CN112773510A - Surgical robot tail end opening and closing device and surgical robot tail end mechanism - Google Patents

Abstract

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end opening and closing device and a surgical robot tail end mechanism. A surgical robot tip opening and closing device comprising: the actuating assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, a first end of the movable finger is in hinged fit with a fixed end of the fixed finger, and a second end of the movable finger is configured to be a free end; the opening and closing driving assembly comprises an opening and closing push rod and an opening and closing linear driving module, and the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod. The technical problems of more parts, heavy weight, large volume and poor stability of the tail end mechanism of the surgical robot in the prior art are solved.

Description

Surgical robot tail end opening and closing device and surgical robot tail end mechanism

Technical Field

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end opening and closing device and a surgical robot tail end mechanism.

Background

The minimally invasive surgery has the characteristics of small wound, less bleeding, quick recovery and the like, and is widely applied in clinical surgeries, so that the development of a simple and practical surgical instrument with high action precision and low operation difficulty is of great significance for the minimally invasive surgery. The following problems exist with current surgical instruments:

1. the transmission and the drive device of the instrument are arranged together or the transmission is arranged close to the execution end, so that the parts are more, the weight is large, the size is large, the coupling is easy to occur, in addition, the tolerance accumulation of a plurality of parts enables the instrument to be incapable of being accurately controlled, and the stability is poor.

2. The acting force is provided manually by the doctor and the autorotation, the opening and the closing of the executing end and the push broach action are controlled, so that the operation work intensity of the doctor is high, and the operation precision is low.

3. The rotation and the opening and closing action of the instrument are realized by a steel wire rope traction mode adopted by the transmission device, and the knife action of the instrument is realized by a mode of adding gear control to a motor, so that the structure of the transmission device is complex, the rotation, the opening and closing and the push broach action are mutually coupled, therefore, the instrument cannot be accurately controlled, and the stability is poor.

Disclosure of Invention

In order to solve the technical problems of more parts, heavy weight, large volume and poor stability of the surgical robot tail end mechanism in the prior art, the invention provides a surgical robot tail end opening and closing device and a surgical robot tail end mechanism, and solves the technical problems. The technical scheme of the invention is as follows:

a surgical robot tip opening and closing device comprising: the actuating assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, a first end of the movable finger is in hinged fit with a fixed end of the fixed finger, and a second end of the movable finger is configured to be a free end; the opening and closing driving assembly comprises an opening and closing push rod and an opening and closing linear driving module, and the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod.

According to an embodiment of the present invention, the opening and closing linear driving module includes: the first end of the opening and closing transmission rod is set as a power end, and the second end of the opening and closing transmission rod is in threaded connection with the first end of the first screw rod; a guide sleeve fixedly assembled; and the first end of the rotation stopping piece is fixedly connected with the second end of the first screw rod, the second end of the rotation stopping piece penetrates through the guide sleeve and is fixedly connected with the first end of the opening and closing push rod, and the rotation stopping piece is limited by the guide sleeve.

According to one embodiment of the invention, the device further comprises an opening and closing driving shaft, wherein a first end of the opening and closing driving shaft is connected with an opening and closing connecting piece, and a second end of the opening and closing driving shaft is connected with a first end of the opening and closing transmission rod through a splicing linkage structure.

According to one embodiment of the invention, the plug-in linkage structure comprises a slot and a protrusion extending into the slot for linkage.

According to an embodiment of the present invention, a second end of the opening and closing push rod is configured with a pin shaft, the fixed finger is formed with a guide opening, the movable finger is correspondingly formed with an oblique opening, and the pin shaft sequentially passes through the oblique opening and the guide opening so as to enable the movable finger to deflect around a hinge point under the action of the opening and closing push rod.

The utility model provides a surgical robot end mechanism, adopts foretell surgical robot end device that opens and shuts, still includes the push broach device, the push broach device includes: the push knife is in sliding fit with the opening and closing push rod; the push broach driving assembly comprises a push broach driving rod and a push broach linear driving module, and the push broach linear driving module drives the push broach to do linear reciprocating motion through the push broach driving rod.

According to one embodiment of the invention, the opening and closing push rod is formed with a push blade groove accommodating the push blade, the push blade being slidably fitted in the push blade groove.

According to one embodiment of the present invention, the push broach linear drive module includes: the first end of the push broach transmission rod is set as a stress end, and the opening and closing transmission rod is arranged in the push broach transmission rod; the second screw rod is fixedly connected with the second end of the push broach transmission rod, and the first screw rod is arranged in the second screw rod; the nut seat is arranged on the second screw rod and limited in rotation, one side of the nut seat is connected with the push-type broach driving rod, and one end of the push-type broach driving rod penetrates through the guide sleeve and is connected with the push-type broach.

According to one embodiment of the invention, the device further comprises a push broach driving shaft, wherein a first end of the push broach driving shaft is connected with a push broach connecting piece, and a second end of the push broach driving shaft is connected with a first end of the push broach transmission rod through the insertion linkage structure.

According to one embodiment of the invention, the first end of the opening and closing drive shaft passes through the first end of the push-broach drive shaft.

According to one embodiment of the invention, a slide way is formed on the fixed finger, the push broach slides in the slide way, and the movable finger is provided with an avoidance port at a corresponding position.

According to an embodiment of the present invention, further comprising a rotation device, the rotation device comprising: the first end of the sleeve is fixedly connected with the fixed finger, and the opening and closing push rod is arranged in the sleeve; a cannula drive assembly for driving rotation of the cannula.

According to one embodiment of the invention, the casing drive assembly comprises: the first end of the connector is arranged to be an inserting end, a pin body extends out of the first end of the connector along the radial direction, and the push broach transmission rod is arranged in the connector; and the first end of the rotation sleeve is fixedly connected with the second end of the connector, and the second end of the rotation sleeve is fixedly connected with the guide sleeve.

