Disclosure of Invention
The application provides a control mechanism of a flexible mechanical arm, which is used for improving the operation accuracy of the control mechanism of the flexible mechanical arm, simplifying, miniaturizing and compacting the control mechanism, facilitating the remote operation and reducing the cost.
In one aspect, an embodiment of the present application provides a control mechanism for a flexible mechanical arm, where the control mechanism includes a first swing control structure, where the first swing control structure includes a first swing line, a second swing line, a first screw, a second screw, and a first rotary screw;
The first swing line and the second swing line penetrate through the first flexible arm and are symmetrically arranged about the axis of the first flexible arm, and the distal ends of the first swing line and the second swing line are fixed at the distal end of the first flexible arm;
The first screw piece and the second screw piece are arranged on two sides of the first rotary screw rod;
The first rotary screw is rotatably connected to the proximal end of the first flexible arm, and the outer surface of the first rotary screw is provided with a first thread and a second thread with opposite rotation directions;
the rotation of the first rotary screw rod can drive the first screw piece and the second screw piece to move in opposite directions so as to drive one of the first swing line and the second swing line to be tensioned and the other to be released, and further the swing of the first flexible arm is controlled.
In some alternative embodiments, the first swing control structure further comprises a first sleeve having a first receiving cavity for receiving the first screw, the second screw, and the first rotary screw;
The first rotary screw and the first sleeve rotate independently;
The outer surfaces of the first screw piece and the second screw piece are respectively provided with a first convex part and a second convex part, and the first sleeve is respectively provided with a first guide groove and a second guide groove corresponding to the first convex part and the second convex part;
The first guide groove and the second guide groove are used for guiding the first convex part and the second convex part to move along the extending direction of the first rotary screw.
In some alternative embodiments, the first swing control structure further comprises a first adjusting screw and a second adjusting screw, the proximal ends of the first adjusting screw and the second adjusting screw are respectively in threaded connection with the first screw piece and the second screw piece;
the distal ends of the first adjusting screw and the second adjusting screw are respectively connected with the proximal ends of the first swing line and the second swing line;
the relative rotation of the first adjusting screw and the first screw piece can adjust the tightening degree of the first swing line; the relative rotation of the second adjusting screw and the second screw piece can adjust the tightening degree of the second swing wire.
In some alternative embodiments, the control structure further comprises a first control wheel;
the first control wheel, the first flexible arm and the first sleeve are fixed relatively and rotate synchronously.
In some alternative embodiments, the first swing control structure further comprises a first connecting plate, wherein the distal end of the first connecting plate is fixed on the first control wheel, and the proximal end of the first connecting plate is provided with a clamping groove for engaging with a first limiting step outside the first rotary screw.
In some alternative embodiments, the first swing control structure further comprises a second control wheel;
The second control wheel is arranged at the proximal end of the first rotating screw rod and used for controlling the first rotating screw rod to rotate.
In some alternative embodiments, the flexible mechanical arm includes a second flexible arm that passes through the first flexible arm, the first rotary screw is a hollow structure, and the second flexible arm passes through the hollow structure of the first rotary screw;
The control mechanism further comprises a second swing control structure which is arranged at the proximal end of the first swing control structure and is identical to the first swing control structure in structure and used for controlling the swing of the second flexible arm.
In some optional embodiments, the flexible mechanical arm further comprises an electrocoagulation forceps disposed at a distal end of the flexible mechanical arm, the electrocoagulation forceps comprising a first binding clip and a second binding clip, the second binding clip being hinged to the first binding clip, the control mechanism further comprising a binding clip control structure;
the forceps head control structure is arranged at the proximal end of the flexible mechanical arm and comprises a control rope and a rotary control shaft,
The distal end of the control rope is connected with the proximal end of the second clamp head, the proximal end of the control rope is fixed on the rotation control shaft, and the rotation of the rotation control shaft can cause the synchronous rotation of the control rope so as to drive the electric coagulation clamp to rotate.
