CN112826594A - A surgical robot end rotation device and surgical robot end mechanism - Google Patents

Abstract

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end rotation device and a surgical robot tail end mechanism. A surgical robot tip rotation 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; and the rotation driving assembly comprises a sleeve and a rotation driving module, and the rotation driving module drives the fixed finger to rotate through the sleeve. 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

Operation robot tail end rotation device and operation 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 rotation 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 device and the driving device of the instrument are arranged together or the transmission device is arranged close to the execution end, so that the components of the instrument are more, heavy, large in size and easy to couple, and in addition, the tolerance accumulation of many components causes the precision and the stability of the instrument to be poor.

2. The acting force is manually provided by the doctor to control the execution end to rotate, open and close and push the cutter to act, so that the labor intensity of the doctor in the operation work is high, and the operation precision of the execution end is low.

3. The steel wire rope traction mode that transmission adopted, steel wire rope belong to the flexible coupling, inevitably can appear skidding at steel wire wheel rotation ground in-process, and steel wire rope itself is yielding, and this all makes and utilizes steel wire wheel turned angle to control the turned angle or the removal displacement of execution end and can appear the deviation, can't realize accurate control, and on the other hand, steel wire rope is also easy loss, stability can be poor owing to the nature of itself in long-term traction stretching process.

Disclosure of Invention

The invention provides a surgical robot tail end rotation device and a surgical robot tail end mechanism, and solves the technical problems in the prior art that the surgical robot tail end mechanism is more in parts, heavy in weight, large in size and poor in stability. The technical scheme of the invention is as follows:

a surgical robot tip rotation 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; and the rotation driving assembly comprises a sleeve and a rotation driving module, and the rotation driving module drives the fixed finger to rotate through the sleeve.

According to one embodiment of the invention, the rotation driving module comprises a connector, a driving module and a driving module, wherein the first end of the connector is set as a plug-in end; the first end of the rotation sleeve is fixedly connected with the second end of the connector, the second end of the rotation sleeve is fixedly connected with the first end of the sleeve by means of a guide sleeve, and the second end of the sleeve is fixedly connected with the fixed finger.

According to an embodiment of the invention, the connector further comprises a rotation driving shaft, a rotation connecting piece is connected to a first end of the rotation driving shaft, a socket matched with the insertion end is formed at a second end of the rotation driving shaft, a pin body extends out of a first end of the connector along the radial direction, a channel for the pin body to slide in and a deflection space which can deflect after the pin body slides in are further formed on the rotation driving shaft, a sliding limiting rod is further configured on the rotation driving shaft, the limiting rod is located on 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.

The utility model provides a terminal mechanism of surgical robot, adopts foretell terminal rotation device of surgical robot, still includes the device that opens and shuts, the device that opens and shuts includes: the first end of the opening and closing push rod is movably connected with the execution assembly, and the opening and closing push rod is arranged in the sleeve; 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, the second end of the opening and closing transmission rod is in threaded connection with the first end of the first screw rod, the opening and closing transmission rod is arranged in the connector, and the first screw rod is arranged in the rotation sleeve; 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 second 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 present invention, a first 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 a bevel opening, and the pin shaft sequentially passes through the bevel 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.

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 invention, further comprising a push-broach device comprising: the push knife is assembled with the opening and closing push rod in a sliding mode; the push broach driving assembly comprises a push broach driving rod and a push broach linear driving module, the push broach driving rod is arranged in the connector, 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 present invention, the push broach linear drive module includes: the first end of the push broach transmission rod is provided with a stress end, and the push broach transmission rod is arranged in the autorotation sleeve; 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, one side of the nut seat is connected with the first end of the push-type broach driving rod, the second end of the push-type broach driving rod penetrates through the guide sleeve to be connected with the push-type broach, and the nut seat is limited in rotation.

According to one embodiment of the invention, the self-rotating sleeve is provided with at least one group of rotation stopping mouths, and the nut seat is provided with rotation stopping bulges matched with the rotation stopping mouths so as to limit the rotation of the nut seat.

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 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 an embodiment of the present invention, the first end of the push broach drive shaft passes through the first end of the rotation drive shaft, and the first end of the opening and closing drive shaft passes through the first end of the push broach drive shaft.

