 702 is reset under the elastic force of the return spring 705, so that the plunger 704 moves in the direction away from the inside of the gear box 200, and in the present utility model, the number of the tapered structures 604 is preferably four.

Referring to fig. 1, 6, 8, 9 and 10, in some embodiments, the fixing assembly 600 includes a hollow shaft 601 and a clamping sleeve 602, the clamping sleeve 602 is inserted into an inner cavity of the hollow shaft 601, the output gear 500 is disposed on a surface of the hollow shaft 601, one end of the hollow shaft 601 is provided with a conical structure 604, a surface of the hollow shaft 601 is in threaded connection with a conical screwing sleeve 603, the conical screwing sleeve 603 has a conical surface, and the conical surface of the conical screwing sleeve 603 is matched with the shape and the size of the conical structure 604.

In this embodiment, the rotating conical screwing sleeve 603 is matched with the hollow shaft 601 under the action of the screw thread, the conical surface of the conical screwing sleeve 603 is attached to the conical structure 604 connected with the hollow shaft 601, and when screwing is performed through the screw thread, the conical surface of the hollow shaft 601 is compressed, so that the terminal instrument 300 is compressed; because the outer diameters of different end instruments 300 are different, different end instruments 300 are adapted by changing the different sized clamping sleeves 602.

Referring to fig. 1, fig. 4, fig. 6 and fig. 7, in some embodiments, the gear box 200 includes a box 201 and a box cover 202, the top of the box 201 is detachably connected with the bottom of the box cover 202, a first opening 203 is formed in the box 201, a second opening 204 is formed in the box cover 202, the positions and dimensions of the first opening 203 and the second opening 204 are matched, output gear bearings 207 are disposed in the first opening 203 and the second opening 204, the output gear bearings 207 are disposed on the surface of the hollow shaft 601, a third opening 205 is formed in the box 201, a fourth opening 206 is formed in the box cover 202, the positions and dimensions of the third opening 205 and the fourth opening 206 are matched, input gear bearings 208 are disposed in the third opening 205 and the fourth opening 206, and the input gear bearings 208 are disposed on the surface of the input gear 400.

In this embodiment, the output gear bearing 207 is set to ensure that the hollow shaft 601 will not be dislocated during rotation and the rotation efficiency is ensured, and the input gear bearing 208 is set to ensure that the input gear 400 will not be dislocated during rotation and the rotation efficiency is ensured.

Referring to fig. 1, in some embodiments, the portable electronic device further includes a fixing frame 210, the fixing frame 210 is detachably connected to the top of the case cover 202, the fixing frame 210 is disposed on the surface of the servo motor 100, a mounting frame 209 is disposed on the surface of the case 201, mounting holes 211 are symmetrically formed in the mounting frame 209, wear-resistant coatings are coated on the surfaces of the case 201, the case cover 202 and the conical screwing sleeve 603, the case 201 is detachably connected to the case cover 202 through screws, bolts or rivets, and the fixing frame 210 is detachably connected to the top of the case cover 202 through screws, bolts or rivets.

In this embodiment, the fixing frame 210 is configured to ensure stability of the servo motor 100 during working, and no dislocation occurs, in the present utility model, a screw structure is preferentially adopted to realize detachable connection, the mounting frame 209 is configured to mount the whole device at a suitable position, the mounting hole 211 is capable of being used in a matching manner, in use, according to practical situations, a threaded hole and other structures are adopted, and the setting of the wear-resistant coating is mainly used to improve the effect of the whole service life.

In one or more embodiments, an intraocular surgical robot is provided, which includes a geared end instrument holder, which is applied to an intraocular surgical robot, and whose rotation part adopts gear transmission and is installed in a separately airtight gearbox 200, thereby improving the safety of transmission and making the overall size more compact, and a corresponding locking structure is provided at the end of the gearbox 200, preventing the output gear 500 from rotating when the end instrument 300 is replaced, making the operation more convenient.

