CN111166487A - Instrument transmission clutch structure, method and surgical assistance robot instrument system - Google Patents

Abstract

The invention discloses an instrument transmission clutch structure and a transmission clutch method, wherein the transmission clutch structure comprises a telescopic output flange sleeved on an output shaft of a speed reducer; the output flange can be spliced with a transition flange of the sterile separator; the transition flange can be plugged with an input flange of the instrument. The output flange, the transition flange and the input flange are provided with convex hulls and notches which can be matched with each other. The invention has simple structure, reliable mechanism movement and excellent operability; when power passes through the sterile separator, no friction is generated, and the realization of mechanical force feedback is facilitated.

Description

Instrument transmission clutch structure and method and surgical auxiliary robot instrument system

Technical Field

The invention relates to a clutch structure, in particular to a clutch structure for a surgical auxiliary robot instrument.

Background

A medical robot for performing minimally invasive surgery, which performs surgical operations on a patient by means of instruments fixed at the ends of the joints of the robot, such as a laparoscopic surgical robot disclosed in CN 107951565A. Specifically, the operation part of the instrument is a member such as a clamp or scissors, and these members are controlled by a wire. Due to the specific construction of the robot and the nature of the operation, the operating portion of these instruments is located at the distal end of an elongated shaft, controlling the passage of the wire of the operating portion through the lumen of the elongated shaft.

During operation, the front part of the long rod extends into the abdominal cavity of a patient to perform operation, so that a doctor is required to accurately sense the whole operation process, the force generated by the instrument and the muscle tissue is truly reflected on the hand of a doctor, and the muscle tissue cannot be damaged due to large force in the process of grabbing, pushing and clamping the muscle tissue and the like by operating the instrument by the doctor, so that the operation is more accurately controlled, and the operation action can be accurately mastered. However, in the prior art, because the transmission links of the instrument are too many and the transmission distance is long, the transmission friction points are more, and the stress on the tail end of the instrument is difficult to be fed back to a doctor during the operation.

On the other hand, due to the safety requirement of the operation, the instruments must be sterile, the sterile separator is an isolation surface of a sterile environment and plays a role in protecting the sterile environment of the instruments, and the transmission of the instruments is realized through the sterile separator. When the instrument is replaced in an operation, the clutch is the simplest operation to realize automatic combination and separation, so the technical personnel in the field are dedicated to develop an instrument transmission clutch structure with simple transmission structure.

Disclosure of Invention

In view of the state of the prior art, the technical problem to be solved by the invention is to provide an instrument transmission clutch structure with simple transmission structure and small transmission friction.

In order to achieve the purpose, the invention provides an instrument transmission clutch structure, which comprises a telescopic output flange sleeved on an output shaft of a speed reducer;

the output flange can be spliced with a transition flange of the sterile separator; the transition flange can be plugged with an input flange of the instrument.

In order to simplify the structure, the output flange, the transition flange and the input flange are provided with convex hulls and notches which can be matched with each other.

In order to further simplify the structure, the speed reducer comprises a speed reduction output shaft and at least one speed reduction intermediate shaft; the speed reduction output shaft, the intermediate shaft and the output shaft of the motor are driven by a synchronous belt or a steel wire.

In order to further simplify the structure and reduce friction, an output shaft mounting seat of a speed reducer is fixed on a mounting seat of the motor;

a bearing mounting shaft is integrally arranged on the output shaft mounting seat; a first speed reduction bearing and a second speed reduction bearing are sleeved on the bearing mounting shaft; the first speed reduction bearing and the second speed reduction bearing are arranged at intervals through a bushing;

the outer rings of the first speed reduction bearing and the second speed reduction bearing are matched with the speed reduction output shaft; the upper end surface of the first speed reduction bearing is positioned through a step of the inner cavity of the speed reduction output shaft; the lower end surface of the second speed reduction bearing is positioned through a clamping ring arranged in the inner cavity of the speed reduction output shaft;

the output flange is arranged at the upper end of the speed reduction output shaft.

In order to further simplify the structure and reduce friction, a first spring seat is arranged on the speed reduction output shaft; the output flange is sleeved at the upper end of the speed reduction output shaft and is provided with a second spring seat; a sleeved spring is arranged between the first spring seat and the second spring seat;

a limiting pin is fixed on the inner wall of the output flange; the speed reduction output shaft is provided with a limiting sliding groove corresponding to the limiting pin; the limiting pin penetrates through the limiting sliding groove.