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

1. the self-rotating device of the invention is internally provided with a push broach driving component, the opening and closing push rod and the opening and closing linear driving module are internally arranged in the push broach driving component, 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, complex structure and large occupied space of the robot end device, the driving shaft and the driving rod adopted by the application drive the robot end mechanism to rotate, open and close and push the cutter, the structure is greatly simplified, the parts are less, the volume is small, can really realize the terminal mechanism miniaturization of robot, 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 to make terminal mechanism of robot stability in use good.

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 arranged in a stepped mode, so that the space can be fully utilized, mutual movement is not interfered, and the miniaturization and the 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; be formed with the spline mouth on the rotation sleeve, it is protruding to be provided with the spline along radial direction correspondence on the nut seat, the spline is protruding to stretch 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, stop device that this application need not set up carries on spacingly to the nut seat, thereby robot end mechanism has been simplified, place first lead screw in the second lead screw in addition, place the rotation sleeve in the second lead screw, occupation in reducible space like this, 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 can be 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 a rotation driving assembly;

FIG. 3 is a schematic structural view of the guide sleeve;

FIG. 4 is a schematic view of the mating structure of the housing and the connector;

fig. 5 is a sectional view of the rotation driving shaft;

fig. 6 is an exploded view of the spinning drive shaft;

FIG. 7 is a schematic view of the structure of the channel and deflection space;

FIG. 8 is a partial structural view of a rotation driving shaft;

fig. 9 is a schematic structural view of the engagement of the rotation driving shaft with the rotation coupling member;

FIG. 10 is a schematic view of the opening and closing device;

FIG. 11 is a schematic structural view of the opening/closing push rod;

FIG. 12 is a schematic view of the mating structure of the opening and closing drive shaft and the opening and closing connector;

FIG. 13 is a schematic structural view of the plugging linkage structure;

FIG. 14 is a schematic view of the structure of the push-type broach device;

FIG. 15 is an exploded view of the cooperation of the pusher drive shaft and the pusher drive link;

FIG. 16 is a schematic view of the mating arrangement of the pusher drive shaft and the pusher coupling;

FIG. 17 is a schematic view of the structure of the push-type broach in cooperation with the actuator assembly;

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-a rotation driving component; 21-a sleeve; 22-rotation driving module; 221-a connector; 2211-pin body; 2212-limit piece; 222-a spinning sleeve; 2221-rotation stop port; 2222-mounting projections; 223-a guide sleeve; 2231-square holes; 2232-a ring-shaped protrusion; 22321-mounting openings; 23-a housing; 231-rotation stopping grooves; 3-a self-rotation driving shaft; 31-U-shaped notch I; 32-channel; 33-a limiting rod; 331-a limit projection; 34-a deflection space; 35-a sliding key; 351-connecting rod; 352-first escape opening; 353-second escape opening; 36-an elastic member; 37-a limiting seat; 38-mounting grooves; 39-autorotation connection; 391-a first gear set; 3911-driving gear I; 3912-a first driven gear I; 4-an opening and closing device; 41-opening and closing push rod; 411-a pusher slot; 412-pin axis; 413-rotation limiting projection; 42-opening and closing linear driving module; 421-opening and closing transmission rod; 422-rotation stopping piece; 423-first lead screw; 43-opening and closing drive shaft; 431-a folding connector; 5-a splicing linkage structure; 51-a slot; 52-a protrusion; 6-a push-type broach device; 61-a push broach; 62-a push-broach drive assembly; 621-a push-knife drive rod; 622-push-broach linear drive module; 6221-a push-type broach transmission rod; 6222-a second lead screw; 6223-nut seats; 62231-stop rotation projection; 63-a push-broach drive shaft; 631-a push-broach attachment; 632-U-shaped notch I; 633-second gear set; 6331 — driving gear ii; 6332-first driven gear ii; 6333-a second driven gear; 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 terminal rotation device of the present embodiment includes anactuating assembly 1 and arotation driving assembly 2, theactuating assembly 1 includes a fixedfinger 11 and amovable finger 12, the fixedfinger 11 is configured to be fixedly assembled, a first end of themovable finger 12 is in hinged fit with a fixed end of the fixedfinger 11, and a second end of themovable finger 12 is configured to be a free end;rotation drive assembly 2 includessleeve 21 androtation drive module 22, androtation drive module 22 passes throughsleeve 21 drive and decides to indicate 11 to rotate, and then makes the rotation ofsleeve 21 can drive and decide to indicate 11 and move and indicate 12 to rotate, and this embodiment sets up to the pipe fitting through the partial structure with rotation device to can embed other parts, in order to reduce the occupation in space, be favorable to the miniaturization of robot end mechanism.

