CN220420942U - Instrument wire connection structure, instrument and surgical robot - Google Patents
Instrument wire connection structure, instrument and surgical robot Download PDFInfo
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- CN220420942U CN220420942U CN202321116578.4U CN202321116578U CN220420942U CN 220420942 U CN220420942 U CN 220420942U CN 202321116578 U CN202321116578 U CN 202321116578U CN 220420942 U CN220420942 U CN 220420942U
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- 210000000707 wrist Anatomy 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 17
- 239000004020 conductor Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 4
- 239000002184 metal Substances 0.000 abstract description 2
- 229910052751 metal Inorganic materials 0.000 abstract description 2
- 238000003825 pressing Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 238000005476 soldering Methods 0.000 description 4
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 229910001092 metal group alloy Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The utility model relates to the technical field, in particular to an instrument wire connection structure, an instrument and a surgical robot, wherein the instrument wire connection structure comprises a mounting groove which is arranged on a first component; the connecting piece is arranged in the mounting groove; a wire passage provided at one end of the connecting member near the outer end of the mounting groove and for accommodating a first end of the wire; in a state that the first end of the wire stretches into the wire channel, the wire channel is deformed by external force, and the inner side wall of the wire channel clamps the first end of the wire; the instrument comprises the instrument wire connecting structure; a surgical robot comprising the apparatus described above; according to the method, the first end of the electric wire is clamped in the wire channel of the connecting piece, the first end of the electric wire is fixed in the wire channel by utilizing the deformation of the wire channel, and then the connecting piece is clamped with the mounting groove on the connecting wrist piece to realize electric conduction; the wire pressing device is simple in structure, convenient to process, small in resistance and good in conductive effect, and the wire is pressed through the wire channel and is fully contacted with the wire channel of metal.
Description
Technical Field
The utility model relates to the technical field, in particular to an instrument wire connection structure, an instrument and a surgical robot.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.
A common minimally invasive surgical robot consists of a physician console, a patient surgical platform, and a display device, where the surgeon operates an input device and passes the input to the patient surgical platform connected to a teleoperated surgical instrument. The patient operation platform comprises a surgical instrument which penetrates into the body of a patient, the tail end of the surgical instrument is divided into an active surgical instrument and a passive surgical instrument according to the use requirement of a doctor, the active surgical instrument requires the tail end to conduct electricity for surgical cutting or scalding, a power wire and an electrode metal alloy rod are generally connected, a soldering tin soldering iron is required to be used for high-temperature tin melting and soldering, pollution gas can be generated in actual production, and the tin block can fall into the body in the surgical operation process after soldering.
(1) The Chinese patent with publication number of CN215425051U discloses that when connecting wires, an inverse insulating sleeve is separated from a conductive block, a wire hole formed in an insulating sleeve of a wire cylinder penetrates through the wire hole, the wires extend into the connecting hole, then the insulating sleeve is sleeved at one end of the conductive block to rotate positively, so that an insulating sleeve extrusion triangular strip enters the conductive block, an extrusion column at the bottom end of the conductive block extrudes the wires to be attached to a conductive core, the wires are fixed in the connecting hole, the wires and a main body are connected with a circuit, and then normal operation of the main body can be guaranteed.
The above solution has at least the following problems: in the actual production process, the requirement on the production process of the conductive block is very high, the conductive block is processed in a smaller structure, perforations are required to be formed for combining triangular strips, small springs, conductive cores and the like are installed, and the structure is complex and is not beneficial to implementation.
(2) The patent with publication number CN107874827A discloses that after the rectangular bending end is protruded, the rectangular bending end can be buckled with the upper buckle and the lower buckle, and the electrode clamping ring can be tightly pressed with the corresponding lead to realize electric conduction.
The above solution has at least the following problems: the press contact is realized through the press fit of the upper buckle and the lower buckle, strict requirements are met on the position of the clamping ring and the point contact position of the lead, the clamping ring and the lead are required to be positioned in advance, and the operation and the installation are complex.
Disclosure of Invention
Aiming at the problems in the prior art, the utility model provides an instrument wire connection structure, an instrument and a surgical robot.