According to an embodiment of the invention, the automatic pin pushing device further comprises an autorotation driving shaft, a first end of the push broach driving shaft penetrates through a first end of the autorotation driving shaft, the first end of the autorotation driving shaft is connected with an autorotation connecting piece, a socket matched with the inserting end is formed at a second end of the autorotation driving shaft, a channel for the pin body to slide in and a deflection space capable of deflecting after the pin body slides in are further formed on the autorotation driving shaft, the autorotation driving shaft is further provided with a sliding limiting rod, the limiting rod is located at one side of the channel, and the limiting rod enters the channel to limit the pin body after the pin body enters the deflection space.

According to an embodiment of the present invention, the rotation driving shaft is formed with a mounting groove for slidably mounting the stopper rod, an elastic member for tightly supporting the stopper rod is further disposed in the mounting groove, a sliding key is formed on an outer circumferential surface of the rotation driving shaft, the sliding key is connected to the stopper rod through a connecting rod, and the sliding key drives the stopper rod to move.

According to one embodiment of the invention, the self-rotating sleeve is formed with at least one set of rotation-stopping mouths, and the nut seat is provided with rotation-stopping projections which are matched with the rotation-stopping mouths along the radial direction, so that the nut seat is limited in rotation.

Based on the technical scheme, the invention can realize the following technical effects:

1. the opening and closing driving component of the opening and closing device is arranged in the push broach driving component, the push broach driving component is arranged in the sleeve driving component and the sleeve, through the arrangement of the mode, the space occupation of the robot tail end mechanism is reduced, the lightening and miniaturization of the robot tail end mechanism are facilitated, in addition, compared with the prior art that the executing part is driven by the gear and the steel wire rope, thereby leading to more parts of the robot end device, complex structure and large occupied space, the driving shaft and the driving rod adopted by the application can lead the robot end mechanism to carry out autorotation, opening and closing and push broach action, the structure is greatly simplified, the number of parts is less, the volume is small, can really realize the miniaturization, in addition, this application does not set up drive and transmission near executive component or near drive module department, avoids the weight difference at terminal structure both ends too big, and then makes robot end mechanism poor stability in use.

2. The first end of the push broach driving shaft penetrates through the rotation driving shaft so as to be connected with the push broach connecting piece, the first end of the opening and closing driving shaft penetrates through the first end of the push broach driving shaft so as to be connected with the opening and closing connecting piece, and the rotation driving shaft, the opening and closing driving shaft and one end of the push broach driving shaft are designed in a stepped mode, so that the space can be fully utilized, mutual movement is not interfered, and the miniaturization and stability of a robot end mechanism are facilitated.

3. The first end of the rotation stopping piece is fixedly connected with the second end of the first screw rod, the second end of the rotation stopping piece penetrates through the guide sleeve and is fixedly connected with the first end of the opening and closing push rod, and the rotation stopping piece is limited by the guide sleeve so that the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod; from changeing the sleeve and being formed with at least a set of splines mouth, correspond along radial direction on the nut seat and be provided with the spline arch, the spline arch stretches into the spline mouth, it is spacing to make the nut seat spacing by the spline mouth like this, and then make broach drive assembly drive broach carry out straight reciprocating motion, and the stop device that this application need not additionally set up carries on spacingly to the nut seat to robot end mechanism has been simplified, be favorable to robot end mechanism miniaturization and lightness.

4. The autorotation driving shaft and the connector form a detachable connection, the second end of the opening and closing driving shaft is connected with the first end of the opening and closing transmission rod by virtue of the splicing linkage structure, the second end of the push broach driving shaft is connected with the first end of the push broach transmission rod by virtue of the splicing linkage structure, and the opening and closing driving shaft, the opening and closing transmission rod, the push broach driving shaft and the push broach transmission rod can be quickly installed and detached by virtue of the splicing linkage structure, so that the execution assembly is replaced after being used, and the driving part can be repeatedly used.

Drawings

FIG. 1 is a schematic diagram of an execution module;

FIG. 2 is a schematic structural diagram of the opening/closing driving assembly;

FIG. 3 is a schematic structural view of the opening/closing push rod;

FIG. 4 is a schematic structural view of the guide sleeve;

FIG. 5 is a schematic structural view of the opening/closing driving shaft;

FIG. 6 is a schematic structural view of the plugging linkage structure;

FIG. 7 is a schematic view of the structure of the push-type broach device;

FIG. 8 is a schematic view of the construction of the pusher drive shaft;

FIG. 9 is an exploded view of the push broach drive shaft and push broach drive rod mating;

FIG. 10 is a schematic view of the structure of the engagement of the push-type broach and the actuator assembly;

FIG. 11 is a schematic structural view of a rotation device;

FIG. 12 is a schematic view of the mating structure of the housing and the connector;

fig. 13 is a sectional view of the rotation drive shaft;

FIG. 14 is a schematic view of the structure of the channel and deflection space;

fig. 15 is an exploded view of the spinning drive shaft;

fig. 16 is a partial structural view of the rotation driving shaft;

fig. 17 is a schematic structural view of the engagement of the rotation driving shaft with the rotation coupling member;

FIG. 18 is a schematic view of the engagement of the nut holder and the rotation sleeve;

FIG. 19 is a cross-sectional view of the mating of the opening and closing drive shaft, the pusher drive shaft and the rotation drive shaft;

FIG. 20 is a schematic view of the configuration of the mating of the base with the opening and closing links, the push-type links, and the autorotation links;

FIG. 21 is a schematic view of the fitting structure of the position limiting seat and the position limiting opening;

