A kind of bindiny mechanism for laparoscopic surgery robotic toolTechnical field
The present invention relates to the field of medical instrument technology, are used for laparoscopic surgery robotic tool in particular to one kindBindiny mechanism.
Background technique
Minimally Invasive Surgery is that one kind mainly makes surgeon without making to patient through endoscope and various imaging techniquesIt performs a surgical operation in the case where at huge wound.The Minimally Invasive Surgery of early stage refers exclusively to laparoscopic surgery, because there was only abdominal at that timeIt can be replaced Minimally Invasive Surgery.Due to the wound very little of Minimally Invasive Surgery, and recovery period is short, therefore has been favored by people,Present minimally invasive surgery technology is universal to be widely used in various operations.
It opens up several apertures when Minimally Invasive Surgery on the stomach wall of sufferer first, is then placed in the surgical instruments such as scissors, pliers,The sequence of operations such as clamp, cutting, suture, knotting are carried out to the tissue of lesion.However the freedom degree of existing surgical instrument is limited,Usually do not have pitching and beat freedom degree, more clumsy, automaticity is poor, has seriously affected the quality and precision of operation.Therefore,It is improved aiming at the problems existing in the prior art.
In order to solve the above technical problems, application No. is the utility models of CN201420805476.8 to disclose one kind for micro-The multiple degrees of freedom surgical instrument of invasive procedures, including portion of the handle, the power drive portion being fixedly connected with the portion of the handle, withThin connecting rod that the power drive portion is fixedly connected, the end execution part being connect with the thin connecting rod, the control powerThe control system of drive part movement, wherein the portion of the handle and power drive portion pass through route and control systemSystem is connected, and the movement of the portion of the handle will drive the movement of joint encoder, and encoder acquires the movement letter of corresponding jointBreath, is then fed back to the control system, and the power drive portion drives institute after receiving the signal of the control systemIt states end execution part and completes pitching, beat and holding action.Above-mentioned utility model turns with pitching, beat, clamping and axisFour freedom degrees, automaticity with higher can effectively improve surgical quality and efficiency, and compact structure is compact.
The above-mentioned multiple degrees of freedom surgical instrument for Minimally Invasive Surgery may be implemented minimally invasive laparoscopic surgery commonly separate,The elemental motions such as cutting, hemostasis, suture, can be realized the abdominal cavities such as gallbladder removal, nephrectomy typical procedure.
In laparoscopic surgery, need in laparoscopic surgery robotic tool (i.e. above-mentioned multiple degrees of freedom surgical instrument) and deviceA suitable bindiny mechanism is found between tool pedestal, feature that there are four this bindiny mechanism's needs while tool：First, connect machineStructure can transmit torque；Second, bindiny mechanism can do flexible move up and down；Third, it is contemplated that need to be with disposably when performing an operationEvery bacterium plate, bindiny mechanism can be easy to disassemble；4th, it is contemplated that the problem of space and weight, bindiny mechanism should be light reliable.
However, medical personnel is installing laparoscopic surgery robotic tool to appliance feet by bindiny mechanismWhen, laparoscopic surgery robotic tool can generate certain impact to bindiny mechanism and appliance feet, and such impact can damage abdomenEndoscope-assistant surgery robotic tool and appliance feet.
Summary of the invention
Technical problem solved by the invention：When laparoscopic surgery, laparoscopic surgery robotic tool is installed to instrument bottomImpact caused by seat damages laparoscopic surgery robotic tool and appliance feet.
In order to solve the above technical problems, the present invention provides the following technical solutions：
A kind of bindiny mechanism for laparoscopic surgery robotic tool, including motor, the elasticity coupled with machine shaftBody, connect with elastomer every bacterium plate, the wheel shaft being connect with every bacterium plate；The motor is mounted on appliance feet, the wheel shaftIt is mounted in laparoscopic surgery robotic tool；
The elastomer includes lower cover, one group of hinge assembly, upper cover, adjustable spring；It is each in one group of hinge assemblyThe bottom end of hinge assembly is hinged on lower lid, and the top of each hinge assembly is hinged on lid in one group of hinge assembly,The bottom end of the adjustable spring is connected to the centre of lower cover, and the top of adjustable spring is connected to the centre of upper cover；Under describedLid is fixedly connected with machine shaft, and the upper cover is connect with every bacterium plate.