In some alternative embodiments, the clamp head control structure further comprises a third sleeve and a screw rod which are matched with each other through threads, wherein the distal end of the third sleeve is fixed to the proximal end of the rotary control shaft;
the rotation of the screw rod drives the third sleeve to move along the axial direction of the screw rod, and then drives the control rope to push or pull the second clamp head so as to control the second clamp head to open and close relative to the first clamp head.
In some alternative embodiments, a first conductive ring and a first spring pin are disposed within the third sleeve,
The first conductive ring is fixed on the inner wall of the third sleeve and is electrically connected with an external power supply;
One end of the first spring needle is arranged on the rotary control shaft and is electrically connected with the control rope, and the other end of the first spring needle is always abutted to the first conductive ring.
In some alternative embodiments, the clamp head control structure further comprises a wire, a second conductive ring and a second spring pin,
The distal end of the lead is connected with the proximal end of the first clamp head, and the proximal end of the lead is fixed on the rotation control shaft;
the second conductive ring is fixed on the inner side of the outer wall of the third sleeve and is electrically connected with an external power supply;
One end of the second spring needle is fixed on the rotary control shaft and is electrically connected with the lead, and the other end of the second spring needle is always abutted to the second conductive ring.
On the other hand, the embodiment of the application provides a medical instrument, which comprises the control mechanism and further comprises a flexible mechanical arm, wherein the flexible mechanical arm comprises a first flexible arm and a second flexible arm;
the second flexible arm comprises a first swinging section and a second swinging section which are connected with each other;
the first swinging section is positioned in the first flexible arm and swings along with the first flexible arm, and the second swinging section extends out of the distal end of the first flexible arm and swings under the control of the control mechanism.
In some optional embodiments, a top sleeve is fixedly arranged at the distal end of the first flexible arm, and a limiting block is fixedly arranged at the proximal end of the second swing section;
The top sleeve is provided with a second accommodating cavity for accommodating the limiting block, and allows the limiting block to rotate in the second accommodating cavity and limits the limiting block to move in the axial direction.
In some alternative embodiments, the flexible robotic arm further comprises an electrocoagulation clamp.
On one hand, the application controls the movement of the outer screw piece of the rotating screw rod by arranging the rotating screw rod at the proximal end of the flexible arm so as to control the movement of the proximal end of the swinging line connected with the screw piece, thereby driving the swinging of the flexible arm, realizing the control structure simplification, miniaturization and compactness of the flexible mechanical arm and reducing the cost, and being convenient for the remote operation by arranging the driving structure and the control mechanism to integrate.
On the other hand, the flexible arms are arranged, and the control structures of the flexible arms are sequentially arranged along the axial direction, so that the volume of the control mechanism can be reduced, and the design is simple.
In still another aspect, the application respectively and independently controls the on-off of the two binding clip in the electric coagulation forceps through the lead and the control rope, thereby improving the use safety of the electric coagulation forceps.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it should be understood that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the invention and in the above-described figures are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
In the description of the operation of the present application, it should be understood that "proximal" and "distal" respectively represent distances from an operator, an end closer to the operator is "proximal" and an end farther from the operator is "distal", and "up", "down", "left" and "right" respectively correspond to the relative positions of the structures in the corresponding diagrams.
Referring to fig. 1 to4, a flexible arm (not numbered in the figure) of the flexible mechanical arm includes a first flexible arm 11 and a second flexible arm 12, where the second flexible arm 12 passes through the first flexible arm 11.
The first swing section 121 of the second flexible arm 12 is located inside the first flexible arm 11, and the proximal end of the second swing section 122 is connected to the distal end of the first swing section 121 and is located outside the first flexible arm 11.
The flexible arms are usually cut integrally, and different cutting patterns are adopted at different positions, so that different functions of each section can be realized. Specifically, the first swinging section 121 is designed into a tubular hollow structure, and can swing in a free deflection manner, so that the first swinging section 121 swings along with the first flexible arm 11. The second pendulum segment 122 is designed as a hinge structure, which can be deflected under the control of a pendulum wire.