FIG. 22 is a schematic view of an electrical circuit;

FIG. 23 is a cross-sectional view of the robot end mechanism;

in the figure: 1-an execution component; 11-finger designation; 111-a pilot port; 112-a slide; 12-moving fingers; 121-bevel opening; 122-avoidance ports; 2-an opening and closing drive assembly; 21-opening and closing the push rod; 211-a pusher slot; 212-a pin shaft; 213-rotation limiting protrusion; 22-an opening and closing linear driving module; 221-an opening and closing transmission rod; 222-a guide sleeve; 2221-square hole; 223-rotation stop; 224-a first lead screw; 3-opening and closing the driving shaft; 31-a folding connector; 4-splicing linkage structure; 41-slot; 42-a protrusion; 5-a push-type broach device; 51-a push broach; 52-a push-knife drive assembly; 521-a push-knife drive rod; 522-push-broach linear driving module; 5221 push-type broach drive rod; 5222-second lead screw; 5223-nut seats; 52231-stop rotation projection; 53-a push-broach drive shaft; 531-push broach connection piece; 532-U shaped notch I; 533-first gear set; 5331-driving gear I; 5332-a first driven gear i; 5333-a second driven gear; 6-a rotation device; 61-a cannula; 62-a casing drive assembly; 621-a connector; 6211-a pin body; 6212-a stop; 622-rotation sleeve; 6221-rotation stopping mouth; 63-a housing; 631-a rotation stop groove; 64-a self-rotating drive shaft; 641-U type gap II; 642-channel; 643-a stop lever; 6431-limit projection; 644 — deflection space; 645 — sliding key; 6451-a connecting rod; 6452-first escape opening; 6453-second escape opening; 646-a resilient member; 647-limit seat; 648-mounting grooves; 65-autorotation connections; 651-second gear set; 6511-driving gear II; 6512-first driven gear II; 7-a base; 71-a limiting port; 81-a first electrode; 82-a second electrode; 83-third electrode, 84-fourth electrode.

A/B-electric line

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1 to 23, the surgical robot end opening and closing device of the present embodiment includes anactuating assembly 1 and an opening andclosing driving assembly 2, theactuating assembly 1 includes a fixedfinger 11 and amovable finger 12, the fixedfinger 11 is configured as a fixed assembly, a first end of themovable finger 12 is in hinged fit with a fixed end of the fixedfinger 11, a second end of themovable finger 12 is configured as a free end, the opening andclosing driving assembly 2 includes an opening and closingpush rod 21 and an opening and closinglinear driving module 22, and the opening and closinglinear driving module 22 drives themovable finger 12 to deflect through the opening and closingpush rod 21. Therefore, the driving part and the transmission part of the opening and closing device can be arranged along the axial direction, and other parts can be arranged in the opening and closing device, so that the space occupation is reduced, and the tail end mechanism of the robot can be miniaturized.

The opening and closinglinear driving module 22 of the present embodiment pushes themovable finger 12 to perform an opening and closing action under the action of an external force, specifically, the opening and closinglinear driving module 22 includes an opening andclosing transmission rod 221, aguide sleeve 222 and arotation stopping member 223, a first end of the opening andclosing transmission rod 221 is set as a power end, and a second end of the opening andclosing transmission rod 221 is in threaded connection with a first end of afirst lead screw 224; theguide sleeve 222 is fixedly fitted; the first end of therotation stopping member 223 is fixedly connected with the second end of thefirst screw 224, the second end of therotation stopping member 223 passes through theguide sleeve 222 to be fixedly connected with the first end of the opening and closingpush rod 21, and therotation stopping member 223 is limited by theguide sleeve 222.

Further, as shown in fig. 2 and 4, theguide sleeve 222 of the present embodiment limits the rotation of therotation stopping member 223, so that therotation stopping member 223 can only reciprocate linearly, specifically, asquare hole 2221 is formed on theguide sleeve 222 along the axial direction, therotation stopping member 223 is configured as a square member corresponding to thesquare hole 2221, and the square member passes through thesquare hole 2221 and is fixedly connected with the open-close push rod 21, so that therotation stopping member 223 cannot rotate by the rotation limiting property of the square member and thesquare hole 2221, and the open-close push rod 21 cannot rotate.

Preferably, fabrication holes are formed at the first ends of therotation stopping member 223 and the opening and closingpush rod 21 of the present embodiment, and when therotation stopping member 223 and the first end of the opening and closingpush rod 21 are installed, a plug is inserted into the fabrication holes to position therotation stopping member 223 and the opening and closingpush rod 21, and then therotation stopping member 223 and the opening and closingpush rod 21 are welded.

As shown in fig. 2, 3, and 10, the pushingfinger 12 of the opening and closingpush rod 21 of the present embodiment deflects around the fixed end of the fixedfinger 11, specifically, the second end of the opening and closingpush rod 21 is configured with apin shaft 212, the fixedfinger 11 is formed with aguide opening 111, the movingfinger 12 is formed with abezel 121 corresponding to theguide opening 111, thepin shaft 212 sequentially passes through thebezel 121 and theguide opening 111, under the action of an external force, the opening and closingpush rod 21 is pushed to linearly reciprocate, the movement of the opening and closingpush rod 21 drives thepin shaft 212 to move, and the movement of thepin shaft 212 applies a force to thebezel 121, so that the movingfinger 12 deflects around the hinge point.

Preferably, the opening and closingpush rod 21 of the present embodiment is configured to have a U-shaped cross section to form thepush groove 211, and further, the opening and closingpush rod 21 extends along the radial direction to form therotation limiting protrusion 213.