In order to solve the technical problems, the utility model is solved by the following technical scheme:
in a first aspect, an instrument wire connection structure is provided, comprising,
the mounting groove is arranged on the first component;
the connecting piece is arranged in the mounting groove;
a wire passage provided at one end of the connection member near the outer end of the installation groove and for accommodating a first end of the wire;
and in a state that the first end of the wire stretches into the wire channel, the wire channel is deformed by external force, and the inner side wall of the wire channel clamps the first end of the wire.
Preferably, the mounting groove comprises a first groove body and a second groove body; the connecting piece comprises a first connecting piece and a second connecting piece;
the first connecting piece is matched with the second groove body;
the second connecting piece is matched with the first groove body;
in the extending direction perpendicular to the mounting groove, the size of the first groove body is smaller than that of the second groove body.
Preferably, the mounting slot is provided through the first member.
Preferably, the first connector has a size larger than that of the first groove body in a direction perpendicular to an extending direction of the mounting groove.
Preferably, the mounting groove is in interference fit or threaded fit with the connecting piece.
Preferably, a gap is provided between the second connecting piece and the first groove body.
Preferably, one end of the connecting piece protrudes out of the mounting groove.
Preferably, the connecting member and the first member are both made of conductive materials.
In a second aspect, an apparatus is provided, including the apparatus wire connection structure described above, the first member being deformed to connect the wrist member; the electric wire connecting device is characterized by further comprising an instrument head connected with the connecting wrist piece and an instrument rod connected with the connecting wrist piece, wherein the connecting wrist piece is provided with the electric wire connecting structure of the instrument.
In a third aspect, a surgical robot is provided, comprising the apparatus described above; the mechanical arm is characterized by also comprising a machine body and a mechanical arm, wherein the end part of the mechanical arm is provided with the instrument.
The utility model has at least the following beneficial effects:
1. according to the electric wire fixing device, the first end of the electric wire is clamped in the wire channel of the connecting piece, the first end of the electric wire is fixed in the wire channel through deformation of the wire channel, and then the connecting piece is clamped with the mounting groove on the connecting wrist piece to achieve electric conduction.
2. The wire pressing device is simple in structure, convenient to process, small in resistance and good in conductive effect, and the wire is pressed through the wire channel and is fully contacted with the wire channel of metal.
Drawings
FIG. 1 is a first schematic view of the instrument wire connection, first member and binding clip of the present application;
FIG. 2 is a second schematic view of the instrument wire connection, first member and binding clip of the present application;
FIG. 3 is a first schematic view of the instrument wire connection structure, first component of the present application;
FIG. 4 is a cross-sectional view taken along the direction A-A in FIG. 3;
FIG. 5 is a second schematic view of the instrument wire connection structure, first member of the present application;
FIG. 6 is an exploded view of the instrument wire connection structure, first component of the present application;
FIG. 7 is an exploded view of the instrument wire connection structure, first member and binding clip of the present application;
FIG. 8 is a cross-sectional view of the instrument wire connection structure, first component of the present application;
FIG. 9 is a first schematic illustration of a first component of the present application;
fig. 10 is a second schematic view of the first component of the present application.
The names of the parts indicated by the numerical references in the drawings are as follows:
110. a first component; 111. a connecting lug; 120. a wire channel; 130. an electric wire; 140. a second connector; 150. a clamp head; 210. a mounting groove; 211. a first tank body; 310. a second tank body; 320. a first connector.
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.
As shown in fig. 1-2 and fig. 4-10, in a first aspect, the present embodiment provides an instrument wire 130 connection structure comprising,
a mounting groove 210 provided on the first member 110;
a connector disposed in the mounting groove 210;
a wire passage 120 provided at one end of the connector adjacent to the outer end of the mounting groove 210 for receiving a first end of the wire 130;
the wire channel 120 is deformed by an external force in a state that the first end of the wire 130 extends into the wire channel 120, and the inner sidewall of the wire channel 120 clamps the first end of the wire 130.
Through the configuration in this embodiment, when in use, the first end of the wire 130 is first extended into the wire channel 120 of the connector, and then the external force is applied to the connector, so that the wire channel 120 is deformed, in this process, the inner side wall of the wire channel 120 is deformed towards the direction of the wire 130, so as to clamp the first end of the wire 130 through the inner side wall of the wire channel 120, and realize connection between the wire 130 and the connector; and the other end of the connecting piece connected with the electric wire 130 is extended into the mounting groove 210, so that the connecting piece is mounted in the mounting groove 210, and the electric wire 130 is connected to the first component 110.