Specifically, the utility model provides a gear-driven end instrument clamping mechanism and an intraocular surgery robot, which have the following working principles:

when the end instrument 300 is replaced, the clamping sleeve 602 is inserted into the inner cavity of the hollow shaft 601, then the end instrument 300 is inserted into the inner cavity of the clamping sleeve 602, then the chuck 703 is pressed, the chuck 703 overcomes the elastic force of the reset spring 705, the inserted link 704 passes through the insertion hole 700 to move towards the inner direction of the gear box 200, so that the surface of the output gear 500 is pressed, the rotation of the output gear 500 is prevented, the position of the inserted link 704 is fixed through the limiting cylinder 702, and the input gear 400 is prevented from driving the fixing assembly 600 to rotate; the rotating conical screwing sleeve 603 is matched with the hollow shaft 601 under the action of threads, the conical surface of the conical screwing sleeve 603 is matched with the conical structure 604 connected with the hollow shaft 601, and when the conical screwing sleeve is screwed by the threads, the conical surface of the hollow shaft 601 is compressed, so that the terminal instrument 300 is compressed, and the terminal instrument 300 is replaced.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. The utility model provides a gear drive's terminal apparatus fixture, its characterized in that, includes servo motor, gear box and terminal apparatus, be provided with fixed subassembly, input gear and output gear in the gear box, fixed subassembly is used for right terminal apparatus is fixed, input gear with output gear meshing, output gear set up in fixed subassembly's surface, servo motor's output with input gear is connected, one side of gear box is provided with fixed section of thick bamboo, the jack has been seted up to one side of gear box, fixed section of thick bamboo's inner chamber with the jack is linked together, fixed section of thick bamboo's surface threaded connection has a spacing section of thick bamboo, fixed section of thick bamboo's inner chamber is provided with the chuck, the size of chuck with fixed section of thick bamboo's inner chamber size phase-match, one side of chuck is provided with the inserted bar, the surface of chuck just is located the outside of inserted bar is provided with reset spring, the size of inserted bar with the size phase-match of inserted bar, the opposite side of chuck extends to the outside of spacing section of thick bamboo.

2. The end instrument clamping mechanism of claim 1, wherein the fixing assembly comprises a hollow shaft and a clamping sleeve, the clamping sleeve is inserted into an inner cavity of the hollow shaft, the output gear is arranged on the surface of the hollow shaft, one end of the hollow shaft is provided with a conical structure, the surface of the hollow shaft is in threaded connection with a conical screwing sleeve, the conical screwing sleeve is provided with a conical surface, and the conical surface of the conical screwing sleeve is matched with the shape and the size of the conical structure.

3. The end instrument clamping mechanism of claim 2, wherein the gear box comprises a box body and a box cover, the top of the box body is detachably connected with the bottom of the box cover, a first opening is formed in the box body, a second opening is formed in the box cover, the positions and the sizes of the first opening and the second opening are matched, output gear bearings are arranged in the first opening and the second opening, and the output gear bearings are arranged on the surface of the hollow shaft.

4. A gear driven end instrument holding mechanism according to claim 3, wherein a third opening is formed in the case body, a fourth opening is formed in the case cover, the third opening and the fourth opening are matched in size, input gear bearings are disposed in the third opening and the fourth opening, and the input gear bearings are disposed on the surface of the input gear.

5. A geared end instrument holder as defined in claim 3, further comprising a mount removably attached to the top of the cover, the mount being disposed on the surface of the servomotor.

6. A geared end instrument holder as claimed in claim 2, wherein the number of tapered structures is at least two.

7. A geared end instrument holder as claimed in claim 3, wherein the surface of the housing is provided with mounting brackets, and mounting holes are symmetrically formed in the mounting brackets.

8. A geared end instrument holder as claimed in claim 3, wherein the surfaces of the housing, the cover and the tapered screw sleeve are coated with a wear resistant coating.

9. The geared end instrument holder of claim 5, wherein the housing is removably attached to the top of the case cover by screws, bolts or rivets, and the mount is removably attached to the top of the case cover by screws, bolts or rivets.

10. An intraocular surgical robot comprising a geared end instrument holder according to any one of claims 1-9.