Further, as shown in fig. 2, thecasing driving assembly 22 of the present embodiment drives theactuating assembly 1 to rotate through thecasing 21, specifically, thecasing driving assembly 22 includes aconnector 221 and arotation sleeve 222, a first end of theconnector 221 is configured as an insertion end, a first end of therotation sleeve 222 is fixedly connected to a second end of theconnector 221, a second end of therotation sleeve 222 is fixedly connected to a first end of theguide sleeve 223, a second end of thecasing 21 is fixedly connected to a second end of theguide sleeve 223, theconnector 221 is driven to rotate under the action of an external force, and the rotation of theconnector 221 drives theactuating assembly 1 to rotate through thecasing 21.

As shown in fig. 2, 4 and 18, theconnection head 221 of this embodiment can be driven by thehousing 23 to move, specifically, at least one set of limitingmembers 2212 is formed at the second end of theconnection head 221 along the radial direction, in this embodiment, the limitingmembers 2212 are provided as two sets of limiting keys, the two sets of limiting keys are symmetrically provided, therotation stopping groove 231 matched with the limiting keys is formed on thehousing 23, and the limiting keys partially extend into therotation stopping groove 231, so that thehousing 23 can drive theconnection head 221 to move under the action of an external force.

Preferably, therotation sleeve 222 of the present example is coupled with theguide sleeve 223, and in particular, the second end of therotation sleeve 222 is formed with at least one set of mountingprotrusions 2222 along the axial direction, in this embodiment, two sets of mountingprotrusions 2222 are symmetrically arranged, the first end of theguide sleeve 223 is formed with anannular protrusion 2232 along the radial direction, theannular protrusion 2232 is formed with a mountingopening 22321 matched with the mountingprotrusions 2222, the second end of therotation sleeve 222 abuts against theannular protrusion 2232, and the mountingprotrusions 2222 protrude into the mountingopening 22321, so that theguide sleeve 223 and therotation sleeve 222 are coupled.

As shown in fig. 8 and 9, the surgical robot end mechanism of this embodiment further includes arotation driving shaft 3, arotation connecting member 39 is connected to a first end of therotation driving shaft 3, therotation connecting member 39 drives theconnector 221 to rotate through therotation driving shaft 3, specifically, therotation connecting member 39 drives therotation driving shaft 3 through a first gear set 391, a first end of therotation driving shaft 3 is formed with at least one set of U-shaped notch i 31 along an axial direction, the first gear set 391 includes a driving gear i 3911 and a first driven gear i 3912, the first driven gear i 3912 is formed with a limit key i corresponding to the U-shaped notch i 31, the limit key i extends into the U-shaped notch i 31, so that, by mutual engagement of the driving gear i 3911 and the first driven gear i 3912, therotation driving shaft 3 can rotate along with the first gear set 391, because the first end of therotation driving shaft 3 is connected with theconnector 221, the rotation of therotation driving shaft 3 drives theconnection head 221 to follow the rotation. The free end of therotation connecting piece 39 can be connected with a power source such as a motor and the like, and therotation driving shaft 3 can be driven to rotate.

Further, as shown in fig. 5 to 8, a socket matching with the plug end is formed at the second end of therotation driving shaft 3 of this embodiment, apin body 2211 is formed on the outer peripheral surface of the plug end of theconnector 221, achannel 32 for sliding in thepin body 2211 and adeflection space 34 capable of deflecting after sliding in thepin body 2211 are further formed at the second end of therotation driving shaft 3, a slidingstopper rod 33 is further disposed on therotation driving shaft 3, thestopper rod 33 is located at one side of thechannel 32, and after thepin body 2211 enters thedeflection space 34, thestopper rod 33 enters thechannel 32 to stop thepin body 2211. Preferably, in the present embodiment, thecoupling head 221 is deflected and moved within therotation driving shaft 3 by the drivinghousing 23.

Therotation driving shaft 3 of the present embodiment is formed with a mounting groove 38, the sliding of the limitingrod 33 in the mounting groove 38 is limited, specifically, therotation driving shaft 3 is provided with the mounting groove 38 along the axial direction, the mounting groove 38 is communicated with thechannel 32, one end of the limitingrod 33 is formed with a limitingprojection 331, the mounting groove 38 is formed with an annular boss at a corresponding position, and the limitingprojection 331 abuts against the boss to limit the moving position of the limitingrod 33 in the mounting groove 38.