As shown in fig. 5 and 6, the surgical robot end opening and closing device of the present embodiment further includes an opening andclosing driving shaft 3, a first end of the opening andclosing driving shaft 3 is connected to an opening andclosing connecting member 31, the opening andclosing connecting member 31 drives an opening andclosing transmission rod 221 to rotate through the opening andclosing driving shaft 3, specifically, a first end of the opening andclosing driving shaft 3 is formed with an insertion hole i penetrating along a radial direction, a driving end of the opening andclosing connecting member 31 is formed with an insertion hole ii at a corresponding position, when a plug is inserted into the insertion hole i and the insertion hole ii, the opening andclosing driving shaft 3 rotates along with the driving end of the opening andclosing connecting member 31, because a second end of the opening andclosing driving shaft 3 is connected to the first end of the opening andclosing transmission rod 221, the opening andclosing transmission rod 221 rotates along with the.

Preferably, the second end of the opening andclosing driving shaft 3 of the present embodiment is connected to the first end of the opening andclosing transmission rod 221 by means of theinsertion linkage structure 4, specifically, theinsertion linkage structure 4 includes aslot 41 located on the inner circumferential surface of the opening andclosing driving shaft 3 and aprotrusion 42 located on the outer circumferential surface of the opening andclosing transmission rod 221, and theprotrusion 42 extends into theslot 41, so that the opening andclosing transmission rod 221 can rotate along with the opening andclosing driving shaft 3 and can also be detachably connected to the opening andclosing transmission rod 221.

As shown in fig. 7 and 10, the present embodiment further provides a surgical robot end mechanism, which uses the above-mentioned surgical robot end opening and closing device, and further includes a push-broach device 5, where the push-broach device 5 includes a push-broach 51 and a push-broach driving component 52, and the push-broach 51 is slidably mounted in the push-broach slot 211, so that the push-broach 51 can only slide in the push-broach slot 211, and the push-broach slot 211 plays a role in guiding the push-broach 51. The push-knife driving assembly 52 comprises a push-knife driving rod 521 and a push-knifelinear driving module 522, and the push-knifelinear driving module 522 drives thepush knife 51 to do linear reciprocating motion through the push-knife driving rod 521, so that thepush knife 51 performs a cutting action.

Further, the push broach 51 of the present embodiment is guided to slide in the fixedfinger 11, specifically, the fixedfinger 11 is formed with theslide rail 112, the pushbroach driving rod 521 drives the push broach 51 to slide in theslide rail 112, so that the push broach 51 is guided, and themovable finger 12 is provided with theavoidance opening 122 at the corresponding position to avoid interference with the movement of thepush broach 51.

As shown in fig. 7, 8 and 9, the push-broach linear driving module 522 of the present embodiment pushes the push-broach 51 to perform a cutting action under the action of an external force, and specifically, the push-broach linear driving module 522 includes a push-broach transmission rod 5221, a second lead screw 5222 and a nut seat 5223, a first end of the push-broach transmission rod 5221 is provided with a force-receiving end, the second lead screw 5222 is fixedly connected with a second end of the push-broach transmission rod 5221, preferably, the first lead screw 224 is embedded in the second lead screw 5222, the push-broach transmission rod 5221 rotates under the action of the external force, the second lead screw 5222 rotates along with the second lead screw, the nut seat 5223 is disposed on the second lead screw 5222, meanwhile, the nut seat 5223 is limited to rotate, one side of the nut seat 5223 is connected with the first end of the push-broach driving rod 521, in the present embodiment, the nut seat 5223 and the push-broach driving rod 521 are in a snap-fit manner, the second end of, preferably, the push-knife driving rod 521 is formed in a square shape, so that the guide sleeve 222 guides the push-knife 51 to limit the moving direction of the push-knife 51, and thus the push-knife 51 is driven by the push-knife driving rod 521 to reciprocate linearly by an external force, thereby performing a cutting action.

Further, the surgical robot end mechanism of this embodiment further includes a push-broach driving shaft 53, a push-broach connecting member 531 is connected to a first end of the push-broach driving shaft 53, the push-broach connecting member 531 drives the push-broach transmission rod 5221 to rotate through the push-broach driving shaft 53, specifically, the first end of the push-broach driving shaft 53 is connected to the push-broach connecting member 531, the push-broach connecting member 531 drives the push-broach driving shaft 53 by means of a first gear set 533, the first end of the push-broach driving shaft 53 is formed with at least one set of U-shaped notches i 532 along the axial direction, the first gear set 533 includes a driving gear i 5331, a first driven gear i 5332 and a second driven gear 5333, the driving gear i 5331 is engaged with the first driven gear i 5332, the first driven gear i 5332 is engaged with the second driven gear 5333, a limit key i corresponding to the U-shaped notch i 532 is formed on the second driven gear 5333, the limit key i extends into, thus, the push broach driving shaft 53 can rotate together with the first gear set 533, the second end of the push broach driving shaft 53 is connected with the first end of the push broach transmission rod 5221 by means of the insertion linkage structure 4, the rotation of the push broach driving shaft 53 drives the push broach transmission rod 5221 to rotate, and the free end of the push broach connecting piece 531 can be connected with a power source such as a motor, and the push broach driving shaft 53 can be driven to rotate.

As shown in fig. 9, 19 and 23, the second end of the pushbroach drive shaft 53 of the present embodiment is inserted into the first end of the pushbroach drive rod 5221, specifically, aprotrusion 42 is formed on the outer peripheral surface of the second end of the pushbroach drive shaft 53, aslot 41 corresponding to theprotrusion 42 is formed on the inner peripheral surface of the first end of the pushbroach drive rod 5221, theprotrusion 42 extends into theslot 41, so that the pushbroach drive rod 5221 can rotate along with the pushbroach drive shaft 53, and meanwhile, the pushbroach drive rod 5221 and the pushbroach drive shaft 53 are detachably connected.

