Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a surgical auxiliary robot instrument system with simple transmission structure and small transmission friction.
In order to achieve the above object, the present invention provides a surgical auxiliary robotic instrument system including a power section, a sterile divider and an instrument,
The power part comprises at least one power group; the power unit comprises a motor; the motor is connected with a speed reducer; an output shaft of the speed reducer is sleeved with a telescopic output flange;
The output flange can be spliced with a transition flange of the sterile separator; the transition flange can be spliced with an input flange of the instrument;
the number and positions of the output flange, the transition flange and the input flange are corresponding.
In order to further simplify the structure, the output flange, the transition flange and the input flange are provided with matched convex hulls and notches.
To further simplify the structure, the speed reducer comprises a speed reducing output shaft and at least one speed reducing 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;
the bearing mounting shaft is integrally arranged on the output shaft mounting seat; the bearing mounting shaft is sleeved with a first speed reducing bearing and a second speed reducing bearing; the first speed reducing bearing and the second speed reducing 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 face 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, the speed reduction output shaft is provided with a first spring seat; the output flange is sleeved at the upper end of the speed reduction output shaft and is provided with a second spring seat; a 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; a limiting chute corresponding to the limiting pin is arranged on the speed reduction output shaft; the limiting pin penetrates through the limiting sliding groove.
An end cover is arranged on the upper end face of the first speed reduction bearing; the end cover is connected with the bearing installation shaft in a screwing mode through a screw.
In order to further simplify the structure and reduce friction, the lower part of the output shaft mounting seat is provided with a space for accommodating the output shaft of the motor and a synchronous belt or steel wire transmission; the axes of the motor output shaft and the speed reduction output shaft are overlapped.
To further simplify the structure, the power section includes four power packs to reduce friction; the four power sets are in rectangular parallel; the central line of each synchronous belt or steel wire connecting the speed reduction intermediate shaft and the speed reduction output shaft passes through the geometric center of the output axis of each motor; the lengths of the synchronous belts or the steel wires which are connected with the speed reduction output shaft, the intermediate shaft and the motor output shaft are equal.
In order to further simplify the structure and reduce friction, each speed reducer is provided with only one speed reducing intermediate shaft; each speed reduction intermediate shaft is arranged on the speed reducer seat;
the motor mounting seat is provided with a plurality of screw holes corresponding to the speed reducer seat; two connecting lugs which can be connected with the screw holes through bolts are oppositely arranged on the speed reducer seat; waist-shaped holes are formed in the connecting lugs.
The aseptic divider comprises an upper partition and a lower partition; 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 partition plate is provided with a first axial limiting boss at the upper end of the cavity; the lower partition plate is provided with a second axial limiting boss at the lower end of the cavity; the outer surface of the transition flange is provided with a third axial limiting boss corresponding to the first axial limiting boss and the second axial limiting boss.
For ease of installation and operation, the sterile divider includes an upper divider plate and a lower divider plate; two edges of the upper partition board are oppositely provided with two upper clamping seats; the upper buckle seat is provided with a buckle through a pin shaft and a torsion spring sleeved on the pin shaft; the buckle is provided with a first clamping flange; and a second clamping flange corresponding to the first clamping flange is arranged on the instrument box of the instrument.
For ease of installation and operation, the sterile divider includes an upper divider plate and a lower divider plate; lower clamping seats are arranged on two sides of the lower partition plate; a pressing part corresponding to the lower buckle seat is arranged on the installation shell, which is connected with the power set, of the lower partition plate; the two ends of the pressing part are integrally provided with sheet-shaped bolts; a blind hole at the large end of the spring guide shaft is formed in the middle of the pressing part;
The lower buckle seat is provided with a through hole and a third spring seat which correspond to the spring guide shaft; a spring is arranged between the third spring seat and the spring guide shaft; the mounting shell is provided with a through hole corresponding to the sheet-shaped bolt, and the sheet-shaped bolt is buckled with a corresponding groove on the power part shell after extending out of the through hole.