Further, one end of the mounting groove 38 of the present embodiment is provided with a limitingseat 37, the limitingseat 37 is fixedly connected with the mounting groove 38, and the mounting groove 38 is further provided with an elastic member 36 for tightly pushing the limitingrod 33, in the present embodiment, the elastic member 36 is configured as a spring, one end of the spring abuts against the limitingseat 37, and the other end of the spring abuts against the limitingprotrusion 331, so that the limitingrod 33 can be prevented from moving freely in the mounting groove 38.

Preferably, in order to facilitate pushing the limitingrod 33 to move in the mounting groove 38, a slidingkey 35 is formed on an outer circumferential surface of therotation driving shaft 3 of the present embodiment, and the limitingrod 33 is driven to move by pushing the slidingkey 35, specifically, a first avoidingopening 352 is formed on the outer circumference of therotation driving shaft 3, the first avoidingopening 352 is communicated with thechannel 32, a connectingrod 351 is disposed at one side of the slidingkey 35, and the other end of the connectingrod 351 extends into the first avoidingopening 352 and is fixedly connected with a free end of the limitingrod 33, in addition, at least one second avoidingopening 353 is further formed on therotation driving shaft 3, a buckle is formed at a corresponding position of the slidingkey 35, the buckle extends into the second avoidingopening 353 and is hung on a side wall of the second avoidingopening 353, so that the slidingkey 35 is prevented from being separated from the rotation driving.

As shown in fig. 10-13, the surgical robot end mechanism of the present embodiment further includes an opening andclosing device 4, the opening andclosing device 4 includes an opening and closingpush rod 41 and an opening and closinglinear driving module 42, a first end of the opening and closingpush rod 41 is movably connected to the executingcomponent 1, the opening and closingpush rod 41 is disposed in thecasing 21, the opening and closingpush rod 41 is slidably assembled with thecasing 21, so that occupation of space can be reduced, the opening and closinglinear driving module 42 drives themovable finger 12 to deflect through the opening and closingpush rod 41, so that the driving of the opening andclosing device 4 is arranged along the axial direction, and the driving and transmission portion of the opening andclosing device 4 can be disposed in the rotation device, so that occupation.

Further, the opening and closinglinear driving module 42 of the present embodiment pushes themovable finger 12 to perform an opening and closing action under the external force, specifically, the opening and closinglinear driving module 42 includes an opening andclosing transmission rod 421 and arotation stopping member 422, a first end of the opening andclosing transmission rod 421 is set as a power end, a second end of the opening andclosing transmission rod 421 is in threaded connection with a first end of thefirst lead screw 423, thefirst lead screw 423 is embedded in therotation sleeve 222, and the opening andclosing transmission rod 421 is embedded in the connectinghead 221; the first end of therotation stopping piece 422 is fixedly connected with the second end of thefirst screw rod 423, the second end of therotation stopping piece 422 passes through theguide sleeve 223 and is fixedly connected with the second end of the opening and closingpush rod 41, and therotation stopping piece 422 is limited by theguide sleeve 223.

Preferably, as shown in fig. 3 and 10, therotation stopping member 422 of the present embodiment is limited in the movement direction by theguide sleeve 223, and specifically, therotation stopping member 422 is provided as a square member, asquare hole 2231 penetrating through theguide sleeve 223 is formed along the axial direction, thesquare hole 2231 is provided corresponding to the square member, and the square member passes through thesquare hole 2231 and is fixedly connected with the open-close push rod 41, so that therotation stopping member 422 converts the rotation of thefirst screw rod 423 into a linear movement by using the rotation limiting property of the square member and the square hole, so that the open-close push rod 41 can only make a linear movement.

The second ends of therotation stopping piece 422 and the opening and closingpush rod 41 of the embodiment are both formed with fabrication holes, theguide sleeve 223 is formed with notches at corresponding positions, when therotation stopping piece 422 and the second end of the opening and closingpush rod 41 are installed, therotation stopping piece 422 and the opening and closingpush rod 41 are positioned by sequentially inserting bolts into the notches and the fabrication holes, and then therotation stopping piece 422 and the opening and closingpush rod 41 are welded, so that the precision of the robot end mechanism can be ensured.