Further, in order to miniaturize and reduce the size of the end mechanism of the surgical robot, the opening/closing drive shaft 3 of the present embodiment is built in the pushbroach drive shaft 53, the first end of the opening/closing drive shaft 3 is connected to the opening/closing connection member 31 through the first end of the pushbroach drive shaft 53, and the opening/closing transmission rod 221 is built in the pushbroach transmission rod 5221.

As shown in fig. 11, the surgical robot end mechanism of the present embodiment further includes arotation device 6, therotation device 6 includes asleeve 61 and asleeve driving assembly 62, a first end of thesleeve 61 is fixedly connected to the fixedfinger 11, preferably, the opening and closingpush rod 21 is embedded in thesleeve 61, thesleeve driving assembly 62 is configured to drive thesleeve 61 to rotate, and thus the rotation of thesleeve 61 drives the fixedfinger 11 and themovable finger 12 to rotate.

Thecasing drive assembly 62 of this embodiment drives theexecutive component 1 to rotate, specifically, thecasing drive assembly 62 includes connector 621 androtation sleeve 622, the first end of connector 621 is set up to the end of pegging graft, the first end of connector 621 extendspin body 6211 along radial direction, place connector 621 in pushbroach transfer line 5221, the first end ofrotation sleeve 622 and the second end fixed connection of connector 621, the second end and theuide bushing 222 fixed connection ofrotation sleeve 622, the secondend uide bushing 222 fixed connection ofcasing 61, under the effect of external force, connector 621 passes throughcasing 61 and drivesexecutive component 1 to rotate.

Preferably, as shown in fig. 12, a first end of the connecting head 621 of this embodiment is configured as an inserting end, apin 6211 is formed on an outer circumferential surface of the inserting end, in addition, the connecting head 621 of this embodiment can be driven by thehousing 63 to move, at least one set of limitingmembers 6212 is formed on a second end of the connecting head 621 along a radial direction, in this embodiment, the limitingmembers 6212 are configured as two sets of limiting keys, the two sets of limiting keys are symmetrically configured, and arotation stopping groove 631 corresponding to positions of the limiting keys is formed on thehousing 63, so that thehousing 63 can drive the connecting head 621 to move.

As shown in fig. 18, therotation sleeve 622 of the present embodiment is formed with at least one set ofrotation stoppers 6221, in the present embodiment, therotation stoppers 6221 are provided in two sets, the two sets ofrotation stoppers 6221 are symmetrically provided, thenut seat 5223 is correspondingly provided withrotation stopper protrusions 52231 along the radial direction, and therotation stopper protrusion 52231 extends into therotation stopper 6221, so that thenut seat 5223 is restricted by therotation sleeve 622, cannot rotate with thesecond lead screw 5222, and can only move linearly with respect to thesecond lead screw 5222.

As shown in fig. 15 and 17, the surgical robot end mechanism of this embodiment further includes anautorotation driving shaft 64, aautorotation connecting member 65 is connected to a first end of theautorotation driving shaft 64, theautorotation connecting member 65 drives the connecting head 621 to rotate through theautorotation driving shaft 64, specifically, theautorotation connecting member 65 drives theautorotation driving shaft 64 by means of a second gear set 651, at least one set ofU-shaped notches ii 641 is formed at the first end of theautorotation driving shaft 64 along the axial direction, the second gear set 651 includes adriving gear ii 6511 and a first drivengear ii 6512, a limit key ii corresponding to theU-shaped notch ii 641 is formed on the first drivengear ii 6512, and the limit key ii extends into, through the driving gear II 6511 and the first driven gear II 6512 intermeshing, therotation drive shaft 64 can rotate along with the second gear set 651, and because the second end of therotation drive shaft 64 is connected with the connector 621, the rotation of therotation drive shaft 64 drives the connector 621 to rotate along with the connector 621. The free end of therotation connecting piece 65 can be connected with a power source such as a motor and the like, and therotation driving shaft 64 can be driven to rotate.

Preferably, the present embodiment receives the push-knife drive shaft 53 in therotation drive shaft 64, and the first end of the push-knife drive shaft 53 is connected to the push-knife connecting member 531 through therotation drive shaft 64.

Further, as shown in fig. 13, 14, 15, 16, and 21, a socket matching with the insertion end is formed at the second end of therotation driving shaft 64 of the present embodiment, achannel 642 for sliding in thepin body 6211 and adeflection space 644 capable of deflecting after sliding in thepin body 6211 are further formed at the second end of therotation driving shaft 64, therotation driving shaft 64 is further provided with a slidingstopper rod 643, thestopper rod 643 is located at one side of thechannel 642, and thestopper rod 643 enters thechannel 642 to stop thepin body 6211 after thepin body 6211 enters thedeflection space 644. Preferably, in the present embodiment, the coupling 621 is controlled to deflect and move within therotation driving shaft 64 by thehousing 63.

Therotation driving shaft 64 of the present embodiment is formed with aninstallation groove 648, and the sliding of thestopper rod 643 in theinstallation groove 648 is limited, specifically, therotation driving shaft 64 is provided with theinstallation groove 648 along the axial direction, theinstallation groove 648 communicates with thechannel 642, one end of theinstallation groove 648 is formed with an annular boss, thestopper rod 643 is formed with astopper projection 6431 at the corresponding position, and thestopper rod 643 abuts against the boss through thestopper projection 6431, and the moving position of thestopper rod 643 at theinstallation groove 648 is limited.