The proximal end of the second swinging section 122 in the second flexible arm 12 is provided with a limiting block 123, the proximal end of the limiting block 123 is abutted against the distal end of the pipe wall of the first flexible arm 11, and the limiting block 123 is welded and fixed with the second flexible arm 12, so that the second flexible arm 12 can be limited to slide into the first flexible arm 11.
The distal end of the first flexible arm 11 is provided with a top sleeve 111, the top sleeve 111 being adapted to limit the axial movement of the stopper 123. Wherein the top cover 111 is welded to the distal end of the first flexible arm 11.
The top cover 111 and the limiting block 123 are matched in structure, so that the second flexible arm 12 and the first flexible arm 11 can rotate relatively and cannot move axially.
For example, the inner surface of the distal end of the top cover 111 abuts against the distal end surface of the stopper 123 to prevent the stopper 123 from moving distally, and the distal end of the tube wall of the first flexible arm 11 abuts against the proximal end of the stopper 123 to further limit the stopper 123 from moving proximally. The distal inner surface of the top cover 111, the side wall and the distal end face of the first flexible arm 11 together constitute a space for accommodating the stopper 123, in which the stopper 123 can rotate, and thus the second flexible arm 12 and the first flexible arm 11 relatively rotate.
The proximal ends of the flexible arms are controlled by two sets of cycloids to oscillate the first flexible arm 11 and the second flexible arm 12, respectively.
A first set of cycloids, i.e., a first wobble line 311A and a second wobble line 312A, extend through the interior of the first flexible arm 11, and the distal ends of the first wobble line 311A and the second wobble line 312A are welded to the distal inner surface of the first flexible arm 11. By pulling and releasing the first swing line 311A and the second swing line 312A, the swing of the first flexible arm 11 is controlled. For example, pulling the first swing line 311A and releasing the second swing line 312A controls the first flexible arm 11 to deflect to the left as shown in fig. 3. Similarly, the first swing line 311A is released, and the second swing line 312A is pulled, controlling the first flexible arm 11 to deflect rightward.
The second set of cycloids, i.e., the third wobble line 311B and the fourth wobble line 312B, are used to control the wobble of the second flexible arm 12, and the connection manner and the wobble control manner are the same as those of the first set of cycloids, and are not described herein.
In the above embodiment, each flexible arm has a set of cycloids, each set of cycloids including two swinging lines symmetrically arranged, so that each flexible arm can swing bidirectionally. In some alternative embodiments, each flexible arm is added with one cycloid, namely two cycloids are arranged, four swinging lines are arranged symmetrically about the axis of the flexible arm, and four-way swinging of each flexible arm in the up-down direction and the left-right direction can be realized.
In some alternative embodiments, the first flexible arm 11 and the second flexible arm 12 may be integrally cut from stainless steel tubes.
Because the control structure of the flexible mechanical arm is complex, the installation is difficult, the size is large, and especially the design of the control mechanism of the multi-flexible mechanical arm is more difficult, the miniaturization, the simplification, the operation comfort level, the operation precision and other aspects of the operation robot comprising the flexible mechanical arm are influenced.
Based on the above problems, the embodiment of the application provides a control mechanism of a flexible mechanical arm, which controls the movement of an outer screw piece of a rotary screw rod through arranging the rotary screw rod at the proximal end of the flexible arm, and further controls the movement of the proximal end of a swinging line connected with the screw piece so as to drive the swinging of the flexible arm, so that the control structure of the flexible mechanical arm can be simplified, miniaturized and compactified, the cost is reduced, and the control mechanism is integrated with a driving structure, thereby being convenient for the remote operation.
Fig. 5-10 are diagrams illustrating a control mechanism for a flexible mechanical arm according to an embodiment of the present application. Referring to fig. 5-10, the control mechanism of the flexible mechanical arm will be described in detail.
The control mechanism includes a first swing control structure 31A, the first swing control structure 31A being for controlling the swing of the first flexible arm 11 described above.