As shown in fig. 1, 10 and 11, themovable finger 12 of the opening and closingpush rod 41 of the present embodiment deflects around the fixed end of the fixedfinger 11, specifically, the first end of the opening and closingpush rod 41 is configured with apin shaft 412, the fixedfinger 11 is formed with aguide opening 111, themovable finger 12 is formed with aninclined opening 121 corresponding to theguide opening 111, thepin shaft 412 sequentially passes through theinclined opening 121 and theguide opening 111, under the action of an external force, the opening and closingpush rod 41 is pushed to linearly reciprocate, the movement of the opening and closingpush rod 41 drives thepin shaft 412 to move, and the movement of thepin shaft 412 applies a force to theinclined opening 121, so that themovable finger 12 deflects around a.

As shown in fig. 12, the opening andclosing device 4 of this embodiment further includes an opening andclosing driving shaft 43, a first end of the opening andclosing driving shaft 43 is connected to an opening andclosing connection member 431, the opening andclosing connection member 431 drives the opening andclosing transmission rod 421 to rotate through the opening andclosing driving shaft 43, specifically, a first end of the opening andclosing driving shaft 43 is formed with an insertion hole i penetrating in a radial direction, a driving end of the opening andclosing connection member 431 is formed with an insertion hole ii at a corresponding position, when a bolt is inserted into the insertion hole i and the insertion hole ii, the opening andclosing driving shaft 43 rotates along with the driving end of the opening andclosing connection member 431, because a second end of the opening andclosing driving shaft 43 is fixedly connected to the first end of the opening andclosing transmission rod 421, the opening andclosing transmission rod 421 rotates along.

Preferably, as shown in fig. 13, the second end of the opening andclosing driving shaft 43 of the present embodiment is connected to the first end of the opening andclosing transmission rod 421 by means of the insertinglinkage structure 5, specifically, the insertinglinkage structure 5 includes an insertingslot 51 located on the inner circumferential surface of the opening andclosing driving shaft 43 and aprotrusion 52 located on the outer circumferential surface of the opening andclosing transmission rod 421, and theprotrusion 52 extends into the insertingslot 51, so that the opening andclosing transmission rod 421 can rotate along with the opening andclosing driving shaft 43 and can be detachably connected to the opening and closing transmission.

As shown in fig. 14 to 18, the surgical robot end mechanism of the present embodiment further includes a push-broach device 6, the push-broach device 6 includes a push-broach 61 and a push-broach driving assembly 62, the push-broach is slidably assembled with the opening-closing push rod 41, the push-broach driving assembly 62 includes a push-broach driving rod 621 and a push-broachlinear driving module 622, and the push-broachlinear driving module 622 drives the push-broach 61 to perform a linear reciprocating motion through the push-broach driving rod 621, so that the push-broach 61 performs a cutting action. In addition, the driving portion of thepusher mechanism 6 is provided in the axial direction, so that thepusher mechanism 6 can be built in the rotation mechanism to reduce the occupation of space, thereby miniaturizing the robot end mechanism.

Further, as shown in fig. 11 and 23, thepush blade 61 of the present embodiment is slidably fitted with the opening and closingpush rod 41, specifically, the opening and closingpush rod 41 is provided with a U-shaped cross section to form apush blade groove 411, thepush blade 61 is slidably fitted in thepush blade groove 411, thepush blade groove 411 guides the movement of thepush blade 61, and further, the opening and closingpush rod 41 is extended in a radial direction to form arotation limiting protrusion 413 to prevent the opening and closingpush rod 41 from being rotated freely.

Preferably, as shown in fig. 17, the push-type broach 61 of the present embodiment is guided by the fixedfinger 11 during movement, specifically, the fixedfinger 11 is formed with aslide track 112, the push-typebroach driving rod 621 drives the push-type broach 61 to slide in theslide track 112, so that the push-type broach 61 is guided, and themovable finger 12 is provided with an avoidingopening 122 at a corresponding position to avoid interference with the movement of the push-type broach 61.

As shown in fig. 14, the push broachlinear driving module 622 of this embodiment pushes the push broach 61 to perform a cutting action under the action of an external force, specifically, the push broachlinear driving module 622 includes a pushbroach transmission rod 6221, asecond lead screw 6222 and anut seat 6223, a first end of the pushbroach transmission rod 6221 is set as a force-bearing end, the pushbroach transmission rod 6221 is disposed in theconnection head 221, thesecond lead screw 6222 is fixedly connected with a second end of the pushbroach transmission rod 6221, preferably, thefirst lead screw 423 is disposed in thesecond lead screw 6222, the pushbroach transmission rod 6221 rotates under the action of the external force, thesecond lead screw 6222 rotates accordingly, thenut seat 6223 is disposed on thesecond lead screw 6222, one side of thenut seat 6223 is connected with the first end of the pushbroach driving rod 621, in this embodiment, thenut seat 6223 is in snap-fit with the pushbroach driving rod 621, the second end of the pushbroach driving rod 621 passes through theguide sleeve 223 to be, thenut holder 6223 is restricted in rotation by theguide sleeve 223.