Further, one end of theinstallation groove 648 of the present embodiment is provided with alimit seat 647, thelimit seat 647 is fixedly connected with theinstallation groove 648, an elastic member 646 tightly propping against thelimit rod 643 is further arranged in theinstallation groove 648, the elastic member 646 is set as a spring in the embodiment, one end of the spring leans against thelimit seat 647, and the other end of the spring leans against the boss of thelimit protrusion 6431, so that thelimit rod 643 can be prevented from moving freely in theinstallation groove 648.

Preferably, in order to facilitate the pushing of thestopper rod 643 to move in the mountinggroove 648, a slidingkey 645 is formed on an outer circumferential surface of therotation driving shaft 64 of the present embodiment, and thestopper rod 643 is driven to move by pushing the slidingkey 645, specifically, afirst escape opening 6431 is formed on an outer circumferential surface of therotation driving shaft 64, thefirst escape opening 6431 communicates with thepassage 642, a connectingrod 6451 is provided on one side of the slidingkey 645, and the other end of the connectingrod 6451 extends into thefirst escape opening 6431 and is fixedly connected with a free end of thestopper rod 643, and in addition, at least onesecond escape opening 6453 is formed on therotation driving shaft 64, and a catch is formed on the sliding key 645 at a corresponding position, and the catch extends into thesecond escape opening 6453 and is caught on a side wall of thesecond escape opening 6453, so that the sliding key 645 can be prevented from escaping.

As shown in fig. 20 and 22, therotation connector 65, the opening and closingconnector 31, and the push-type broach connector 531 of the present embodiment are integrally mounted on thebase 7, so that the space occupation can be reduced, and the miniaturization of the robot end mechanism is facilitated, preferably, alimit opening 71 is formed on thebase 7 of the present embodiment, one end of thelimit seat 647 extends into thelimit opening 71, and therotation driving shaft 64 drives thelimit seat 647 to rotate along thelimit opening 71 to a limit position to be limited, and then to stop rotating.

Further, in the embodiment, two sets offirst electrodes 81 are disposed on thebase 7, two sets ofsecond electrodes 82 are disposed at the second end of therotation driving shaft 64, athird electrode 83 is disposed on thehousing 63, andfourth electrodes 84 are disposed on the fixedfinger 11 and themovable finger 12, so that a line a may be formed from thefourth electrode 84 on the fixedfinger 11 to thethird electrode 83 and then to thesecond electrode 82, and finally a line B may be formed from thefourth electrode 84 on the fixedfinger 11 to thethird electrode 83 and then to thesecond electrode 82, and finally to thefirst electrode 81. Finally, the twofirst electrodes 81 are connected with the robot to complete the electrocoagulation signal and energy transmission.

Based on the above structure, the distal end of the surgical robot of the present embodiment drives themovable finger 12 to perform the opening and closing actions by the structure of the opening andclosing connection member 31, the opening and closinglinear driving module 22, and the opening and closingpush rod 21, and drives the push broach to perform the cutting or pushing actions by the structure of the cooperation of the pushbroach connection member 531, the push broachlinear driving module 522, and the pushbroach driving rod 521, and the two sets of driving structures do not interfere with each other. In the embodiment, therotation connecting piece 65, thesleeve 61 and thesleeve driving component 62 are matched to drive the fixedfinger 11 and themovable finger 12 to rotate, meanwhile, the opening andclosing connecting piece 31 is required to drive the opening and closingpush rod 21 to make a linear motion, and the push-broach connecting piece 531 drives the push broach to make a linear motion, so that the rotation, opening and closing and pushing actions of the robot end mechanism are realized through the above manner.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (16)