Preferably, an end cover is arranged on the upper end face of the first speed reduction bearing; the end cover is fixedly connected with the bearing mounting shaft through a screw.

In order to further simplify the structure and reduce the friction, the sterile separator comprises an upper separator and a lower separator; the upper partition plate and the lower partition plate are correspondingly provided with cavities for accommodating the transition flanges; the inner diameter of the cavity is larger than the outer diameter of the transition flange;

the upper baffle plate is provided with a first limiting boss at the upper end of the cavity; the lower end of the cavity of the lower clapboard is provided with a second limiting boss; and a third limiting boss corresponding to the first limiting boss and the second limiting boss is arranged on the outer surface of the transition flange.

The invention also provides an instrument transmission clutch method, which comprises the following steps:

the power of the motor is transmitted to the instrument through the transition flange; the transition flange is arranged in the partition plate in a floating mode.

Preferably, the power of the motor is transmitted to the instrument through the transition flange by the following steps;

1) a telescopic output flange is arranged on an output shaft of the speed reducer;

2) connecting the output flange with the input flange of the instrument through the transition flange; the output flange, the transition flange and the input flange transmit power through the convex hulls and the notches which can be matched.

Preferably, the method comprises the step of limiting the limit travel of the transition flange.

The invention also provides a surgical operation auxiliary robot instrument which comprises the instrument transmission clutch structure.

The invention has the beneficial effects that: the power of the motor is transmitted to the instrument through the sterile separator after being decelerated, the instrument can be replaced at any time, and the sterile cover of the sterile separator is only used once, so that the operation safety is ensured; the invention has no special clutch operation action, only needs to install or remove the sterile separator and the instrument, and the system automatically completes the clutch, thereby having simple structure, reliable mechanism motion and excellent operability; when power passes through the sterile separator, no friction is generated, and the realization of mechanical force feedback is facilitated.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

3 FIG. 32 3 is 3a 3 schematic 3 sectional 3 view 3A 3- 3A 3 of 3 FIG. 31 3. 3

Fig. 3 is a partial enlarged view at I in fig. 2.

Fig. 4 is a schematic structural diagram of a power unit according to an embodiment of the present invention.

Fig. 5 is a schematic top view of the power unit according to the present embodiment.

Fig. 6 is a schematic view of the structure of fig. 5 in a rotary sectional view E-E.

FIG. 7 is a schematic sectional view of the structure of FIG. 5.

Fig. 8 is a schematic sectional structure view of L-L of fig. 7.

Figure 9 is a schematic diagram of a sterile divider according to an embodiment of the present invention.

Fig. 10 is a schematic top view of the structure of fig. 9.

FIG. 11 is a schematic sectional view of the structure of FIG. 10B-B.

Fig. 12 is a perspective view of a sterile divider according to an embodiment of the present invention.

Fig. 13 is a left side view of the structure of fig. 1.

Fig. 14 is a schematic cross-sectional structure view of fig. 13C-C.

Fig. 15 is a partial enlarged view at II in fig. 14.

Fig. 16 is a schematic sectional view of fig. 13 taken along line D-D.

Fig. 17 is a partial enlarged view at III in fig. 16.

FIG. 18 is a schematic sectional view I-I of FIG. 13.

Fig. 19 is a partial enlarged view at VII in fig. 18.

Fig. 20 is a schematic view of a connection structure of the sterile divider and the power section according to an embodiment of the present invention.

FIG. 21 is a schematic view of a cartridge removed in accordance with an embodiment of the present invention.

FIG. 22 is a schematic cross-sectional view of E-E of FIG. 21.

Fig. 23 is a schematic sectional view of fig. 21 showing the structure at F-F.

Fig. 24 is a partial enlarged view at IV in fig. 23.

Fig. 25 is a partial enlarged view at V in fig. 23.

Fig. 26 is a partial enlarged view at VI in fig. 21.

Fig. 27 is an M-direction view of fig. 21.

Fig. 28 is an N-directional view of fig. 21.

Fig. 29 is a schematic view showing the transmission of the long rod wire driving wheel and the long rod rotating wheel according to an embodiment of the present invention.

Fig. 30 is a schematic cross-sectional structure of fig. 29.

Fig. 31 is a partial enlarged view at VII in fig. 30.

Fig. 32 is a schematic sectional structure view of G-G in fig. 30.

FIG. 33 is a schematic structural view of a claw portion in an embodiment of the present invention.

FIG. 34 is a schematic sectional view of H-H in FIG. 33.