The first swing control structure 31A includes a first swing line 311A, a second swing line 312A, a first screw 313A, a second screw 314A, a first control wheel 315A, a first connection plate 316A, a first rotary screw 317A, and a first sleeve 318A.
A first control wheel 315A is fixed to the proximal end of the first flexible arm 11, and a wire passing hole is provided in the first control wheel 315A for passing through the first swing wire 311A and the second swing wire 312A.
Specifically, the first flexible arm 11 includes a bendable snake bone portion and a non-bendable portion (at the proximal end of the first flexible arm 11), and the first swing control structure 31A is disposed outside the non-bendable portion.
For example, the first control wheel 315A is a nut sleeve fixedly coupled to the proximal end of the first flexible arm 11.
It should be noted that the first control wheel 315A may have other annular structures.
Proximal ends of the first swing line 311A and the second swing line 312A are connected to the first screw piece 313A and the second screw piece 314A, respectively.
In some alternative embodiments, the distal ends of the first and second screw pieces 313A, 314A are provided with first and second adjustment screws 3131A, respectively (not shown).
Specifically, the proximal end of the first swing wire 311A passes through a wire passing hole in the first control wheel 315A and is then connected to the distal end of the first adjustment screw 3131A. The first adjusting screw 3131A is screwed with the first screw 313A, thereby facilitating the installation and removal of the first swing line 311A and the adjustment of the tension degree of the first swing line 311A.
Similarly, the second wobble wire 312A is indirectly coupled to the distal end of the second screw 314A via a second adjustment screw.
In some alternative embodiments, the proximal end of the wobble wire is directly connected to the distal end of the screw.
The distal end of the first link plate 316A is fixed to the proximal end of the first control wheel 315A, and the first link plate 316A extends along the axial direction of the first flexible arm 11. The first connecting plate 316A is disposed outside the first rotating screw 317A, the distal end of the first connecting plate 316A is fixed to the first control wheel 315A, and the proximal end of the first connecting plate 316A is provided with a clamping groove for engaging the first limiting step 3172A outside the first rotating screw 317A.
Specifically, the first screw piece 313A and the second screw piece 314A are disposed outside the first rotary screw 317A, and the distal end of the first rotary screw 317A is rotatably connected to the proximal end of the first connecting plate 316A, and the proximal end of the first rotary screw 317A is fixed with the second control wheel 3171A.
Specifically, the proximal end of the first rotary screw 317A is provided with a threaded portion, and the first restriction step 3172A is provided at the distal end of the threaded portion of the first rotary screw 317A. The proximal end of the first connection plate 316A is provided with a catch, and the first restricting step 3172A cooperates with the catch of the first connection plate 316A to confirm that the first rotation screw 317A and the first connection plate 316A are mounted in place during the mounting process.
Specifically, the outer surface of the first rotating screw 317A has double threads, i.e., a first thread and a second thread, and the rotation directions of the first thread and the second thread are opposite.
The internal threads of the first screw piece 313A are in threaded engagement with the first threads, and the internal threads of the second screw piece 314A are in threaded engagement with the second threads. For example, a double-threaded female screw groove of the first rotary screw 317A mates with a female screw male portion of the first screw 313A and the second screw 314A.
The first screw piece 313A is provided with a first protrusion 3132A on the outer side thereof, and the second screw piece 314A is provided with a second protrusion (not shown) on the outer side thereof.
First sleeve 318A is secured to the lateral side of first connection plate 316A.
In some alternative embodiments, the distal end of first cannula 318A is directly secured to the proximal end of first control wheel 315A.
The first sleeve 318A has a first receiving cavity for receiving the first screw 313A, the second screw 314A, the first connection plate 316A and the first rotary screw 317A. The first sleeve 318A is used to achieve a tight fit of the first screw 313A and the second screw 314A, respectively, with the first rotating screw 317A, preventing disengagement upon relative movement. In some alternative embodiments, first sleeve 318A comprises an upper sleeve 3181A and a lower sleeve 3182A for ease of assembly. Specifically, the upper and lower bushings 3181A and 3182A are each fixed to the outer side surface of the first connection plate 316A by screws. The upper bushing 3181A and the lower bushing 3182A are fastened by screws, wherein the screws are disposed at the ends of the upper bushing 3181A and the lower bushing 3182A, the upper bushing 3181A is provided with a through hole (not numbered in the figure) for mounting the screws, and the lower bushing 3182A is provided with a bottom hole (not numbered in the figure) for mounting the screws.