Preferably, the push-knife driving rod 621 of the present embodiment is configured as a square member, and in addition, a hole matched with the push-knife driving rod 621 is formed on theguide sleeve 223, so that theguide sleeve 223 can guide thepush knife 61 and limit the moving direction of thepush knife 61, and thus, under the action of an external force, thepush knife 61 is driven by the push-knife driving rod 621 to reciprocate linearly, thereby performing a cutting action.

Further, in order to ensure the stability of the rotation limitation of thenut holder 6223, as shown in fig. 18, thenut holder 6223 of this embodiment is further limited by therotation sleeve 222, specifically, thenut holder 6223 extends at least one set ofrotation stopping protrusions 62231 along the radial direction, therotation stopping protrusions 62231 are provided in two sets in this embodiment, the two sets ofrotation stopping protrusions 62231 are symmetrically provided, therotation sleeve 222 is formed with rotation stopping openings matched with therotation stopping protrusions 62231, so that thenut holder 6223 is limited, and at the same time, thenut holder 6223 is ensured to receive a balanced rotation force and cannot shake during the movement.

As shown in fig. 16, the push broach device 6 of this embodiment further includes a push broach driving shaft 63, a push broach connecting member 631 is connected to a first end of the push broach driving shaft 63, the push broach connecting member 631 drives the push broach driving rod 6221 to rotate through the push broach driving shaft 63, specifically, the first end of the push broach driving shaft 63 is connected to the push broach connecting member 631, the push broach connecting member 631 drives the push broach driving shaft 63 through a second gear set 633, the first end of the push broach driving shaft 63 is formed with at least one set of U-shaped notches ii 632 along the axial direction, the second gear set 633 includes a driving gear ii 6331, a first driven gear ii 6332 and a second driven gear 6333, the driving gear ii 6331 is engaged with the first driven gear ii 6332, the first driven gear ii 6332 is engaged with the second driven gear 6333, a limit key ii corresponding to the U-shaped notch ii 632 is formed on the second driven gear 6333, the limit key ii extends into the U-shaped notch ii 632, therefore, the push broach driving shaft 63 can rotate along with the first gear set, the second end of the push broach driving shaft 63 is in inserted fit with the first end of the push broach transmission rod 6221, the push broach driving shaft 63 rotates to drive the push broach transmission rod 6221 to rotate, and the free end of the push broach connecting piece 631 can be connected with a power source such as a motor and the like and can drive the push broach driving shaft 63 to rotate.

Further, as shown in fig. 15, the second end of the pushbroach driving shaft 63 of the present embodiment is inserted and matched with the first end of the pushbroach transmission rod 6221 by means of theinsertion linkage structure 5, specifically, theinsertion linkage structure 5 includes aprotrusion 52 formed on the outer peripheral surface of the second end of the pushbroach driving shaft 63 and aslot 51 formed on the inner peripheral surface of the first end of the pushbroach transmission rod 6221, theprotrusion 52 extends into theslot 51 to make the pushbroach driving shaft 63 and the pushbroach transmission rod 6221 form linkage, that is, the pushbroach transmission rod 6221 can rotate along with the pushbroach driving shaft 63, and at the same time, the pushbroach transmission rod 6221 rod and the pushbroach driving shaft 63 form detachable connection.

Further, in order to miniaturize the surgical robot end mechanism, the size of the surgical robot end mechanism is small, as shown in fig. 19, the first end of the opening and closingdrive shaft 43 passes through the first end of the push-typebroach drive shaft 63, and the first end of the push-typebroach drive shaft 63 passes through the first end of therotation drive shaft 3, so that therotation drive shaft 3, the opening and closingdrive shaft 43, and the first end of the push-typebroach drive shaft 63 are distributed in a stepped manner, so as to reduce the occupied space and facilitate the miniaturization of the robot end mechanism.