Fig. 35 is a schematic view of the P-direction structure of fig. 33.

Detailed Description

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

as shown in fig. 1-35, a surgical assisted robotic instrument system includes apower section 100, asterile divider 200, and aninstrument 300.

In this embodiment, the power unit includes four power groups, and the fourpower groups 101 are arranged in parallel in a rectangular shape. In other embodiments, the number of power packs may be set according to particular needs, such as the number of degrees of freedom of operation of the jaws of the instrument, etc. Of course, it is also possible to provide only one power pack, with one or more outputs from the transmission part, for the purpose of controlling the movement of the jaws of the instrument.

As shown in fig. 1 to 3, each of the four power sets includes amotor 101, eachmotor 101 is connected to aspeed reducer 102, and anoutput shaft 103 of the speed reducer is sleeved with atelescopic output flange 104.Output flange 104 may be coupled totransition flange 201 ofaseptic divider 200, andtransition flange 201 may be coupled toinput flange 301 of the instrument, with the number and location ofoutput flange 104,transition flange 201, andinput flange 301 corresponding. Obviously, with such a drive configuration, the output power of the motor will be transmitted to the implement via the shortest transmission path after being decelerated, and therefore this will effectively simplify the transmission configuration, and more importantly, the simplified transmission configuration means that there will be fewer possible friction points during the transmission. Therefore, the power of the motor is saved, the transmission precision is improved, and the resistance on the surgical tool is fed back to the motor through the transmission system. Can set up torque sensor inmotor output shaft 106 department and gather the resistance data of operation, simultaneously, refer to the size of these resistances, control the rotational speed and the moment of torsion of the master hand motor that the doctor of main sword operated, then can realize letting the doctor feel the real-time condition of operation to it is light and heavy to make the doctor can accurately master the operation action, makes operation control more accurate.

Theoutput flange 104, thetransition flange 201 and theinput flange 301 are provided with a convex hull 1 and agap 2 which can be matched with each other as a simpler and more compact structure.

As shown in fig. 3 to 8, thereduction gear 102 includes areduction output shaft 103 and a reductionintermediate shaft 105. In the present embodiment, the reduction gears are arranged in two stages, that is, each reduction gear is provided with only one reductionintermediate shaft 105, and each reductionintermediate shaft 105 is arranged on thereduction gear base 108. The speedreduction output shaft 103, the speed reductionintermediate shaft 105 and themotor output shaft 106 are driven by asynchronous belt 107.

In other embodiments, a plurality of decelerationintermediate shafts 105 can be arranged according to the situation so as to achieve the purpose of multi-stage deceleration. The speedreduction output shaft 103, the speed reductionintermediate shaft 105 and the motor output shaft can also be provided with transmission wheels which are driven by steel wires to achieve the basically same technical effect of smaller friction.

In this embodiment, the center line L of each synchronous belt connecting the decelerationintermediate shaft 105 and thedeceleration output shaft 103 passes through the geometric center O of the output axis of each motor, and the lengths of each synchronous belt or steel wire connecting the deceleration output shaft, the intermediate shaft, and the output shaft of the motor are equal.

Themotor 101 is disposed on themotor mount 110. Themotor mounting seat 110 is provided with a plurality of screw holes 109 corresponding to thespeed reducer seat 108, thespeed reducer seat 108 is relatively provided with two connecting support lugs 112 capable of being in bolt connection with the screw holes 109, and the connecting support lugs 112 are provided with kidney-shapedholes 113. The central combined component composed of the parts such as the reducer seat and the like is free and unfixed in the initial installation state, the assembled position is determined by eight synchronous belts, the eight synchronous belts can be simultaneously tensioned by rotating the central combined component, then the connectingsupport lug 112 and thescrew hole 109 are fixed by screwing thescrew 114, and the assembly work is finished by fixing the position of the central combined component. Because the position of the central combined component is free and unfixed, when the eight synchronous belts are tensioned, the difference caused by position manufacturing tolerance can be automatically compensated, so that the synchronous belts or steel wires with the same length can reach the same tensioning degree.

An outputshaft mounting base 115 of the speed reducer is fixed to the mountingbase 110 of the motor.

The outputshaft mounting base 115 is integrally provided with abearing mounting shaft 116, thebearing mounting shaft 116 is sleeved with a firstspeed reduction bearing 117 and a secondspeed reduction bearing 118, and the firstspeed reduction bearing 117 and the secondspeed reduction bearing 118 are arranged at intervals through abush 119.