The first sleeve 318A is provided with a first guide groove and a second guide groove (not numbered). The first guide groove and the second guide groove are for guiding the first protrusion 3132A and the second protrusion to move along the extending direction of the first rotation screw 317A, respectively.
By rotating the first rotating screw 317A, the first screw 313A and the second screw 314A can be controlled to move oppositely along the axial direction of the first rotating screw 317A under the guidance of the first guide groove and the second guide groove, so that one of the first swing line 311A and the second swing line 312A can be driven to be tensioned and the other can be released, and further the swing of the first flexible arm 11 can be driven.
By rotating the first control wheel 315A, synchronous rotation of the first flexible arm 11 and the first swing control structure 31A can be controlled. Specifically, the first control wheel 315A, the first connecting plate 316A and the first sleeve 318A are fixed relatively, and when the first sleeve 318A is driven to rotate by an external force, the first sleeve 318A drives the first screw 313A and the second screw 314A to synchronously rotate, so that the rotation of the whole first swing control structure is realized.
In some alternative embodiments, first control wheel 315A, first rotating screw 317A, and second control wheel 3171A are hollow structures for passing through second flexible arm 12 as described above.
In some alternative embodiments, the control mechanism further comprises a second swing control structure 31B, the second swing control structure 31B being configured to control the swing of the second flexible arm 12.
The structure of the second swing control structure 31B is the same as that of the first swing control structure 31A described above, and will be briefly described below.
The second swing control structure 31B is disposed at the proximal end of the second flexible arm 12, and the second swing control structure 31B includes a third cycloid 311B, a fourth cycloid 312B, a third screw, a fourth screw, a third control wheel 315B, a second connection plate, a second rotary screw, a fourth control wheel 3171B, and a second sleeve.
A third control wheel is fixed to the proximal end of the second flexible arm 12, the third control wheel having a wire passing hole disposed therein.
The outer side surfaces of the third spiral piece and the fourth spiral piece are respectively provided with a third convex part and a fourth convex part;
The third cycloid 311B and the fourth cycloid 312B pass through the wire passing holes in the third control wheel and are respectively fixed to the third screw piece and the fourth screw piece.
The second connecting plate is fixed on the third control wheel and is rotationally connected with the far end of the second rotary screw.
The third screw piece and the fourth screw piece are arranged outside the second rotary screw rod;
A third control wheel 315B is fixed to the proximal end of the second flexible arm 12 and a fourth control wheel 3171B is fixed to the proximal end of the second rotary screw.
The second sleeve is provided with a third guide groove and a fourth guide groove for guiding the movement of the third protrusion and the fourth protrusion, respectively.
By rotating the second rotating screw rod, the third screw piece and the fourth screw piece can be controlled to move reversely along the axial direction of the second rotating screw rod under the guidance of the third guide groove and the fourth guide groove, and one of the third swing line and the fourth swing line can be driven to be tensioned and the other can be released, so that the swing of the second flexible arm can be driven.
The first swing line, the second swing line, the third swing line and the fourth swing line are symmetrically arranged about the axis of the flexible mechanical arm, and the first flexible arm and the second flexible arm can deflect bidirectionally on each rotation angle by being matched with the integral rotation of the flexible arm and the swing control mechanism, so that the operation is flexibly performed.
In some embodiments, the flexible robotic arm further comprises an electrocoagulation clamp 2, the electrocoagulation clamp 2 being disposed at a distal end of the flexible arm for performing a surgical operation. Referring specifically to fig. 7-9, the distal end of the second flexible arm 12 is provided with an electrocoagulation clamp 2.