Translated fromChinese

1.一种手术机器人末端开合装置，其特征在于，包括：1. A surgical robot end opening and closing device is characterized in that, comprising:执行组件(1)，所述执行组件(1)包括定指(11)和动指(12)，所述定指(11)被配置为固定装配，所述动指(12)的第一端与所述定指(11)的固定端铰接配合，所述动指(12)的第二端被配置为自由端；An execution assembly (1), the execution assembly (1) includes a fixed finger (11) and a movable finger (12), the fixed finger (11) is configured as a fixed assembly, and the first end of the movable finger (12) In hinged cooperation with the fixed end of the fixed finger (11), the second end of the movable finger (12) is configured as a free end;开合驱动组件(2)，所述开合驱动组件(2)包括开合推杆(21)和开合直线驱动模块(22)，所述开合直线驱动模块(22)通过所述开合推杆(21)驱动所述动指(12)偏转。An opening and closing drive assembly (2), the opening and closing drive assembly (2) comprising an opening and closing push rod (21) and an opening and closing linear drive module (22), the opening and closing linear drive module (22) passing through the opening and closing The push rod (21) drives the movable finger (12) to deflect.2.根据权利要求1所述的手术机器人末端开合装置，其特征在于，所述开合直线驱动模块(22)包括：2. The surgical robot end opening and closing device according to claim 1, wherein the opening and closing linear drive module (22) comprises:开合传动杆(221)，所述开合传动杆(221)的第一端被设置为动力端，所述开合传动杆(221)的第二端与第一丝杆(224)的第一端螺纹连接；The opening and closing transmission rod (221), the first end of the opening and closing transmission rod (221) is set as the power end, and the second end of the opening and closing transmission rod (221) is connected to the second end of the first screw rod (224). One end screw connection;导向套(222)，所述导向套(222)被固定装配；a guide sleeve (222), the guide sleeve (222) is fixedly assembled;止转件(223)，所述止转件(223)的第一端与所述第一丝杆(224)的第二端固定连接，所述止转件(223)的第二端穿过所述导向套(222)与所述开合推杆(21)的第一端固定连接，所述止转件(223)被所述导向套(222)限转。An anti-rotation member (223), the first end of the anti-rotation member (223) is fixedly connected with the second end of the first screw rod (224), and the second end of the anti-rotation member (223) passes through The guide sleeve (222) is fixedly connected with the first end of the opening and closing push rod (21), and the rotation stopper (223) is restricted by the guide sleeve (222).3.根据权利要求2所述的手术机器人末端开合装置，其特征在于，还包括开合驱动轴(3)，所述开合驱动轴(3)的第一端连接有开合连接件(31)，所述开合驱动轴(3)的第二端借助插接联动结构(4)与所述开合传动杆(221)的第一端连接。3. The surgical robot end opening and closing device according to claim 2, characterized in that it further comprises an opening and closing drive shaft (3), and the first end of the opening and closing drive shaft (3) is connected with an opening and closing connector ( 31), the second end of the opening and closing drive shaft (3) is connected to the first end of the opening and closing transmission rod (221) by means of a plug-in linkage structure (4).4.根据权利要求3所述的手术机器人末端开合装置，其特征在于，所述插接联动结构(4)包括插槽(41)和突起(42)，所述突起(42)伸入所述插槽(41)以进行联动。4. The end opening and closing device for a surgical robot according to claim 3, wherein the plug-in linkage structure (4) comprises a slot (41) and a protrusion (42), and the protrusion (42) extends into the the slot (41) for linkage.5.根据权利要求1或4所述的手术机器人末端开合装置，其特征在于，所述开合推杆(21)的第二端配置有销轴(212)，所述定指(11)上形成有导向口(111)，所述动指(12)上对应形成有斜口(121)，所述销轴(212)依次穿过所述斜口(121)和所述导向口(111)以使所述动指(12)在所述开合推杆(21)的作用下绕着铰接点偏转。5. The surgical robot end opening and closing device according to claim 1 or 4, characterized in that, a pin shaft (212) is disposed at the second end of the opening and closing push rod (21), and the finger (11) A guide port (111) is formed thereon, an inclined port (121) is formed on the movable finger (12) correspondingly, and the pin shaft (212) passes through the inclined port (121) and the guide port (111) in turn. ) to deflect the movable finger (12) around the hinge point under the action of the opening and closing push rod (21).6.一种手术机器人末端机构，采用如权利要求1-5任意一项所述的手术机器人末端开合装置，其特征在于，还包括推刀装置(5)，所述推刀装置(5)包括：6. A surgical robot end mechanism, using the surgical robot end opening and closing device according to any one of claims 1-5, characterized in that, further comprising a knife pushing device (5), the knife pushing device (5) include:推刀(51)，所述推刀(51)与所述开合推杆(21)滑动配合；a push knife (51), the push knife (51) slidingly fits with the opening and closing push rod (21);推刀驱动组件(52)，所述推刀驱动组件(52)包括推刀驱动杆(521)和推刀直线驱动模块(522)，所述推刀直线驱动模块(522)通过所述推刀驱动杆(521)驱动所述推刀(51)做直线往复运动。A knife pusher drive assembly (52), the knife pusher drive assembly (52) includes a knife pusher drive rod (521) and a knife pusher linear drive module (522), the knife pusher linear drive module (522) passing the knife pusher The driving rod (521) drives the push knife (51) to perform linear reciprocating motion.7.根据权利要求6所述的手术机器人末端机构，其特征在于，所述开合推杆(21)形成有容纳所述推刀(51)的推刀槽(211)，所述推刀(51)滑动装配在所述推刀槽(211)内。7 . The end mechanism of a surgical robot according to claim 6 , wherein the opening and closing push rod ( 21 ) is formed with a push knife groove ( 211 ) for accommodating the push knife ( 51 ), and the push knife ( 51) Slidingly assembled in the knife push groove (211).8.根据权利要求6或7所述的手术机器人末端机构，其特征在于，所述推刀直线驱动模块(522)包括：8. The end mechanism of a surgical robot according to claim 6 or 7, wherein the linear drive module (522) for pushing the knife comprises:推刀传动杆(5221)，所述推刀传动杆(5221)的第一端被设置为受力端，所述推刀传动杆(5221)内置有所述开合传动杆(221)；a push knife transmission rod (5221), the first end of the push knife transmission rod (5221) is set as a force end, and the open and close transmission rod (221) is built in the push knife transmission rod (5221);第二丝杆(5222)，所述第二丝杆(5222)与所述推刀传动杆(5221)的第二端固定连接，所述第一丝杆(224)内置于所述第二丝杆(5222)；A second screw rod (5222), the second screw rod (5222) is fixedly connected with the second end of the push knife transmission rod (5221), and the first screw rod (224) is built into the second screw rod (5221). rod(5222);螺母座(5223)，所述螺母座(5223)被配置在所述第二丝杆(5222)上，所述螺母座(5223)被限转，所述螺母座(5223)的一侧与所述推刀驱动杆(521)的第一端连接，所述推刀驱动杆(521)的第二端穿过所述导向套(222)与所述推刀(51)连接。