To further simplify the structure, the friction is reduced, and the instrument comprises an instrument box, an instrument seat, a long rod and a claw part; a bearing bracket is fixed on the instrument seat; the bearing frame and the instrument seat are provided with an input flange shaft through bearings; the input flange is arranged at the lower part of the input flange shaft;
The long rod is mounted on the instrument seat through a bearing; a long rod rotating wheel is fixed on the upper part of the long rod;
a steel wire driving wheel is fixed on the input flange shaft; steel wires are wound on the steel wire driving wheels;
the power part comprises a long rod power group and a claw power group;
A long rod steel wire driving wheel is fixed on a long rod input flange shaft corresponding to the long rod power group; a long rod steel wire is wound on the long rod steel wire driving wheel; one end of the long rod steel wire is fixed with the long rod steel wire driving wheel, and the other end of the long rod steel wire is wound around the long rod rotating wheel and then fixed with the steel wire driving wheel; the middle point of the long rod steel wire is fixed relative to the steel wire rotating wheel;
A claw steel wire driving wheel is fixed on the claw input flange shaft corresponding to the claw power unit; the claw steel wire driving wheel is fixedly provided with a claw steel wire; the other end of the claw part steel wire passes through the cavity of the long rod after bypassing the wire grooved pulley and is connected with the claw part;
a wire sheave mounting frame is arranged at the position of the instrument seat corresponding to the mounting position of the long rod; the guide sheave is arranged on the wire sheave mounting frame; the positions and the number of the guide sheaves correspond to those of the claw steel wire driving wheels.
In order to realize the accuracy of force feedback, the long-rod steel wire driving wheel comprises an upper long-rod steel wire driving wheel and a lower long-rod steel wire driving wheel; the upper long rod steel wire driving wheel and the lower long rod steel wire driving wheel are positioned between a first mounting bearing and a second mounting bearing of the long rod input flange shaft; the upper long rod steel wire driving wheel and the lower long rod steel wire driving wheel are correspondingly provided with buckled saw teeth;
One end of the long rod steel wire is fixed with the upper long rod steel wire driving wheel, and the other end of the long rod steel wire is fixed with the lower long rod steel wire driving wheel;
The first mounting bearing is positioned at the upper part of the second mounting bearing and is locked by a locking nut or a locking screw.
In order to further realize the accuracy of force feedback, at least one claw steel wire driving wheel comprises an upper claw steel wire driving wheel and a lower claw steel wire driving wheel; the upper claw steel wire driving wheel and the lower claw steel wire driving wheel are positioned between a third mounting bearing and a fourth mounting bearing of the claw input flange shaft; the upper claw part steel wire driving wheel and the lower claw part steel wire driving wheel are correspondingly provided with buckled saw teeth;
claw steel wires are fixed on the upper claw steel wire driving wheel and the lower claw steel wire driving wheel;
The third installation bearing is positioned at the upper part of the fourth installation bearing and is locked by a locking nut or a locking screw.
In order to improve the transmission precision, the steel wire rotating wheel is provided with a steel wire fixing seat along the radial direction; the steel wire fixing seat is provided with a first steel wire rope knot part and a second steel wire rope knot part which are protruded relative to the steel wire driving wheel at intervals; the first steel wire rope knot part and the second steel wire rope knot part are provided with a first guide slot hole and a second guide slot hole for accommodating the long rod steel wire to pass through; the first guide slot hole and the second guide slot hole are positioned on the path of the long rod steel wire wound around the first guide slot of the steel wire driving wheel;
A steel wire sleeve is fixed on the long rod steel wire between the first steel wire rope knot part and the second steel wire rope knot part.
In order to further improve the transmission precision, three second guide grooves overlapped with the first guide grooves are arranged on the steel wire fixing seat at intervals; the middle second guide groove coincides with the first guide groove hole and the second guide groove hole.
Preferably, the claw comprises a claw seat fixed with the tail end of the long rod, the claw seat is hinged with a surgical tool seat through a first hinge shaft, and the lower end of the surgical tool seat is hinged with a first working part and a second working part through a second hinge shaft;
The first hinge shaft is provided with a first guide wheel and a second guide wheel respectively at two sides of the claw seat; the surgical tool seat is provided with a third guide wheel and a fourth guide wheel below the first guide wheel and the second guide wheel respectively; the first working part and the second working part are respectively provided with a guide groove and a through hole which allow the claw steel wire to be wound;
After passing through the inner cavity of the long rod, the claw steel wire of one power unit returns to the inner cavity of the long rod through the first guide wheel, the third guide wheel, the guide groove and the through hole on the first working part, the fourth guide wheel and the second guide wheel, and then is fixed with the claw steel wire driving wheel after passing through the guide grooved wheel; the other group of claw steel wires directly return to the inner cavity of the long rod through the guide groove and the through hole on the operation tool seat and are fixed with the corresponding claw steel wire driving wheel after passing through the guide grooved wheel.