The electrocoagulation clamp 2 and the second flexible arm 12 are rotated relative to each other.
In some alternative embodiments, the proximal end of the electrocoagulation forceps 2 is provided with a sheath 23, the sheath 23 is used for connecting the second flexible arm 12 and the electrocoagulation forceps 2, the proximal end of the sheath 23 is provided with a groove 231, and the proximal end of the sheath 23 abuts against the distal end face of the second flexible arm 12.
The electrocoagulation clamp 2 further comprises a fixing piece 24, the fixing piece 24 being used for fixing the second flexible arm 12 and the sheath 23 in the axial direction. Specifically, the fixing piece 24 includes a first fixing piece 241 and a second fixing piece 242, wherein distal ends of the first fixing piece 241 and the second fixing piece 242 are provided with protrusions to fit the groove 231 of the sheath 23. Openings are formed in the first fixing piece 241 and the second flexible arm 12 at corresponding positions, and the first fixing piece 241 is positioned and fixed on the outer side of the distal end of the second flexible arm 12 by inserting the first pin 271 into the openings. The first fixing piece 241 is welded to the distal outer side of the second flexible arm 12. The second fixing piece 242 is connected to the second flexible arm 12 in a similar manner to the first fixing piece 241.
The fixing piece 24 is fixed on the second flexible arm 12 at one end, and the convex part at the other end is matched with the groove 231 on the sheath tube 23, so that the sheath tube 23 and the second flexible arm 12 can rotate relatively around the axial direction.
The electrocoagulation clamp 2 further comprises a first clamp head 21 and a second clamp head 22.
The proximal end of the first clamp head 21 is fixed inside the sheath 23, and the distal end of the first clamp head 21 passes out of the sheath 23.
Specifically, a second pin 272 is inserted between the first clamp head 21 and the inside of the sheath 23 to tightly fit and fix the first clamp head 21 and the sheath 23.
The electrocoagulation pliers 2 further comprise a articulation 25, one end of the articulation 25 being provided with a third pin 273, by means of which third pin 273 the articulation 25 is connected in rotation to the distal end of the sheath 23. The other end of the knuckle 25 is provided with a fourth pin 274, by means of which fourth pin 274 the knuckle 25 is rotatably connected to the proximal end of the second jaw 21.
The proximal end of the second binding clip 21 is provided with a terminal 26.
The distal end of the terminal 26 is provided with a fifth pin 275, by means of which fifth pin 275 a rotational connection between the distal end of the terminal 26 and the proximal end of the second binding clip 21 is achieved.
The proximal end of the terminal 26 is secured to a control cord 321.
The control cord 321 moves in the axial direction to open and close the second binding clip 22 at the distal end of the connecting terminal 26 with respect to the first binding clip 21. The control rope 321 rotates around the axial direction to drive the second clamp head 22 to rotate, so as to control the relative rotation of the whole electrocoagulation clamp 2 and the second flexible arm 12.
To facilitate control of the electrocoagulation clamp 2, in some alternative embodiments, the control structure 3 further comprises a clamp head control structure.
In some alternative embodiments, the clamp head control structure includes the control cord 321, the guide wire 322, the rotation control shaft 323, and the fifth control wheel 3231 described above.
The distal end of the control cord 321 is connected to the proximal end of the electric coagulation forceps 2, and the proximal end of the control cord 321 is fixed to a rotation control shaft 323.
The rotation control shaft 323 is used for controlling the rotation of the control rope 321 to drive the electric coagulation forceps 2 to rotate.
The fifth control wheel 3231 is sleeved on the outer side of the rotation control shaft 323, and is used for rotating the rotation control shaft 323 to drive the control rope 321 to rotate. So that the remote electrocoagulation forceps head 2 can be driven to synchronously rotate.
Specifically, the center of the fifth control wheel 3231 is provided with a non-circular through hole, and the cross-sectional shape of the rotation control shaft 323 is matched with the non-circular through hole. The rotation control shaft 323 passes through the non-circular through hole, and the rotation control shaft 323 and the fifth control wheel 3231 can relatively move in the axial direction.