The outer rings of the firstspeed reduction bearing 117 and the secondspeed reduction bearing 118 are matched with the speedreduction output shaft 103, and the upper end surface of the firstspeed reduction bearing 117 is positioned by the step of the inner cavity of the speedreduction output shaft 103; the lower end surface of the second reduction bearing 118 is positioned by acollar 121 provided in the inner cavity of thereduction output shaft 103.

The speed reducingoutput shaft 120 is provided with afirst spring seat 122, and theoutput flange 104 is sleeved at the upper end of the speed reducingoutput shaft 120 and is provided with asecond spring seat 123. Thefirst spring seat 122 and thesecond spring seat 123 are provided with aspring 124.

A limitingpin 125 is fixed on the inner wall of theoutput flange 104, a limiting slidinggroove 126 corresponding to the limiting pin is arranged on the speedreduction output shaft 103, and the limitingpin 125 passes through the limiting sliding groove.

Anend cover 126 is arranged on the upper end face of the first decelerating bearing 117, and theend cover 126 is screwed with thebearing mounting shaft 116 through ascrew 127.

The lower part of the outputshaft mounting seat 115 is provided with aspace 120 for accommodating themotor output shaft 106 and the synchronous belt transmission, and the shaft axes of themotor output shaft 106 and the speedreduction output shaft 103 are overlapped.

As shown in fig. 9 to 20, theaseptic separator 200 includes anupper partition 202 and alower partition 203, theupper partition 202 and thelower partition 203 are correspondingly provided with acavity 204 for accommodating thetransition flange 201, and the inner diameter of thecavity 204 is larger than the outer diameter of thetransition flange 201.

Theupper baffle plate 202 is provided with a first axial limitingboss 205 at the upper end of thecavity 204, thelower baffle plate 203 is provided with a second axial limitingboss 206 at the lower end of the cavity, and the outer surface of thetransition flange 201 is provided with a third axial limitingboss 207 corresponding to the first axial limitingboss 205 and the second axial limitingboss 206.

Therefore, the four transition flanges are arranged between the upper partition plate and the lower partition plate and can freely rotate and freely move along the axis, and in operation, the four transition flanges are only contacted with the flanges connected up and down and synchronously rotate without being contacted with any other parts, so that friction force is not generated, and convenience is further provided for realizing force feedback of the operation.

The instrument system is provided with a self-locking buckle structure, the self-locking buckle structure comprises a first combining part and a second combining part, namely the first combining part and the second combining part respectively correspond to anupper partition plate 202 and aninstrument box 301, two edges of theupper partition plate 202 are oppositely provided with two upper buckle seats 208, and the upper buckle seats 208 are provided withupper buckles 211 throughpin shafts 209 and torsion springs 210 sleeved on thepin shafts 209. Theupper buckle 211 is provided with afirst detent flange 212, and theinstrument box 301 of theinstrument 300 is provided with asecond detent flange 302 corresponding to thefirst detent flange 212.

Go upbuckle 211 and include twoinstallation arms 211a that the interval set up, twoinstallation arms 211a connect as an organic whole structure throughbuckle 211b, andinstallation arm 211a suit is onround pin axle 209. The lockingportion 211b is a wedge-shaped structure, and the lockingflange 302 is provided with a secondinclined surface 327 corresponding to the wedge-shapedinclined surface 211 c.

Theinstrument box 301 is provided with a first pressing portion of the rotary buckle, and the first pressing portion is located above thesecond clamping flange 302. The first pressing portion includes apressing plate 323, astopper plate 324, and apressing plate 325 which are integrated, thepressing plate 323 and thepressing plate 325 are parallel to each other, and thestopper plate 324 is located between thepressing plate 323 and thepressing plate 325 and is perpendicular to thepressing plate 323 and thepressing plate 325.

Theinstrument box 301 is provided with alimit flange 326 abutting against the end face of thelimit plate 324, the width of thelimit flange 326 is smaller than that of thelimit plate 324, and the top surface of thelimit flange 323 is not higher than the root of thelimit flange 326.

Theupper clip 211 is provided with a pressedsurface 211d corresponding to thepressing plate 325.

When theupper spacer 202 is coupled to theinstrument box 301, the wedge-shapedslope 211c first contacts thesecond slope 327 and then slides relative thereto, and thetorsion spring 210 is bent. When the instrument reaches the target position, thetorsion spring 210 springs back, and thefirst detent flange 212 snaps over thesecond detent flange 302, thereby locking. If thepressing plate 323 is pressed, thepressing plate 325 pushes thelatch 211b, thereby pushing the upper latch to rotate against the elastic force of thetorsion spring 210, thereby separating the upper partition from the instrument box.