It should be noted that, in the present application, the installation of the electric wire 130 on the first component 110 is achieved only by providing the installation groove 210 and the connecting piece, so that the process requirement is low, and the installation groove 210 and the connecting piece have simpler structures, which is beneficial to implementation;
also, the present application has few and relatively simple operation steps in connecting the wire 130 to the first member 110.
As shown in fig. 3, in this embodiment, the mounting groove 210 includes a first groove body 211 and a second groove body 310,
the size of the first slot body 211 is smaller than the size of the second slot body 310 in the direction perpendicular to the extending direction of the mounting slot 210.
By the configuration in the present embodiment, the mounting groove 210 is specifically divided into two parts: the first and second grooves 211 and 310 form a stepped structure by setting the size of the first groove 211 smaller than the size of the second groove 310.
When in use, the first end of the wire 130 is stretched into the wire channel 120, and then the external force is applied to deform the wire channel 120, so that the wire 130 is mounted on the connecting piece, and then the other end of the connecting piece is stretched into the mounting groove 210, so that the connecting piece is mounted in the mounting groove 210; it should be noted that, at this time, the mounting groove 210 is not disposed through the first component 110, that is, only one end of the first groove body 211 away from the second groove body 310 is communicated with the outside for the connection member to extend into, and since the size of the first groove body 211 is smaller than that of the second groove body 310, the connection relationship between the connection member and the mounting groove 210 at least includes the following situations:
1) The other end of the connecting piece is only in contact with the side wall of the first groove body 211, but not in contact with the side wall of the second groove body 310;
2) The other end of the connection member is simultaneously in contact with the side wall of the first groove body 211 and the side wall of the second groove body 310.
In this embodiment, the connectors include a first connector 320 and a second connector 140,
the first connector 320 is matched with the second groove 310;
the second connecting piece 140 is matched with the first groove 211.
By the configuration in this embodiment, the connecting member is specifically divided into two parts: a first connector 320 and a second connector 140.
It should be noted that the arrangement of the wire channel 120 at least includes the following cases:
1. the wire channel 120 is only arranged on the second connecting piece 140, and one end of the wire channel 120 is opened on one end of the second connecting piece 140 far away from the first connecting piece 320 so as to extend into the first end of the power supply wire 130;
2. the wire channel 120 is disposed on the second connecting member 140, and one end of the wire channel 120 is opened at one end of the second connecting member 140 away from the first connecting member 320 to extend into the first end of the power supply wire 130; meanwhile, the other end of the wire passage 120 extends into the first connector 320, and the other end of the wire passage 120 is not in communication with the outside;
3. the wire channel 120 is disposed on the second connecting member 140, and one end of the wire channel 120 is opened at one end of the second connecting member 140 away from the first connecting member 320; meanwhile, the other end of the wire channel 120 extends into the first connector 320, and the other end of the wire channel 120 is opened at one end of the first connector 320 remote from the second connector 140; at this time, either end of the wire channel 120 can be used to extend into the first end of the power supply wire 130;
in this embodiment, the wire channel 120 is disposed in the above-mentioned manner, that is, the wire channel 120 is disposed only on the second connecting member 140, and one end of the wire channel 120 is opened at one end of the second connecting member 140 away from the first connecting member 320, so as to extend into the first end of the power supply wire 130.
When in use, the first end of the electric wire 130 is firstly extended into the wire channel 120, and then the external force is applied to drive the wire channel 120 to deform, so that the first end of the electric wire 130 is fixedly connected in the wire channel 120; then, the connecting piece is extended into the mounting groove 210, in the process, the first connecting piece 320 is extended into the mounting groove 210, and then the first connecting piece 320 moves towards the direction in the second groove body 310, so that the mounting of the connecting piece in the mounting groove 210 is realized;
in this embodiment, in the installed state, the first connector 320 is matched with the second slot 310, and the second connector 140 is matched with the first slot 211; further, in another preferred embodiment, when a portion of the first connector 320 is also located in the first slot 211, then the first connector 320 is mated with both the first slot 211 and the second slot 310, and likewise, when a portion of the second connector 140 is also located in the second slot 310, then the second connector 140 is mated with both the first slot 211 and the second slot 310.