In some alternative embodiments, the clamp head control structure further includes a third sleeve 324 and a screw 326;
the distal end of the third sleeve 324 is secured to the proximal end of the rotation control shaft 323. The proximal end of the third sleeve 324 is provided with a threaded groove;
the surface threads of the screw rod 326 are in threaded fit with the thread grooves of the third sleeve 324;
Specifically, a sixth control wheel 3261 is provided at the proximal end of the screw 326, and the sixth control wheel 3261 is used to control rotation of the screw 326.
The rotation of the screw rod 326 drives the third sleeve 324 to move along the axial direction of the screw rod 326, and further drives the control rope 321 fixed on the rotation control shaft 323 to move along the axial direction of the screw rod 326, and the second clamp head 22 opens and closes relative to the first clamp head 11 under the pushing or pulling of the control rope 321.
In some alternative embodiments, a first conductive ring 327 and a first spring pin 328 are disposed within the third sleeve 324,
The first conductive ring 327 is fixed to the inner wall of the third sleeve 324;
One end of the first spring pin 328 is disposed on the rotation control shaft 323 and electrically connected to the end of the control cord 321, and the other end is used for abutting against the first conductive ring 327 during rotation of the rotation control shaft 323.
Specifically, the proximal end of the control rope 321 is fixed to the rotation control shaft 323, the distal end of the control rope 321 is welded to the fixed end of the first spring needle 328, and the movable end of the first spring needle 328 is always abutted against the inner side of the first conductive ring 327 during rotation along with the control rope 321.
Specifically, the proximal end of the rotation control shaft 323 is radially engaged with the distal end of the third sleeve 324 and relatively rotates in the axial direction. For example, a circular clamping groove is formed in the outer side face of the proximal end of the rotation control shaft 323, a circular clamping ring 3241 is arranged at the distal end of the third sleeve 324, the circular clamping ring 3241 is matched with the circular clamping groove, left-right movement of the third sleeve 324 is achieved, left-right movement of the rotation control shaft 323 is driven, and the rotation control shaft 323 rotates independently along the axial direction relative to the third sleeve 324.
In some alternative embodiments, the head control structure further comprises a wire 322, a second conductive ring 329, and a second spring pin 3210, the distal end of the wire 322 being connected to the first head 21. The proximal end of the guide wire 322 is fixed to a rotation control shaft 323;
The second conductive ring 329 is fixed inside the outer wall of the third sleeve 324 and is sequentially arranged with the first conductive ring 327 along the axial direction of the third sleeve 324;
One end of the second spring pin 3210 is fixed to the rotation control shaft 323 and electrically connected to the wire 322, and the other end is adapted to abut against the second conductive ring 329 during rotation of the rotation control shaft 323.
Specifically, the fixed end (i.e., one end) of the second spring pin 3210 is fixed to the rotation control shaft 323, and the movable end (i.e., the other end) of the second spring pin 3210 abuts against the second conductive ring 329. The movable end of the second spring pin 3210 always contacts the inner side of the second conductive ring 329 during rotation along with the control cord 321.
Specifically, when the control rope 321 and the wire 322 conduct current, insulation from the surrounding environment is required, and thus, insulation plastic coating treatment is required to be performed on the outer surfaces of the control rope 321 and the wire 322.
In some alternative embodiments, the wire 322 needs to be longer than the control cord 321, and the wire 322 should be kept in a loose state during the pulling process of the control cord 321, so that one end of the wire 322 is still unstressed when following the movement of the control cord 321, and the situation that the wire 322 is tensioned and the control cord 321 cannot be pulled is avoided.
The clamp head control structure is arranged in the control mechanism and can control the rotation and the opening and the closing of the electric coagulation clamp, and the clamp head control structure is arranged along the axial direction, so that the miniaturization and the operation simplicity of the control mechanism are facilitated.