The beneficial effects of the invention are as follows:
1. The direct sensing operation is realized: in the operation process, the force generated by the instrument and the muscle tissue of the patient is truly reflected on the hands of the doctor of the main knife, so that the operation control is more accurate, and the operation action can be accurately mastered.
2. As the direct sensing operation is realized, the damage of the muscle tissue caused by large force can not be generated in the process of the actions of grabbing the muscle tissue, pushing away the muscle tissue, clamping the muscle tissue and the like, and the safety performance of the operation is greatly improved.
3. Under the conditions of misoperation and faults, the maximum acting force is controlled due to force feedback, the damage to muscle tissues is avoided, and the overall safety performance of the equipment is improved.
4. The reliability and the precision are improved, the motor directly drives the instrument to perform operation through the transition flange, the route is short, the transmission rigidity is good, the stability is good, the movement precision is high, and the mechanism reliability is high.
5. The operation is simpler, and during the use, the transition flange of aseptic separator need not to the direction, only need with aseptic separator and apparatus dress just, and the system can make the flange closure voluntarily, and when taking off apparatus and aseptic separator, flange autosegregation breaks off, need not more actions.
6. The structure is modularized, so that the operation is simple and convenient, the manufacture is simpler, and the maintenance is more convenient.
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 auxiliary robotic instrument system includes a power section 100, a sterile divider 200, and an instrument 300.
In this embodiment, the power unit includes four power units, and the four power units 101 are arranged in parallel in a rectangular shape. In other embodiments, the number of power packs may be set according to specific needs, such as the number of degrees of freedom of operation of the instrument jaw, etc. Of course, only one power pack may be provided, with one or more outputs of the transmission portion being used to control movement of the jaws of the instrument.
As shown in fig. 1 to 3, each of the four power groups includes a motor 101, each motor 101 is connected with a reducer 102, and an output shaft 103 of the reducer is sleeved with a telescopic output flange 104. The output flange 104 may be connected to the transition flange 201 of the aseptic divider 200, the transition flange 201 may be connected to the input flange 301 of the instrument, and the number and positions of the output flange 104, the transition flange 201, and the input flange 301 correspond. Obviously, such a drive arrangement would result in the output power of the motor being transmitted to the instrument by the shortest transmission path after deceleration, and this would therefore effectively simplify the transmission arrangement, and more importantly, the simplified transmission arrangement would mean that fewer friction points would be possible during transmission. Therefore, the power of the motor is saved, the transmission precision is improved, and the resistance applied to the surgical tool is fed back to the motor through the transmission system. The torque sensor can be arranged at the motor output shaft 106 to collect the resistance data of the operation, and meanwhile, the rotating speed and the torque of the main hand motor operated by the doctor of the main knife are controlled by referring to the resistance, so that the doctor can feel the real-time condition of the operation, and the doctor can accurately grasp the operation action, so that the operation control is more accurate.
As a simpler and more compact structure, the output flange 104, the transition flange 201 and the input flange 301 are provided with a matable convex hull 1 and a notch 2.
As shown in fig. 3 to 8, the reduction gear 102 includes a reduction output shaft 103 and a reduction intermediate shaft 105. In this embodiment, the speed reducer is configured to perform two-stage speed reduction, that is, each speed reducer is provided with only one speed reduction intermediate shaft 105, and each speed reduction intermediate shaft 105 is disposed on the speed reducer seat 108. The reduction output shaft 103, the reduction intermediate shaft 105, and the motor output shaft 106 are driven by a timing belt 107.
In other embodiments, a plurality of reduction intermediate shafts 105 may be provided as appropriate to achieve the purpose of multi-stage reduction. The speed reduction output shaft 103, the speed reduction intermediate shaft 105 and the motor output shaft can also be provided with driving wheels, and the driving wheels can be driven by steel wires to achieve the same technical effect of smaller friction.