Lower buckle seats 213 are arranged on two sides of thelower partition plate 203, a secondpressing part 219 corresponding to thelower buckle seat 213 is arranged on the mountingshell 214 of thelower partition plate 203 connected with the power pack, sheet-shapedbolts 215 are integrally arranged at two ends of the secondpressing part 219, and a blind hole at the large end of thespring guide shaft 130 is arranged in the middle of the secondpressing part 219.

Thelower latch holder 213 is provided with a through hole corresponding to thespring guide shaft 130 and athird spring holder 131, and aspring 132 is installed between thethird spring holder 131 and thespring guide shaft 130. The mountingshell 214 is provided with a throughhole 216 corresponding to the sheet-shapedbolt 215, and the sheet-shapedbolt 215 extends out of the throughhole 216 and then is buckled with a corresponding groove on the shell of the power part.

In this embodiment, theupper buckle 211 and thelatch 215 are configured as wedge-shaped structures for easy operation.

As shown in fig. 1, 2 and 21-32, theinstrument 300 includes aninstrument cartridge 301, aninstrument holder 302, along rod 303 and ajaw portion 304. Abearing bracket 305 is fixed on the instrument base, and thebearing bracket 305 and theinstrument base 302 are provided with an input flange shaft through a bearing, and the input flange is arranged at the lower part of the input flange shaft.

Thelong rod 303 is mounted on theinstrument base 302 through a bearing, and a longrod rotating wheel 311 is fixed on the upper part of thelong rod 303.

The power part comprises a long-rod power group and a claw power group, one of the fourpower groups 100 is used as the long-rod power group, and the other three power groups are used as the claw power groups.

The long rodinput flange shaft 306 corresponding to the long rod power group is fixed with a long rod steelwire driving wheel 310, the long rod steelwire driving wheel 310 is wound with a longrod steel wire 309, one end of the longrod steel wire 309 is fixed with the long rod steelwire driving wheel 310, and the other end of the long rod steel wire is wound with a longrod rotating wheel 311 and then fixed with the long rod steelwire driving wheel 310.

The long polewire driving wheel 310 includes an upper long polewire driving wheel 310a and a lower long polewire driving wheel 310 b. The upper and lower long rod wire take-upwheels 310a and 310b are located between the first and second mountingbearings 312a and 312b of the long rodinput flange shaft 306. The upper long rod steelwire driving wheel 310a and the lower long rod steelwire driving wheel 310b are correspondingly provided withsaw teeth 310c which can be buckled.

One end of the longrod steel wire 309 is fixed with the upper long rod steelwire driving wheel 310a, and the other end is fixed with the lower long rod steelwire driving wheel 310 b. The specific fixing mode is conventional fixing, for example, a small hole is arranged on the steel wire driving wheel, and a rope knot is arranged after the rope head penetrates through the small hole.

The long-rod steelwire rotating wheel 311 is provided with a steelwire fixing seat 323 along the radial direction, and the steelwire fixing seat 323 is provided with a first steel wirerope knot part 323a and a second steel wirerope knot part 323b which are protruded relative to the long-rod steelwire rotating wheel 311 at intervals. The first and second wirerope knot portions 323a and 323b have first andsecond guide slots 324a and 324b through which thelong rod wire 309 passes, the first andsecond guide slots 324a and 324b being located on the path of thelong rod wire 309 wound around thefirst guide slot 325 of thewire rotating wheel 311;

awire sheath 326 is fixed to thelong rod wire 309 between the first wirerope knot portion 323a and the second wirerope knot portion 323 b. Threesecond guide grooves 327 overlapping with thefirst guide groove 325 are arranged on the steelwire fixing seat 323 at intervals, and the middle second guide groove overlaps with the paths of the firstguide groove hole 324a and the secondguide groove hole 324 b. Therefore, during transmission, circumferential relative movement cannot be generated between the steel wire and the long-rod steelwire rotating wheel 311, in addition, a part of steel wire is always pressed on the rope knot part before and after the rope knot, so that the steel wire is fixed and cannot be separated, and the production operation is facilitated.

Thefirst mounting bearing 312a is positioned at an upper portion of the second mounting bearing 312 and is locked by a lockingscrew 313. In other embodiments, locking may be achieved using a locking nut or similar structure.