According to the above technical scheme, it is as follows to install the workflow to appliance feet for laparoscopic surgery robotic tool：
First, motor is mounted on appliance feet, and elastomer couples with motor, and specifically, the shaft of lower cover and motor is solidFixed connection.
Second, it is mounted on elastomer every bacterium plate, specifically, every on the upper lid that bacterium plate is mounted on elastomer.
Third, wheel shaft are mounted on every on bacterium plate, laparoscopic surgery robotic tool and wheel axis connection.
Through the above technical solutions, when laparoscopic surgery robotic tool and wheel shaft connected to it are installed to every on bacterium plateWhen, laparoscopic surgery robotic tool can bindiny mechanism to appliance feet and thereon generate certain impact, it is of the present inventionElastomer in the cooperation of adjustable spring and one group of hinge assembly above-mentioned impact can be buffered, in order to avoid above-mentioned impact is to abdomenEndoscope-assistant surgery robotic tool and appliance feet generate damage.Wherein, one group of hinge assembly, which is removed, cooperates with adjustable spring to bufferOutside above-mentioned impact, can also make laparoscopic surgery robotic tool at work and can do it is flexible move up and down, moreover, one group is hingedThe torque that the setting of component can be such that motor exports is accurate and laparoscopic surgery robot device is steadily conveyed to through bindiny mechanismTool.
As the present invention to a kind of explanation of elastomer, in elastomer, each hinge assembly in one group of hinge assemblyIt include the of upper hinge, lower hinge, the short pin shaft of hinged upper hinge and lower hinge, hinged upper hinge and upper coverSecond long pin shaft of one long pin shaft, hinged lower hinge and lower cover.
As the present invention to a kind of explanation of elastomer, in elastomer, the upper cover is equipped with multiple upper hinged seats, under describedMultiple lower hinged seats are covered with, the quantity that the quantity of the upper hinged seat is equal to lower hinged seat is equal to hinged in one group of hinge assemblyThe quantity of component；The hinged upper hinge of first long pin shaft and upper hinged seat, the hinged lower hinge of the second long pin shaft andLower hinged seat.
As the present invention to a kind of explanation of elastomer, in elastomer, the upper cover and lower cover are disk-shaped, in upper coverThe center line of heart line and lower cover is located along the same line, and one group of hinge assembly includes along the circumference of upper cover or lower cover to uniformThree hinge assemblies of distribution.As described above, three hinge assemblies linkage in elastomer, the upper cover made do flexible reciprocal fortuneWhen dynamic, it is always to maintain level.
As the present invention to a kind of explanation of elastomer, in elastomer, the lower lid is equipped with pedestal, and pedestal is disk-shaped,The centre of pedestal opens up the centre bore for accommodating adjustable spring bottom end, and the edge of pedestal accommodates the semi-circular groove of lower hingeMouthful, the lower hinged seat is arranged on the edge of pedestal and is located at semicircular notch.
As the present invention to a kind of explanation of the connection relationship between bacterium plate and elastomer and wheel shaft, the upper lid is equipped withFirst positioning column and first positioning hole, first positioning column are located at the centre of upper cover, and first positioning hole is located at the first positioningThe periphery of column；The bottom face of the wheel shaft is equipped with second location hole and third location hole, and the second location hole is located at wheel shaftThe centre of bottom face, third location hole are located at the periphery of second location hole；The bottom surface every bacterium plate is equipped with the second positioningColumn and the 4th location hole are equipped with third positioning column and the 4th positioning column, the 4th location hole and third every the top surface of bacterium platePositioning column is located at the centre every bacterium plate, and third positioning column is hollow；First positioning column is upward through the 4th location hole and insertsEnter third positioning column, the first positioning hole and the second positioning column cooperate, and the third positioning column and second location hole cooperate, instituteIt states the 4th positioning column and third location hole cooperates.
As described above, it is equipped with positioning column every the two sides of bacterium plate, passes through positioning column and upper cover and wheel thereon every bacterium plateLocation hole connection on axis, in this way, the convenient replacement every bacterium plate because every bacterium plate be mainly used for isolating a patient in operation wound withExternal environment, to avoid infection of the wound by extraneous bacterium of patient, therefore, every the use of bacterium plate during surgery be disposable, it secondary can not use.