In this embodiment, the center line L of each timing belt connecting the reduction intermediate shaft 105 and the reduction output shaft 103 passes through the geometric center O of each motor output axis, and the lengths of each timing belt or wire connecting the reduction output shaft, intermediate shaft and motor output shaft are equal.
The motor 101 is disposed on the motor mount 110. The motor mounting seat 110 is provided with a plurality of screw holes 109 corresponding to the speed reducer seat 108, the speed reducer seat 108 is provided with two connecting lugs 112 which can be connected with the screw holes 109 through bolts, and the connecting lugs 112 are provided with waist-shaped holes 113. The central assembly component formed by the components such as the speed reducer seat is free and unfixed in the initial state of installation, the assembled position is determined by eight synchronous belts, the eight synchronous belts can be simultaneously tensioned by rotating the central assembly component, the connecting lugs 112 and the screw holes 109 are fixed by screwing the screws 114, and the assembly work is completed by fixing the position of the central assembly component. Because the position of the central combined part is free and unfixed, when the eight synchronous belts are tensioned, the difference caused by the manufacturing tolerance of the positions can be automatically compensated, so that the synchronous belts or steel wires with the same length reach the same tensioning degree.
An output shaft mounting base 115 of the speed reducer is fixed on the motor mounting base 110.
The output shaft mounting seat 115 is integrally provided with a bearing mounting shaft 116, the bearing mounting shaft 116 is sleeved with a first speed reducing bearing 117 and a second speed reducing bearing 118, and the first speed reducing bearing 117 and the second speed reducing bearing 118 are arranged at intervals through a bushing 119.
The outer rings of the first speed reduction bearing 117 and the second speed reduction bearing 118 are matched with the speed reduction output shaft 103, and the upper end surface of the first speed reduction bearing 117 is positioned through a step of the inner cavity of the speed reduction output shaft 103; the lower end surface of the second reduction bearing 118 is positioned by a collar 121 provided in the inner cavity of the reduction output shaft 103.
The speed reduction output shaft 120 is provided with a first spring seat 122, and the output flange 104 is sleeved at the upper end of the speed reduction output shaft 120 and is provided with a second spring seat 123. The first spring seat 122 and the second spring seat 123 are provided with springs 124.
104 Is fixed with the spacer pin 125 on the inner wall of output flange, is provided with the spacing spout 126 that corresponds with the spacer pin on the speed reduction output shaft 103, and the spacer pin 125 passes spacing spout.
An end cover 126 is provided on the upper end surface of the first reduction bearing 117, and the end cover 126 is screwed to the bearing mounting shaft 116 by a screw 127.
The lower part of the output shaft mounting seat 115 is provided with a space 120 for accommodating the motor output shaft 106 and the synchronous belt transmission, and the axial leads of the motor output shaft 106 and the speed reduction output shaft 103 are overlapped.
As shown in fig. 9 to 20, the aseptic separator 200 includes an upper partition 202 and a lower partition 203, and the upper partition 202 and the lower partition 203 are correspondingly provided with a cavity 204 accommodating the transition flange 201, the cavity 204 having an inner diameter larger than an outer diameter of the transition flange 201.
The upper partition plate 202 is provided with a first axial limiting boss 205 at the upper end of the cavity 204, the lower partition plate 203 is provided with a second axial limiting boss 206 at the lower end of the cavity, and the outer surface of the transition flange 201 is provided with a third axial limiting boss 207 corresponding to the first axial limiting boss 205 and the second axial limiting boss 206.
Therefore, the four transition flanges can freely rotate and move along the axis in the middle of the upper partition plate and the lower partition plate, and when in operation, the four transition flanges are only in contact with the flanges connected up and down and synchronously rotate and do not contact with any other parts, so that friction force is not generated, and convenience is further provided for realizing force feedback of operation.