In one of the above cases, in combination with 1) and 2), it is known that the following exists between the first connector 320 and the second slot 310:
i, the first connecting piece 320 contacts with the side wall of the second groove body 310;
II, the first connector 320 does not contact the sidewall of the second tank 310.
Further, it should be noted that the above-described cases are all based on the case where only the first groove body 211 of the installation groove 210 is opened on the first member 110; and at this time, the size of the first connector 320 is not greater than the size of the first groove 211, that is, the first connector 320 may extend into the first groove 211.
In this embodiment, the mounting slot 210 is disposed through the first member 110.
In this embodiment, the size of the first connector 320 is larger than the size of the first slot 211 in a direction perpendicular to the extending direction of the mounting slot 210.
It should be noted that, in the present embodiment, the first slot body 211 and the second slot body 310 are both open at the first component 110, that is, the mounting slot 210 is disposed through the first component 110; further, at this time, the arrangement of the first connector 320 includes at least the following cases:
A. the size of the first connector 320 is not greater than the size of the first slot 211, i.e., the first connector 320 may extend into the first slot 211;
B. the first connector 320 has a size larger than the first slot 211, i.e., the first connector 320 cannot extend into the first slot 211;
in the present embodiment, the arrangement in B described above is adopted, that is, the size of the first connector 320 is larger than the size of the first groove 211, that is, the first connector 320 cannot extend into the first groove 211.
When in use, the first end of the wire 130 extends into the mounting groove 210 from the first groove 211, extends out of the mounting groove 210 from the second groove 310, extends into the wire channel 120, applies external force to deform the wire channel 120, clamps the first end of the wire 130 by the wire channel 120, and installs the connecting piece into the mounting groove 210;
when the connecting piece is installed, the second connecting piece 140 extends into the installation groove 210 from the second groove body 310, and then the second connecting piece 140 moves towards the direction in the first groove body 211 until the second connecting piece 140 is positioned in the first groove body 211 and the first connecting piece 320 is positioned in the second groove body 310, at this time, the first connecting piece 320 cannot extend into the first groove body 211 continuously because the size of the first connecting piece 320 is larger than that of the first groove body 211, and after the electric wire 130 is tightened, the first connecting piece 320 is abutted against the joint of the first groove body 211 and the second groove body 310, so that the installation of the connecting piece in the installation groove 210 is realized.
In another preferred embodiment of the present application, the mounting groove 210 is an interference fit or a threaded fit with the connector.
It should be noted that, in the case that the size of the first connector 320 is not greater than that of the first groove body 211, the mounting groove 210 is fixedly mounted with the connector by means of interference fit or threaded connection; further, in the case that the size of the first connector 320 is larger than that of the first groove 211, in order to further improve the stability of the connector installed in the installation groove 210, an interference fit or a threaded connection between the connector and the installation groove 210 may be provided.
In another preferred embodiment of the present application, a gap is provided between the second connecting member 140 and the first groove 211.
Through the setting of the gap, after the second connecting piece 140 is deformed by an external force, the second connecting piece 140 can be preferably extended into the first groove body 211.
In this embodiment, the mounting slot 210 is sized to match the size of the connector.
In order to further improve the stability of the installation of the connecting member in the installation groove 210, the condition that the connecting member shakes in the installation groove 210 is avoided, and in this embodiment, the size of the connecting member is set to be matched with the size of the installation groove 210, so as to realize the tight connection between the installation groove 210 and the connecting member.
In this embodiment, one end of the connecting member protrudes out of the mounting groove 210.
Through the structure that one end of the connecting piece is located outside the mounting groove 210 in this embodiment, that is, one end of the second connecting piece 140, which is far away from the first connecting piece 320, extends outside the first groove body 211, when the connecting piece is mounted, the connecting piece can be extended into the mounting groove 210 first, after one end of the second connecting piece 140, which is far away from the first connecting piece 320, extends outside the first groove body 211, the first end of the wire 130 extends into the wire channel 120, and then an external force is applied to the portion, which extends outside the first groove body 211, of the second connecting piece 140, so that the portion, which is located outside the mounting groove 210, of the wire channel 120 deforms, so as to clamp the first end of the wire 130, and achieve connection;
further, an external force can be applied to the portion of the second connecting piece 140 extending out of the first groove body 211, so that the portion of the second connecting piece 140 extending out of the first groove body 211 is bent, the second connecting piece 140 cannot move towards the direction of the second groove body 310, and meanwhile, the first connecting piece 320 is matched with the arrangement of the first connecting piece 320 abutting between the first groove body 211 and the second groove body 310, stable connection of the connecting piece in the mounting groove 210 is achieved, and shaking of the connecting piece is avoided.