As shown in fig. 20 and 21, therotation connector 39, the opening andclosing connector 431, and thepush broach connector 631 of the present embodiment are integrally mounted on thebase 7, so that the occupied space can be reduced, and the miniaturization of the robot end mechanism is facilitated, and preferably, alimit opening 71 is formed on thebase 7 of the present embodiment, one end of thelimit seat 37 extends into thelimit opening 71, and therotation driving shaft 3 drives thelimit seat 37 to rotate to a limit position along thelimit opening 71 to be limited, and then stops rotating, so as to prevent the rotation angle from exceeding a set angle.

Further, as shown in fig. 22, two sets offirst electrodes 81 are disposed on thebase 7 of the present embodiment, two sets ofsecond electrodes 82 are disposed at the second end of therotation driving shaft 3, athird electrode 83 is disposed on thehousing 23, andfourth electrodes 84 are disposed on the fixedfinger 11 and themovable finger 12, so that a line a can 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 can be formed from thefourth electrode 84 on the fixedfinger 11 to thethird electrode 83 and then to thesecond electrode 82 to thefirst electrode 81, and the lines are actually routed from the inside of the shaft rod. Finally, the twofirst electrodes 81 are connected with the robot to complete the electrocoagulation signal and energy transmission.

Based on the above structure, as shown in fig. 23, in the surgical robot end mechanism of the present embodiment, the opening andclosing connecting piece 431, the opening and closinglinear driving module 42 and the opening and closingpush rod 41 are matched to drive themovable finger 12 to perform the opening and closing movement, the pushknife connecting piece 631, the push knifelinear driving module 622 and the pushknife driving rod 621 are matched to drive thepush knife 61 to perform the cutting or pushing movement, and the two sets of driving structures do not interfere with each other. In the embodiment, therotation connecting piece 39, thesleeve 21 and thesleeve driving assembly 22 are matched to drive the fixedfinger 11 and themovable finger 12 to rotate, meanwhile, the opening andclosing connecting piece 431 is required to drive the opening and closingpush rod 41 to do linear motion, and the pushknife connecting piece 631 drives thepush knife 61 to do linear motion, so that the rotation, opening and closing and pushing actions of the robot end mechanism are realized in the manner described above.

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)

1. A surgical robot terminal rotation device, comprising:

the actuating assembly (1) comprises a fixed finger (11) and a movable finger (22), wherein the fixed finger (11) is configured to be fixedly assembled, a first end of the movable finger (22) is in hinged fit with a fixed end of the fixed finger (11), and a second end of the movable finger (22) is configured to be a free end;

the rotation driving assembly (2), the rotation driving assembly (2) comprises a sleeve (21) and a rotation driving module (22), and the rotation driving module (22) drives the fixed finger (11) to rotate through the sleeve (21).

2. The surgical robot tip spinning device according to claim 1, wherein the spinning driving module (22) comprises:

the connector comprises a connector (221), wherein a first end of the connector (221) is set as a plug-in end;

and a first end of the rotation sleeve (222) is fixedly connected with a second end of the connector (221), a second end of the rotation sleeve (222) is fixedly connected with a first end of the sleeve (21) through a guide sleeve (223), and a second end of the sleeve (21) is fixedly connected with the finger (11).

3. The surgical robot tip spinning device according to claim 1 or 2, further comprising a spinning drive shaft (3), the first end of the rotation driving shaft (3) is connected with a rotation connecting piece (39), the second end of the rotation driving shaft (3) is provided with a socket matched with the insertion end, a pin body (2211) extends from the first end of the connecting head (221) along the radial direction, the self-rotation driving shaft (3) is also provided with a channel (32) for sliding in the pin body (2211) and a deflection space (34) which can deflect after the pin body (2211) is slid in, the rotation driving shaft (3) is also provided with a sliding limiting rod (33), the limiting rod (33) is positioned at one side of the channel (32), after the pin body (2211) enters the deflection space (34), the limiting rod (33) enters the channel (32) to limit the pin body (2211).

4. The surgical robot terminal rotation device according to claim 3, wherein the rotation driving shaft (3) is formed with a mounting groove (38) in which the stopper rod (33) is slidably mounted, an elastic member (36) for pressing against the stopper rod (33) is further disposed in the mounting groove (38), a sliding key (35) is formed on an outer circumferential surface of the rotation driving shaft (3), the sliding key (35) is connected to the stopper rod (33) through a connecting rod (351), and the sliding key (35) drives the stopper rod (33) to move.

5. A surgical robot tip mechanism using the surgical robot tip spinning device according to any one of claims 1 to 4, further comprising an opening and closing device (4), wherein the opening and closing device (4) comprises:

the first end of the opening and closing push rod (41) is movably connected with the execution component (1), and the opening and closing push rod (41) is arranged in the sleeve (21);

the opening and closing linear driving module (42) drives the movable finger (22) to deflect through the opening and closing push rod (41).