The instrument system is provided with a self-locking buckle structure, the self-locking buckle structure comprises a first combination part and a second combination part, namely an upper partition plate 202 and an instrument box 301, two edges on the upper partition plate 202 are oppositely provided with two upper buckle seats 208, and an upper buckle 211 is arranged on the upper buckle seats 208 through a pin shaft 209 and a torsion spring 210 sleeved on the pin shaft 209. The upper buckle 211 is provided with a first clamping flange 212, and the instrument box 301 of the instrument 300 is provided with a second clamping flange 302 corresponding to the first clamping flange 212.
The upper buckle 211 comprises two mounting arms 211a which are arranged at intervals, the two mounting arms 211a are connected into an integral structure through a buckle part 211b, and the mounting arms 211a are sleeved on the pin shaft 209. The fastening portion 211b has a wedge-shaped structure as a whole, and the fastening flange 302 is provided with a second inclined surface 327 corresponding to the wedge-shaped inclined surface 211 c.
The instrument box 301 is provided with a first pressing portion of the rotary buckle, and the first pressing portion is located above the second clamping flange 302. The first pressing portion includes a pressing plate 323, a limiting plate 324, and a pressing plate 325 integrally, the pressing plate 323 and the pressing plate 325 being parallel to each other, the limiting plate 324 being located between the pressing plate 323 and the pressing plate 325 and being perpendicular to the pressing plate 323 and the pressing plate 325.
The instrument box 301 is provided with a limit flange 326 abutting against the end face of the limit plate 324, the width of the limit flange 326 is smaller than that of the limit plate 324, and the top face of the pressing plate 323 is not higher than the root of the limit flange 326.
The upper clip 211 is provided with a flattened surface 211d corresponding to the pressing plate 325.
When the upper spacer 202 is coupled with the instrument box 301, the wedge-shaped inclined surface 211c first contacts with the second inclined surface 327 and then slides relatively, and the torsion spring 210 is bent. When the instrument reaches the target position, the torsion spring 210 springs back and the first detent flange 212 snaps over the second detent flange 302, effecting locking. If the pressing plate 323 is pressed, the pressing plate 325 pushes the catching portion 211b, thereby pushing the upper catch to rotate against the elastic force of the torsion spring 210, thereby separating the upper partition from the instrument box.
The both sides of lower baffle 203 all are provided with down buckle seat 213, are provided with the second of corresponding with lower buckle seat 213 on the installation casing 214 that lower baffle 203 was connected with the power pack and press the portion 219, and second presses the portion 219 both ends and is provided with slice bolt 215 an organic whole, is provided with spring guiding axle 130 big end blind hole in the centre.
The lower fastening seat 213 is provided with a through hole corresponding to the spring guide shaft 130 and a third spring seat 131, and a spring 132 is installed between the third spring seat 131 and the spring guide shaft 130. The mounting housing 214 is provided with a through hole 216 corresponding to the sheet-shaped plug pin 215, and the sheet-shaped plug pin 215 is buckled with a corresponding groove on the power part housing after extending out of the through hole 216.
In this embodiment, for convenience of operation, the profile shapes of the upper buckle 211 and the latch 215 are both wedge-shaped.
As shown in fig. 1,2, and 21 to 32, the instrument 300 includes an instrument case 301, an instrument seat 302, an elongate lever 303, and a claw portion 304. The instrument seat is fixedly provided with a bearing frame 305, the bearing frame 305 and the instrument seat 302 are provided with an input flange shaft through bearings, and the input flange is arranged at the lower part of the input flange shaft.
The long rod 303 is mounted on the instrument holder 302 via a bearing, and a long rod rotation wheel 311 is fixed to the upper portion of the long rod 303.
The power section includes a long-rod power group and a claw power group, one of the four power groups 100 is used as the long-rod power group, and the other three are used as the claw power groups.
A long rod steel wire driving wheel 310 is fixed on the long rod input flange shaft 306 corresponding to the long rod power set, a long rod steel wire 309 is wound on the long rod steel wire driving wheel 310, one end of the long rod steel wire 309 is fixed with the long rod steel wire driving wheel 310, and the other end is fixed with the long rod steel wire driving wheel 310 after being wound on the long rod rotating wheel 311.