As shown in fig. 33 to 35, a claw steelwire driving wheel 315 is fixed on the clawinput flange shaft 314 corresponding to the claw power set, aclaw steel wire 316 is fixed on the claw steelwire driving wheel 315, and the other end of theclaw steel wire 316 passes through the cavity of thelong rod 303 after passing through the wire groovedwheel 317 and is connected with theclaw 304.

The installation position of theinstrument seat 302 corresponding to thelong rod 303 is provided with a wiresheave installation frame 318, the wiresheave installation frame 318 is provided with guide sheaves 319, the positions of the guide sheaves 319 correspond to the claw part steelwire driving wheels 315, the number of the guide sheaves is twice of that of the claw part steelwire driving wheels 315, one of the guide sheaves is used for guiding the long rod entering into the cavity of the long rod, and the other guide sheave is used for guiding the long rod penetrating out of the cavity of the long rod.

Each clawportion wire pulley 315 includes an upper clawportion wire pulley 315a and a lower clawportion wire pulley 315 b. The upper jaw portionwire driving pulley 315a and the lower jaw portionwire driving pulley 315b are located between the third mounting bearing 320 and the fourth mounting bearing 321 of the jaw portioninput flange shaft 314. The upper claw portionwire driving wheel 315a and the lower claw portionwire driving wheel 315b are provided withserrations 315c that can be engaged with each other.

Claw portion wires 316 are fixed to the upper claw portionwire driving pulley 315a and the lower claw portionwire driving pulley 315 b. The specific fixing mode is conventional fixing, for example, a small hole is arranged on the steel wire driving wheel, and a rope knot is arranged after the rope head penetrates through the small hole.

Thethird mounting shaft 320 is supported on the upper portion of the fourth mounting bearing 321 and is locked by a lockingnut 322. In other embodiments, locking may be achieved using a locking screw or similar structure.

The distal end of thelong rod 303 is provided as aclaw portion 304. Theclaw part 304 comprises aclaw part seat 328 fixed with the tail end of thelong rod 303, asurgical tool seat 333 is hinged on theclaw part seat 328 through afirst hinge shaft 329, and a first workingpart 331 and asecond working part 332 are hinged at the lower end of thesurgical tool seat 329 through asecond hinge shaft 330. Thefirst hinge shaft 329 is provided with twofirst guide wheels 334 and twosecond guide wheels 335 on both sides of thepawl seat 333, respectively. Twothird guide wheels 336 and twofourth guide wheels 337 are respectively and correspondingly disposed below thefirst guide wheel 334 and thesecond guide wheel 335 of thesurgical tool holder 333. Thesurgical tool holder 333, the first workingportion 331, and the second workingportion 332 are each provided with a guide groove and a through hole for allowing a wire to be wound around the claw portion.

After passing through the inner cavity of thelong rod 303, the claw steel wires of the power set pass through thefirst guide wheel 334, thethird guide wheel 336, the guide groove and the via hole on the first workingpart 331, thefourth guide wheel 337 and thesecond guide wheel 335, return to the inner cavity of the long rod, and then pass through the guide grooved wheels 319 and are fixed with the corresponding claw steelwire driving wheels 315. The other group of claw steel wires directly pass through the guide groove and the via hole on thesurgical tool seat 333 and return to the inner cavity of the long rod, and are fixed with the corresponding claw steel wire driving wheel after passing through the guide grooved wheel.

In the embodiment, each bearing is a rolling bearing, so that the friction force of transmission is extremely small, and convenience is further provided for force feedback of operation.

In the embodiment, all the parts related to the rotating shaft are provided with the bearing bushes made of the polytetrafluoroethylene materials, so that the friction coefficient is reduced to a very small degree, the friction force is reduced, and a convenient condition is further provided for realizing force feedback of the operation.

When the instrument system works, the power of the motor in the power part is directly transmitted to the claw part steel wire driving wheel and the long rod steel wire driving wheel through the flange after being reduced, so that the claw part is controlled to work, the transmission path is short, a plurality of intermediate links are omitted, the motor is equivalent to direct rotation, and the steel wire is pulled to rotate forwards or backwards. Based on this, the stress state of the claw part can be more sensitively fed back to the motor shaft. In the whole steel wire transmission process, friction is generated only at the guide sheave, so that force feedback is more sensitive.

The upper and lower partition plates of the sterile separator are used for clamping a sterile cover, and the sterile cover isolates a mechanical arm seat, a motor output shaft and a mechanical arm (not shown in the figure) of the robot, so that the interior of the instrument is in a sterile environment.