6. Surgical robotic tip mechanism according to claim 5, characterized in that said opening and closing linear drive module (42) comprises:

the first end of the opening and closing transmission rod (421) is set as a power end, the second end of the opening and closing transmission rod (421) is in threaded connection with the first end of the first screw rod (423), the opening and closing transmission rod (421) is arranged in the connector (221), and the first screw rod (423) is arranged in the rotation sleeve (222);

the first end of the rotation stopping piece (422) is fixedly connected with the second end of the first screw rod (423), the second end of the rotation stopping piece (422) penetrates through the guide sleeve (223) to be fixedly connected with the second end of the opening and closing push rod (41), and the rotation stopping piece (422) is limited by the guide sleeve (223).

7. The surgical robot end mechanism according to claim 6, wherein a pin shaft (412) is disposed at a first end of the opening and closing push rod (41), a guide opening (111) is formed on the fixed finger (11), a bevel opening (121) is correspondingly formed on the movable finger (22), and the pin shaft (412) sequentially passes through the bevel opening (121) and the guide opening (111) so that the movable finger (22) deflects around a hinge point under the action of the opening and closing push rod (41).

8. The surgical robot end mechanism according to claim 5 or 7, further comprising an opening and closing drive shaft (43), wherein a first end of the opening and closing drive shaft (43) is connected with an opening and closing connecting piece (431), and a second end of the opening and closing drive shaft (43) is connected with a first end of the opening and closing transmission rod (421) by means of an inserting linkage structure (5).

9. A surgical robotic end mechanism according to claim 8, wherein the socket linkage structure (5) comprises a socket (51) and a protrusion (52), the protrusion (52) extending into the socket (51) for linkage.

10. A surgical robot tip mechanism according to claim 5 or 9, characterized by further comprising a push-broach device (6), the push-broach device (6) comprising:

the push knife (61), the push knife (61) is assembled with the opening and closing push rod (41) in a sliding mode;

the push broach driving assembly (62), push broach driving assembly (62) include push broach drive lever (621) and push broach linear driving module (622), place in push broach drive lever (621) rotation sleeve (222), push broach linear driving module (622) pass through push broach drive lever (621) drive push broach (61) do straight reciprocating motion.

11. The surgical robotic tip mechanism of claim 10, wherein the pusher linear drive module (622) comprises:

the first end of the push broach transmission rod (6221) is set to be a stress end, and the push broach transmission rod (6221) is arranged in the connecting head (221);

the second screw rod (6222), the second screw rod (6222) and the second end of the push broach transmission rod (6221) are fixedly connected, and the first screw rod (423) is arranged in the second screw rod (6222);

the nut seat (6223) is arranged on the second screw rod (6222), one side of the nut seat (6223) is connected with the first end of the push broach driving rod (621), the second end of the push broach driving rod (621) penetrates through the guide sleeve (223) to be connected with the push broach (61), and the nut seat (6223) is limited in rotation.

12. The surgical robot tip mechanism according to claim 11, wherein the rotation sleeve (222) is formed with at least one set of rotation-stopping ports (2221), and the nut holder (6223) is provided with rotation-stopping protrusions (62231) fitted with the rotation-stopping ports (2221) to restrict rotation of the nut holder (6223).

13. The surgical robot tip mechanism according to claim 12, characterized in that a slide (112) is formed on the fixed finger (11), the push-type broach (61) slides in the slide (112), and the movable finger (22) is provided with an avoidance port (122) at a corresponding position.

14. The surgical robot tip mechanism according to claim 10, wherein the opening and closing push rod (41) is formed with a push blade groove (411) accommodating the push blade (61), the push blade (61) being slidably fitted in the push blade groove (411).

15. A surgical robot tip mechanism according to claim 11 or 14, characterized by further comprising a pusher drive shaft (63), a pusher connector (631) being connected to a first end of the pusher drive shaft (63), and a second end of the pusher drive shaft (63) being connected to a first end of the pusher drive rod (6221) by means of the plugging linkage (5).

16. The surgical robot tip mechanism according to claim 15, wherein a first end of the pusher driving shaft (63) passes through a first end of the rotation driving shaft (3), and a first end of the opening and closing driving shaft (43) passes through a first end of the pusher driving shaft (63).

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