The long bar wire driving wheel 310 includes an upper long bar wire driving wheel 310a and a lower long bar wire driving wheel 310b. The upper and lower long rod wire drive wheels 310a, 310b are located between the first and second mounting bearings 312a, 312b of the long rod input flange shaft 306. The upper long rod steel wire driving wheel 310a and the lower long rod steel wire driving wheel 310b are correspondingly provided with a saw tooth 310c which can be buckled.
One end of the long rod wire 309 is fixed to the upper long rod wire driving wheel 310a, and the other end is fixed to the lower long rod wire driving wheel 310 b. The specific fixing mode is conventional fixing, such as arranging a small hole on the steel wire driving wheel, and arranging a rope knot after the rope head passes through the small hole.
The long rod wire rotating wheel 311 is provided with a wire fixing seat 323 in a radial direction, and the wire fixing seat 323 is provided with a first wire rope knot portion 323a and a second wire rope knot portion 323b which are protruded relative to the long rod wire rotating wheel 311 at intervals. The first and second wire rope knot portions 323a and 323b have first and second guide groove holes 324a and 324b that accommodate the passage of the long rod wire 309, the first and second guide groove holes 324a and 324b being located on the path of the long rod wire 309 around the first guide groove 325 of the wire rotating wheel 311;
A wire sleeve 326 is fixed to the long rod wire 309 located between the first wire knot 323a and the second wire knot 323 b. Three second guide grooves 327 overlapped with the first guide groove 325 are arranged on the steel wire fixing seat 323 at intervals, and the middle second guide groove overlaps with the paths of the first guide groove hole 324a and the second guide groove hole 324 b. Therefore, during transmission, the steel wire and the long rod steel wire rotating wheel 311 do not generate relative movement in the circumferential direction, and in addition, part of the steel wire is always pressed on the knot part before and after the knot, so that the steel wire is fixed and cannot fall off, and the production operation is facilitated.
The first mounting bearing 312a is located at an upper portion of the second mounting bearing 312, and is locked by a locking screw 313. In other embodiments, locking may be achieved using a lock nut or the like.
As shown in fig. 33 to 35, a claw steel wire driving wheel 315 is fixed to a claw input flange shaft 314 corresponding to the claw power unit, a claw steel wire 316 is fixed to the claw steel wire driving wheel 315, and the other end of the claw steel wire 316 passes through a cavity of the long rod 303 after passing around a wire sheave 317 and is connected to the claw 304.
The installation department that apparatus seat 302 corresponds stock 303 is provided with wire sheave mounting bracket 318, is provided with the guide sheave 319 on the wire sheave mounting bracket 318, and the position of guide sheave 319 corresponds with each claw wire drive wheel 315, and the quantity is the twice of claw wire drive wheel 315, and one of them is used as getting into stock cavity direction usefulness, and another is used as wearing out stock cavity direction usefulness.
Each claw portion wire drive wheel 315 includes an upper claw portion wire drive wheel 315a and a lower claw portion wire drive wheel 315b. The upper claw steel wire drive wheel 315a and the lower claw steel wire drive wheel 315b are located between the third mounting bearing 320 and the fourth mounting bearing 321 of the claw input flange shaft 314. The upper claw portion wire driving wheel 315a and the lower claw portion wire driving wheel 315b are correspondingly provided with a saw tooth 315c which can be buckled.
The claw steel wire 316 is fixed to both the upper claw steel wire drive wheel 315a and the lower claw steel wire drive wheel 315 b. The specific fixing mode is conventional fixing, such as arranging a small hole on the steel wire driving wheel, and arranging a rope knot after the rope head passes through the small hole.
The third mounting bearing 320 is positioned at the upper part of the fourth mounting bearing 321 and is locked by a locking nut 322. In other embodiments, locking may be achieved using locking screws or the like.
The distal end of the long rod 303 is provided as a claw 304. The claw 304 includes a claw seat 328 fixed to the distal end of the long rod 303, and a surgical tool seat 333 is hinged to the claw seat 328 by a first hinge shaft 329, and a first working portion 331 and a second working portion 332 are hinged to the lower end of the surgical tool seat 329 by a second hinge shaft 330. The first hinge shaft 329 is provided with two first guide wheels 334 and two second guide wheels 335 at both sides of the jaw base 333, respectively. The surgical tool holder 333 is provided with two third guide wheels 336 and two fourth guide wheels 337 under the first guide wheel 334 and the second guide wheel 335, respectively. The surgical tool holder 333, the first working portion 331, and the second working portion 332 are provided with guide grooves and through holes that allow the claw wire to be wound.