Based on a kind of above-mentioned explanation to the connection relationship between bacterium plate and elastomer and wheel shaft, the first positioning holeQuantity is three, three first positioning holes along upper cover circumference to being uniformly distributed, still, three the first holes from upper cover center away fromFrom differing, in this way, uniquely determining corresponding position between bacterium plate and wheel shaft.Two in three first positioning holesA first positioning hole is rounded, and a first positioning hole in three first positioning holes uses straight trough mouth.As described above, upper coverWhen with aligning every bacterium plate, straight trough mouth has higher success rate contraposition.
In conclusion a kind of bindiny mechanism for laparoscopic surgery robotic tool of the present invention has following technologyEffect：
First, since the upper cover of elastomer is connect by the cooperation of location hole and positioning column with every bacterium plate, also lead to every bacterium plateThe cooperation and wheel axis connection of location hole and positioning column are crossed, and, elastomer connects upper cover and lower cover by three hinge assemblies, becauseThis, the torque for the machine shaft being fixedly connected with lower cover can accurately and steadily be transferred to the laparoscopic surgery machine with wheel axis connectionDevice people's instrument.
Second, elastomer connects upper cover and lower cover by three hinge assemblies, and therefore, elastomer itself can be done above and below flexibleIt is mobile, so enable it is connected to it every bacterium plate do it is flexible move up and down, then make the wheel of laparoscopic surgery robotic toolAxis can be accurately located at every on bacterium plate, and positioning column will not be detached from from every the location hole on bacterium plate.
Third is equipped with adjustable spring between the upper cover and lower cover of elastomer, in this way, pacifying in laparoscopic surgery robotic toolMounted in elastomer and when on bacterium plate, adjustable spring can buffer impact of the laparoscopic surgery robotic tool to appliance feet, keep awayExempt from the damage of laparoscopic surgery robotic tool and appliance feet.
4th, the main body of the bindiny mechanism of the present invention for laparoscopic surgery robotic tool is elastomer, elasticityBody and the connection every bacterium plate and the connection every bacterium plate and wheel shaft are all made of the cooperation of location hole and positioning column, compared to existing skillConnecting plate used in Leonardo da Vinci's operating robot in art, bindiny mechanism of the present invention have easy to use, and connection is reliableThe advantages of.
5th, the partition plate front of the bindiny mechanism of the present invention for laparoscopic surgery robotic tool is equipped with moreWith the positioning column of elastomer upper cover cooperation, the positioning column of more with wheel axle end surface cooperation, more positioning columns are equipped with every bacterium plate reverse sideIt is differed from a distance from bacterium plate center, in this way, making every the link position of bacterium plate and elastomer and wheel shaft to be unique and determining.ItsIn, cooperate every the hollow positioning column of bacterium plate centre and the positioning column of elastomer upper cover centre, every the hollow of bacterium plate centrePositioning column and the location hole of wheel axle end surface centre cooperate, in this way, in the case where motor rotation, it is ensured that every bacterium plate and wheel shaftAlways move in a circle around the center of circle.
6th, one group of three hinge assembly linkage of elastomer is always to maintain water when upper cover being made to do flexible move up and downIt is flat.
7th, in multiple location holes of the upper cover of elastomer, there is the location hole using straight trough mouth, in this way, upper cover with everyWhen bacterium plate aligns, have higher success rate contraposition.
Detailed description of the invention
Following further describes the present invention with reference to the drawings：
Fig. 1 is a kind of structural schematic diagram of the bindiny mechanism for laparoscopic surgery robotic tool of the present invention；
Fig. 2 is the structural schematic diagram of Fig. 1 elastomer 20；
Fig. 3 is the structural schematic diagram of Fig. 1 interval bacterium plate 30；
Fig. 4 is in Fig. 3 observe from the rear every the resulting structural schematic diagram of bacterium plate 30；
Fig. 5 is from left sides in Fig. 3 every the resulting structural schematic diagram of bacterium plate 30.
Symbol description in figure：
10, motor；
20, elastomer；21, lower cover；22, hinge assembly；221, upper hinge；222, lower hinge；223, short pin shaft；224, the first long pin shaft；225, the second long pin shaft；226, upper hinged seat；227, lower hinged seat；23, upper cover；231, the first positioningColumn；232, first positioning hole；24, adjustable spring；25, pedestal；250, semicircular notch；
30, every bacterium plate；304, the 4th location hole；312, the second positioning column；313, third positioning column；314, the 4th positioningColumn；
40, wheel shaft.