In operation,sterile divider 200 is attached topower section 100, andinstrument 300 is attached tosterile divider 200.

In most cases, theoutput flange 104,transition flange 201, andinput flange 301 are not bonded to each other, the respective convex hulls do not enter the grooves and notches, and the jaw surgical tool is not controlled.

Themotor 101 is rotated, under the action of friction force, several flanges may rotate simultaneously without relative rotation until the surgical tools at the jaw part of the instrument are limited by the rotation from the rotation to the limit, and after the limitation, the flanges of the instrument stop rotating.

When the motor continues to rotate, thetransition flange 201 and theinput flange 301 generate relative movement, when the convex hull of the flange is opposite to the groove, thetransition flange 201 moves towards the apparatus under the action of thespring 124, and the convex hull is inserted into the groove, so that theinput flange 301 and thetransition flange 201 are combined.

At this time, the two flanges are still, and when themotor 101 continues to rotate, thereducer output flange 104 and thetransition flange 201 in the sterile divider generate relative movement, and when the convex hull is aligned with the notch, thereducer output flange 104 moves towards the sterile divider under the action of thespring 124, and the convex hull is inserted into the notch, so that theoutput flange 104 and thetransition flange 201 are combined.

During separation, the separation of the flanges is completed by removing the instrument and the sterile divider, respectively.

Therefore, the transition flange of the sterile separator does not need to be aligned, the sterile separator and the instrument are only required to be installed, the system can automatically close the flange, and when the instrument and the sterile separator are taken down, the flange is automatically separated and disconnected without more actions. And the transition flange can freely rotate and move along the axis in the middle of the upper partition plate and the lower partition plate, and the moving stroke is equivalent to that of theoutput flange 104. During operation, 4 transition flanges are only contacted with the flanges connected up and down and synchronously rotate, are not contacted with other parts, and do not generate friction force, so that the force feedback is more sensitive.

Due to the arrangement of the upper buckle and the lower buckle, when the sterile separator needs to be taken down, the lower buckle is pinched by a hand, and the sterile separator is taken down conveniently.

After working for a period of time, the steel wire may be loosened, but due to the saw-toothed structures on the long-rod steel wire driving wheel and the claw steel wire driving wheel, the steel wire can be tensioned by relatively rotating the upper part and the lower part of the steel wire driving wheel, when tensioning is finished, the saw teeth are buckled, the upper part and the lower part of the steel wire driving wheel are prevented from rotating towards the loosening direction of the steel wire, and the steel wire is not loosened any more after being compressed by a nut or a screw at the shaft end.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