After passing through the inner cavity of the long rod 303, the claw steel wires of the power unit return to the inner cavity of the long rod after passing through the guide grooves and the through holes on the first guide wheel 334, the third guide wheel 336, the first working part 331, the fourth guide wheel 337 and the second guide wheel 335, and then pass through the guide grooved wheels 319 to be fixed with the corresponding claw steel wire driving wheels 315. The other group of claw steel wires directly returns to the inner cavity of the long rod through the guide groove and the through hole on the operation tool seat 333, and is 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 realizing force feedback of operation.
In the embodiment, the bearing bushes made of polytetrafluoroethylene materials are arranged at the positions related to the rotating shaft, so that the friction coefficient is reduced to a very small step, the friction force is reduced, and convenience is further provided for realizing force feedback of operation.
When the instrument system works, the power of the motor in the power part is directly transmitted to the claw steel wire driving wheel and the long rod steel wire driving wheel through the flange after being decelerated, so that the claw is controlled to work, the transmission path is short, a plurality of intermediate links are omitted, and the motor is equivalent to directly rotating, so that the steel wire is pulled to rotate positively or reversely. Based on this, the stress state of the claw part is also fed back to the motor shaft more sensitively. During the whole wire transmission process, friction is generated only at the guide sheaves, so that the feedback of force is more sensitive.
The upper and lower baffles of the sterile divider are used to clamp the sterile cover, which isolates the instrument holder, the motor output shaft, and the robotic arm (not shown) of the robot, so that the instrument is inside a sterile environment.
In operational use, the sterile separator 200 is first attached to the power section 100 and then the instrument 300 is attached to the sterile separator 200.
In most cases, the output flange 104, the transition flange 201, and the input flange 301 are not joined to one another, the respective bosses do not enter the grooves and notches, and the jaw surgical tools are not controlled.
The rotating motor 101 may rotate several flanges simultaneously under the action of friction force, without relative rotation, until the surgical tools in the claw parts of the instrument are limited by the rotation of the respective degrees to the limit, and after being limited, the flanges of the instrument stop rotating.
Continuing to rotate the motor, the transition flange 201 and the input flange 301 generate relative movement, when the flange convex hulls face the grooves, the transition flange 201 moves towards the instrument under the action of the springs 124, and the convex hulls are inserted into the grooves, so that the combination of the input flange 301 and the transition flange 201 is completed.
At this time, under the condition that the two combined flanges are stationary and continue to rotate the motor 101, the speed reducer output flange 104 and the transition flange 201 in the sterile separator generate relative movement, when the convex hull is aligned with the notch, under the action of the spring 124, the speed reducer output flange 104 moves towards the sterile separator, and the convex hull is inserted into the notch, so that the combination of the output flange 104 and the transition flange 201 is completed.
When the instrument and the sterile separator are removed during separation, the separation of the flange is completed.
Therefore, the transition flange of the sterile separator does not need to be opposite, only the sterile separator and the instrument are assembled, the system can automatically close the flange, and when the instrument and the sterile separator are removed, the flange is automatically separated and disconnected, so that no more actions are needed. And the transition flange is free to rotate and move along the axis between the upper and lower baffles by a travel comparable to that of the output flange 104. When the device works, the 4 transition flanges are only in contact with the flanges connected up and down and synchronously rotate, and are not in contact with any other parts, so that friction force is not generated, and force feedback is more sensitive.
Because of the arrangement of the upper buckle and the lower buckle, when the aseptic separator needs to be taken down, the lower buckle is pinched by hands, so that the aseptic separator is taken down in a proper state.
After a period of work, the steel wire may become flexible, but because the saw tooth form structure on stock wire drive wheel and claw wire drive wheel, the upper and lower two parts of relative rotation wire drive wheel can tensioning steel wire, and when ending the tensioning, the sawtooth looks lock prevents that upper and lower two parts wire drive wheel from rotating to the not hard up direction of steel wire, compresses tightly the back through the nut or the screw of axle head, and the steel wire just no longer becomes flexible.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.