A nut seat (5223), the nut seat (5223) is arranged on the second screw rod (5222), the rotation of the nut seat (5223) is limited, and one side of the nut seat (5223) is connected to the The first end of the push knife driving rod (521) is connected, and the second end of the push knife driving rod (521) is connected to the push knife (51) through the guide sleeve (222).9.根据权利要求8所述的手术机器人末端机构，其特征在于，还包括推刀驱动轴(53)，所述推刀驱动轴(53)的第一端连接有推刀连接件(531)，所述推刀驱动轴(53)的第二端借助所述插接联动结构(4)与所述推刀传动杆(5221)的第一端连接。9 . The end mechanism of the surgical robot according to claim 8 , further comprising a knife push drive shaft ( 53 ), the first end of the push knife drive shaft ( 53 ) being connected with a knife push connector ( 531 ) , the second end of the push knife drive shaft (53) is connected with the first end of the push knife transmission rod (5221) by means of the plug-in linkage structure (4).10.根据权利要求9所述的手术机器人末端机构，其特征在于，所述开合驱动轴(3)的第一端穿过所述推刀驱动轴(53)的第一端。10 . The end mechanism of a surgical robot according to claim 9 , wherein the first end of the opening and closing drive shaft ( 3 ) passes through the first end of the push knife drive shaft ( 53 ). 11 .11.根据权利要求6所述的手术机器人末端机构，其特征在于，所述定指(11)上形成有滑道(112)，所述推刀(51)在所述滑道(112)内滑动，所述动指(12)在对应位置设置有避让口(122)。11. The end mechanism of a surgical robot according to claim 6, wherein a slideway (112) is formed on the designating finger (11), and the pusher (51) is in the slideway (112) When sliding, the movable finger (12) is provided with an escape opening (122) at a corresponding position.12.根据权利要求10所述的手术机器人末端机构，其特征在于，还包括自转装置(6)，所述自转装置(6)包括：12. The end mechanism of a surgical robot according to claim 10, characterized in that it further comprises an autorotation device (6), the autorotation device (6) comprising:套管(61)，所述套管(61)的第一端固定连接所述定指(11)，所述开合推杆(21)内置于所述套管(61)；a sleeve (61), the first end of the sleeve (61) is fixedly connected to the finger (11), and the opening and closing push rod (21) is built in the sleeve (61);套管驱动组件(62)，所述套管驱动组件(62)用于驱动所述套管(61)旋转。A sleeve driving assembly (62) is used for driving the sleeve (61) to rotate.13.根据权利要求12所述的手术机器人末端机构，其特征在于，所述套管驱动组件(62)包括：13. The end mechanism of a surgical robot according to claim 12, wherein the cannula driving assembly (62) comprises:连接头(621)，所述连接头(621)的第一端被设置为插接端，所述连接头(621)的第一端沿着径向方向延伸出销体(6211)，所述推刀传动杆(5221)内置于所述连接头(621)；A connecting head (621), the first end of the connecting head (621) is set as a plug end, the first end of the connecting head (621) extends out of the pin body (6211) along the radial direction, the A push knife transmission rod (5221) is built in the connecting head (621);自转套筒(622)，所述自转套筒(622)的第一端与所述连接头(621)的第二端固定连接，所述自转套筒(622)的第二端与所述导向套(222)固定连接。A rotation sleeve (622), the first end of the rotation sleeve (622) is fixedly connected with the second end of the connecting head (621), and the second end of the rotation sleeve (622) is connected with the guide The sleeve (222) is fixedly connected.14.根据权利要求13所述的手术机器人末端机构，其特征在于，还包括自转驱动轴(64)，所述推刀驱动轴(53)的第一端穿过所述自转驱动轴(64)的第一端，所述自转驱动轴(64)的第一端连接有自转连接件(65)，所述自转驱动轴(64)的第二端形成有与所述插接端配合的承插口，所述自转驱动轴(64)上还形成有用于所述销体(6211)滑入的通道(642)以及所述销体(6211)滑入后能够偏转的偏转空间(644)，所述自转驱动轴(64)还配置有滑动的限位杆(643)，所述限位杆(643)位于所述通道(642)的一侧，所述销体(6211)进入偏转空间(644)后所述限位杆(643)进入所述通道(642)限位所述销体(6211)。14. The end mechanism of a surgical robot according to claim 13, characterized in that it further comprises a rotation drive shaft (64), and the first end of the push knife drive shaft (53) passes through the rotation drive shaft (64) The first end of the rotation drive shaft (64) is connected with a rotation connector (65), and the second end of the rotation drive shaft (64) is formed with a socket for matching with the plug end , a channel (642) for the pin body (6211) to slide into and a deflection space (644) for the pin body (6211) to deflect after sliding in are also formed on the rotation drive shaft (64). The rotation drive shaft (64) is also provided with a sliding limit rod (643), the limit rod (643) is located on one side of the channel (642), and the pin body (6211) enters the deflection space (644) Afterwards, the limiting rod (643) enters the channel (642) to limit the pin body (6211).15.根据权利要求14所述的手术机器人末端机构，其特征在于，所述自转驱动轴(64)形成有滑动装配所述限位杆(643)的安装槽(648)，所述安装槽(648)内还设有顶紧所述限位杆(643)的弹性件(646)，所述自转驱动轴(64)的外周面上形成有滑动键(645)，所述滑动键(645)通过连接杆(6451)连接于所述限位杆(643)，所述滑动键(645)带动所述限位杆(643)移动。15. The end mechanism of a surgical robot according to claim 14, characterized in that, the rotation drive shaft (64) is formed with an installation groove (648) for slidingly assembling the limit rod (643), the installation groove (648) 648) is also provided with an elastic member (646) for pressing the limit rod (643), and a sliding key (645) is formed on the outer peripheral surface of the rotation drive shaft (64), and the sliding key (645) The connecting rod (6451) is connected to the limiting rod (643), and the sliding key (645) drives the limiting rod (643) to move.16.根据权利要求15所述的手术机器人末端机构，其特征在于，所述自转套筒(622)形成有至少一组止转口(6221)，所述螺母座(5223)上沿着径向方向设置有和所述止转口(6221)配合的止转凸起(52231)以使所述螺母座(5223)被限转。16. The end mechanism of a surgical robot according to claim 15, wherein the rotation sleeve (622) is formed with at least one set of anti-rotation openings (6221), and the nut seat (5223) is arranged in a radial direction. An anti-rotation protrusion (52231) matched with the anti-rotation opening (6221) is provided to limit the rotation of the nut seat (5223).

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