Specific embodiment
Such as Fig. 1, a kind of bindiny mechanism for laparoscopic surgery robotic tool, including motor 10 and machine shaft joinThe elastomer 20 that connects, connect with elastomer every bacterium plate 30, the wheel shaft 40 being connect with every bacterium plate；The motor is mounted on instrument bottomOn seat, the wheel shaft is mounted in laparoscopic surgery robotic tool.
In conjunction with Fig. 1, Fig. 2, the elastomer 20 includes lower cover 21, one groups of hinge assemblies 22, upper cover 23, adjustable springs 24；The bottom end of each hinge assembly is hinged on lower lid in one group of hinge assembly, each hinge assembly in one group of hinge assemblyTop be hinged on lid, the bottom end of the adjustable spring is connected to the centre of lower cover, the top connection of adjustable springIn the centre of upper cover；The lower cover is fixedly connected with machine shaft, and the upper cover is connect with every bacterium plate.
In elastomer 20, each hinge assembly includes upper hinge 221, lower hinge in one group of hinge assembly 22222, the first long pin shaft 224 of the short pin shaft 223 of hinged upper hinge and lower hinge, hinged upper hinge and upper cover, hingedSecond long pin shaft 225 of lower hinge and lower cover.
In elastomer 20, the upper cover 23 is equipped with multiple upper hinged seats 226, and the lower cover 21 is equipped with multiple lower hinged seats227, the quantity that the quantity of the upper hinged seat is equal to lower hinged seat is equal to the quantity of hinge assembly in one group of hinge assembly 22；InstituteThe hinged upper hinge 221 of the first long pin shaft 224 and upper hinged seat are stated, the hinged lower hinge 222 of second long pin shaft 225 is underHinged seat.
In elastomer 20, the upper cover 23 and lower cover 21 are disk-shaped, and the center line of upper cover and the center line of lower cover are located atOn same straight line, one group of hinge assembly 22 includes along the circumference of upper cover or lower cover to equally distributed three hinge assemblies.
In elastomer 20, the lower cover 21 is equipped with pedestal 25, and pedestal is disk-shaped, and it is flexible that the centre of pedestal opens up receivingThe centre bore of 24 bottom end of spring, the edge of pedestal accommodate the semicircular notch 250 of lower hinge 222, the lower hinged seat227 are arranged on the edge of pedestal and are located at semicircular notch.
In conjunction with Fig. 1, Fig. 2, the upper cover 23 is equipped with the first positioning column 231 and first positioning hole 232, first positioningColumn is located at the centre of upper cover, and first positioning hole is located at the periphery of the first positioning column；The bottom face of the wheel shaft 40 is equipped with theTwo location holes and third location hole, the second location hole are located at the centre of wheel shaft bottom face, and third location hole is located at secondThe periphery of location hole；With reference to Fig. 3 to Fig. 5, the bottom surface every bacterium plate 30 is equipped with the second positioning column 312 and the 4th location hole304, third positioning column 313 and the 4th positioning column 314, the 4th location hole and third positioning column are equipped with every the top surface of bacterium platePositioned at the centre every bacterium plate, third positioning column is hollow；First positioning column is upward through the 4th location hole and is inserted into thirdPositioning column, the first positioning hole and the second positioning column cooperate, and the third positioning column and second location hole cooperate, and the described 4thPositioning column and third location hole cooperate.
The quantity of above-mentioned first positioning hole 232 is three, three first positioning holes along upper cover 23 circumference to being uniformly distributed,Two first positioning holes in three first positioning holes are rounded, and a first positioning hole in three first positioning holes is using straightNotch.
In practical operation, it is as follows that laparoscopic surgery robotic tool installs the workflow to appliance feet：
First, motor 10 is mounted on appliance feet, and the lower cover 21 in elastomer 20 couples with motor 10.
Second, every bacterium plate 30 by the cooperation of the second positioning column 312 and first positioning hole 232 and the 4th location hole 304 withIn the upper cover 23 for being fitted to elastomer 20 of first positioning column 231.
Third, wheel shaft 40 pass through the cooperation of second location hole and the second positioning column 312 and third location hole and the 4th positioningColumn 314 is fitted to every on bacterium plate 30, and laparoscopic surgery robotic tool is connect with wheel shaft 40.
The above content is only better embodiment of the invention, for those of ordinary skill in the art, according to the present inventionThought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hairBright limitation.