In some alternative embodiments, the control mechanism further comprises a support structure 33, the support structure 33 being arranged on the same side of the first swing control structure 31A, the second swing control structure 31B and the clamp head control structure for supporting the respective control structures.
The support structure 33 includes a hanger assembly 331 and a mount 332.
The proximal end of the mount 332 is provided with a plug 3321, a first wire 3322, and a second wire 3323. The plug 3321 includes a first plug 33211 and a second plug 33212.
The first plug 33211 is connected to one end of the first wire 3322, and the other end of the first wire 3322 is connected to the first conductive ring 327. The second plug 33212 is connected to one end of the second wire 3323, and the other end of the second wire 3323 is connected to the second conductive ring 329.
Thus, the first plug 33211 electrically connects the second clamp head 22 to an external power source via the first wire 3322, the first conductive ring 327, the first pogo pin 328, and the control cord 321. The second plug 33212 electrically connects the first binding clip 21 to an external power source through a second wire 3323, a second conductive loop 329, a second spring pin 3210, and a wire 322.
The pendant assembly 331 is disposed on the mounting base 332, and is used for fixing each control structure to the mounting base 332.
The hanger assembly 331 includes a first hanger 3311, a second hanger 3312, a third hanger 3313, a fourth hanger 3314, a fifth hanger 3315, and a sixth hanger 3316.
Specifically, the first suspension member 3311 is disposed at a distal end of the first control wheel 315A. The second hanger 3312 is disposed between the proximal end of the second control wheel 3171A and the distal end of the third control wheel 315B. The third hanger 3313 is disposed between the proximal end of the fourth control wheel 3171B and the distal end of the fifth control wheel 3231. The fourth pendant 3314 is disposed proximal to the fifth control wheel 3231. The fifth hanger 3315 is connected to the proximal end of the third sleeve 324 and the sixth hanger 3316 is disposed on the proximal end of the sixth control wheel 3261.
For example, the sixth hanger 3316 is provided with a circular through hole, a fixed shaft is provided inside the through hole of the sixth control wheel 3261, the fixed shaft extends in the axial direction, a bearing is provided at a proximal end of the fixed shaft, and the bearing is sleeved inside the circular through hole of the sixth hanger 3316. In this way, the resistance of the sixth hanger 3316 to the rotation of the sixth control wheel 3261 is reduced during the rotation of the sixth control wheel 3261. The fifth hanger 3315 is provided with a non-circular through hole matching the outer shape of the proximal end of the third sleeve 324. The structure of the sixth hanger 3316 of each other is similar to that of the other hangers and will not be described herein.
In some alternative embodiments, the proximal end of the screw 326 passes through the sixth control wheel 3261 and is fixed to the sixth hanger 3316 by a spring clip 33161 to prevent the screw 326 from sliding off the sixth hanger 3316 during rotation.
In some alternative embodiments, the first control wheel 315A, the second control wheel 3171A, the third control wheel 315B, the fourth control wheel 3171B, the fifth control wheel 3231 and the sixth control wheel 3261 may be designed into a gear shape, and may be used for docking with a driving device such as a driving motor, so as to perform remote electric control, and implement an intelligent control of the medical robot.
In some alternative embodiments, the mounting base 332 includes a locking bolt 3324 and a locking bar 3325, the locking bar 3325 extends along an axial direction, the locking bolt 3324 is fixed on the locking bar 3325, and the locking bolt 3324 is used for locking the control wheel.
Specifically, the lower part of each control wheel can be provided with a lock tongue 3324, under the non-use state, the tip of the lock tongue 3324 can be inserted into a key slot of the control wheel to form interference, the control wheel is kept fixed to prevent rotation under the unexpected condition, and during the use process, the lock bar 3325 is pushed to drive the lock tongue 3324 to rotate and unlock, so that the rotation of the control wheel can be controlled normally.
The supporting structure 33 is arranged in the control mechanism, so that each controllable structure can be supported, the opening and closing of the control wheel in each control structure are controlled, and the safety of the control mechanism is improved.
It should be noted that the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, where the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing is only illustrative of the present application and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present application.