Translated fromChinese

1.一种器械传动离合结构，其特征是：包括套装于减速器输出轴上的伸缩式的输出法兰；1. an apparatus transmission clutch structure is characterized in that: comprise the telescopic output flange sleeved on the output shaft of the reducer;所述输出法兰可与无菌分隔器的过渡法兰插接；所述过渡法兰可与器械的输入法兰插接。The output flange can be plugged with the transition flange of the sterile divider; the transition flange can be plugged with the input flange of the instrument.2.如权利要求1所述的器械传动离合结构，其特征是：所述输出法兰、过渡法兰和输入法兰上设置有可配合的凸包和缺口。2 . The device transmission clutch structure according to claim 1 , wherein the output flange, the transition flange and the input flange are provided with matable convex hulls and gaps. 3 .3.如权利要求1所述的器械传动离合结构，其特征是：所述减速器包括减速输出轴和至少一根减速中间轴；所述减速输出轴、中间轴和电机的输出轴通过同步带或钢丝传动。3 . The apparatus transmission clutch structure according to claim 1 , wherein the speed reducer comprises a speed reduction output shaft and at least one speed reduction intermediate shaft; the speed reduction output shaft, the intermediate shaft and the output shaft of the motor pass through a synchronous belt. 4 . or wire transmission.4.如权利要求3所述的器械传动离合结构，其特征是：所述电机的安装座上固定有减速器的输出轴安装座；4. The apparatus transmission clutch structure according to claim 3, characterized in that: an output shaft mounting seat of the reducer is fixed on the mounting seat of the motor;所述输出轴安装座上一体设置有轴承安装轴；所述轴承安装轴上套装有第一减速轴承和第二减速轴承；所述第一减速轴承和第二减速轴承通过衬套间隔设置；The output shaft mounting seat is integrally provided with a bearing installation shaft; the bearing installation shaft is sleeved with a first deceleration bearing and a second deceleration bearing; the first deceleration bearing and the second deceleration bearing are spaced by bushings;所述第一减速轴承和第二减速轴承的外圈配合所述减速输出轴；所述第一减速轴承的上端面通过所述减速输出轴内腔的台阶定位；所述第二减速轴承的下端面通过设置于所述减速输出轴内腔的卡圈定位；The outer rings of the first deceleration bearing and the second deceleration bearing are matched with the deceleration output shaft; the upper end surface of the first deceleration bearing is positioned through the steps of the inner cavity of the deceleration output shaft; the lower part of the second deceleration bearing The end face is positioned by a collar arranged in the inner cavity of the deceleration output shaft;所述输出法兰设置于所述减速输出轴的上端。The output flange is arranged on the upper end of the deceleration output shaft.5.如权利要求4所述的器械传动离合结构，其特征是：所述减速输出轴上设置有第一弹簧座；所述输出法兰套装于所述减速输出轴的上端，并设置有第二弹簧座；所述第一弹簧座与第二弹簧座之间设置有套装的弹簧；5 . The apparatus transmission clutch structure according to claim 4 , wherein a first spring seat is arranged on the deceleration output shaft; the output flange is sleeved on the upper end of the deceleration output shaft, and is provided with a first spring seat. 6 . Two spring seats; a sleeved spring is arranged between the first spring seat and the second spring seat;所述输出法兰的内壁固定有限位销；所述减速输出轴上设置有与所述限位销对应的限位滑槽；所述限位销穿过所述限位滑槽；A limit pin is fixed on the inner wall of the output flange; a limit chute corresponding to the limit pin is arranged on the deceleration output shaft; the limit pin passes through the limit chute;所述第一减速轴承的上端面设置有端盖；所述端盖通过螺钉与所述轴承安装轴旋合连接。The upper end surface of the first reduction bearing is provided with an end cover; the end cover is screwed and connected with the bearing installation shaft through screws.6.如权利要求1所述的器械传动离合结构，其特征是：所述无菌分隔器包括上隔板和下隔板；所述上隔板和下隔板对应设置有容纳所述过渡法兰的空腔；所述空腔的内径大于所述过渡法兰的外径；6. The device transmission clutch structure according to claim 1, characterized in that: the sterile divider comprises an upper partition plate and a lower partition plate; The cavity of the flange; the inner diameter of the cavity is larger than the outer diameter of the transition flange;所述上隔板在所述空腔的上端设置有第一限位凸台；所述下隔板在所述空腔的下端设置有第二限位凸台；所述过渡法兰的外表面设置有与所述第一限位凸台和第二限位凸台对应的第三限位环形凸台。The upper partition is provided with a first limiting boss at the upper end of the cavity; the lower partition is provided with a second limiting boss at the lower end of the cavity; the outer surface of the transition flange A third limit annular boss corresponding to the first limit boss and the second limit boss is provided.7.一种器械传动离合方法，其特征是：包括以下步骤：7. An instrument transmission clutch method is characterized in that: comprise the following steps:电机的动力通过过渡法兰传递至器械；过渡法兰浮动设置于隔板中。The power of the motor is transmitted to the instrument through the transition flange; the transition flange is floating and arranged in the partition.8.如权利要求7所述的器械传动离合方法，其特征是：电机的动力通过过渡法兰传递至器械通过以下步骤实现：8. The apparatus transmission clutch method as claimed in claim 7 is characterized in that: the power of the motor is transmitted to the apparatus through the transition flange and is realized by the following steps:1）在减速器的输出轴上设置可伸缩的输出法兰；1) Set a retractable output flange on the output shaft of the reducer;2）使输出法兰通过过渡法兰与器械的输入法兰连接；输出法兰、过渡法兰和输入法兰上通过可配合的凸包和缺口传递动力。2) Connect the output flange with the input flange of the instrument through the transition flange; the output flange, transition flange and input flange transmit power through matching convex hulls and gaps.9.如权利要求7所述的器械传动离合方法，其特征是：包括限定过渡法兰极限行程的步骤。9 . The method for driving clutch of an instrument as claimed in claim 7 , characterized in that it comprises the step of defining the limit stroke of the transition flange. 10 .10.一种手术辅助机器人器械系统，其特征是：包括如权利要求1至6任一所述的器械传动离合结构。10. A surgical assistance robot instrument system, characterized in that it comprises the instrument transmission clutch structure according to any one of claims 1 to 6.

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