Further, in the present embodiment, the connecting member and the first member 110 are made of conductive materials.
In a second aspect, there is also provided an apparatus according to the present embodiment, including the apparatus wire 130 connecting structure described above, the first member 110 being deformed to be connected to the wrist member; the device also comprises a device head connected with the connecting wrist piece and a device rod connected with the connecting wrist piece, wherein the connecting wrist piece is provided with a device wire 130 connecting structure.
It should be noted that, in this embodiment, the connecting wrist member is the first component 110 described above; the connecting wrist piece, the connecting piece and the instrument head are all made of conductive materials; in this embodiment, the instrument head is a clamp head 150, and the connecting wrist member is provided with a connecting ear 111, and the clamp head 150 is connected by the connecting ear 111.
The above-mentioned apparatus wire 130 connection structure is provided on the connecting wrist member in this embodiment, so that the above-mentioned corresponding technical effects and advantages are provided.
In a third aspect, the present embodiment further provides a surgical robot, including the apparatus described above; the mechanical arm is characterized by also comprising a machine body and a mechanical arm, wherein the end part of the mechanical arm is provided with the instrument.
The mechanical arm end part is provided with the instrument, so that the mechanical arm has the corresponding technical effects and advantages.
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. An apparatus electric wire connection structure, its characterized in that: comprising the steps of (a) a step of,
the mounting groove is arranged on the first component;
the connecting piece is arranged in the mounting groove;
a wire passage provided at one end of the connection member near the outer end of the installation groove and for accommodating a first end of the wire;
and in a state that the first end of the wire stretches into the wire channel, the wire channel is deformed by external force, and the inner side wall of the wire channel clamps the first end of the wire.
2. The instrument wire connection structure according to claim 1, wherein: the mounting groove comprises a first groove body and a second groove body; the connecting piece comprises a first connecting piece and a second connecting piece;
the first connecting piece is matched with the second groove body;
the second connecting piece is matched with the first groove body;
in the extending direction perpendicular to the mounting groove, the size of the first groove body is smaller than that of the second groove body.
3. The instrument wire connection structure according to claim 2, wherein: the mounting slot is disposed through the first component.
4. The instrument wire connection structure according to claim 3, wherein: in the extending direction perpendicular to the mounting groove, the size of the first connecting piece is larger than that of the first groove body.
5. The instrument wire connection structure according to any one of claims 1 to 4, wherein: the mounting groove is in interference fit or threaded fit with the connecting piece.
6. The instrument wire connection structure according to any one of claims 2 to 4, wherein: and a gap is arranged between the second connecting piece and the first groove body.
7. The instrument wire connection structure according to any one of claims 1 to 4, wherein: one end of the connecting piece protrudes out of the mounting groove.
8. The instrument wire connection structure according to any one of claims 1 to 4, wherein: the connecting piece and the first component are both made of conductive materials.
9. An instrument, characterized by: comprising the instrument wire connection structure of any one of claims 1-8, the first member being deformed to connect the wrist; the electric wire connecting device is characterized by further comprising an instrument head connected with the connecting wrist piece and an instrument rod connected with the connecting wrist piece, wherein the connecting wrist piece is provided with the electric wire connecting structure of the instrument.
10. A surgical robot, characterized by: comprising the apparatus of claim 9; the mechanical arm is characterized by also comprising a machine body and a mechanical arm, wherein the end part of the mechanical arm is provided with the instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321116578.4U CN220420942U (en) | 2023-05-08 | 2023-05-08 | Instrument wire connection structure, instrument and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321116578.4U CN220420942U (en) | 2023-05-08 | 2023-05-08 | Instrument wire connection structure, instrument and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220420942U true CN220420942U (en) | 2024-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321116578.4U Active CN220420942U (en) | 2023-05-08 | 2023-05-08 | Instrument wire connection structure, instrument and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220420942U (en) |
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2023
- 2023-05-08 CN CN202321116578.4U patent/CN220420942U/en active Active
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