CN107334539A - The operating theater instruments and operating robot of operating robot - Google Patents
The operating theater instruments and operating robot of operating robot Download PDFInfo
- Publication number
- CN107334539A CN107334539A CN201710649778.9A CN201710649778A CN107334539A CN 107334539 A CN107334539 A CN 107334539A CN 201710649778 A CN201710649778 A CN 201710649778A CN 107334539 A CN107334539 A CN 107334539A
- Authority
- CN
- China
- Prior art keywords
- drive
- rod
- support
- drive link
- theater instruments
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of operating theater instruments of operating robot and operating robot, the operating theater instruments of operating robot includes：First drive division, support shaft and the first drive link；Support shaft is connected with the first drive division, and first gear is provided with support shaft；One end of first drive link is provided with second gear, and the other end of the first drive link is connected by connector with operation enforcement division；Wherein, first gear is meshed with second gear, and support shaft is located at the side-lower of the first drive link, first drive division driving support shaft rotates, and then drives first gear to rotate, and first gear drives second gear to rotate, second gear drives the first drive rod rotation, and then drives operation enforcement division to rotate.The operating theater instruments that this kind is used for operating robot is simple in construction, the volume of operating theater instruments can effectively be reduced, and rotating manner is flexible so that the instruction that operation enforcement division rapidly and accurately can be sent in limited space according to doctor performs operation technique, it is ensured that operation is smoothed out.
Description
Technical field
The present invention relates to operating robot technical field, in particular to a kind of operating theater instruments of operating robot and
Operating robot.
Background technology
With the development of Minimally Invasive Surgery technology and artificial intelligence technology, robot assisted micro-wound surgical operation is increasingly becoming micro-
Create one of development trend of surgical operation.On the one hand, robot assisted micro-wound surgical operation can largely eliminate tradition
The limitation of minimally invasive surgical techniques, the functions such as remote operation are realized, on the other hand, current robot assisted is minimally invasive
The operation cost of surgical operation is higher, and procedure efficiency has to be hoisted.Therefore, minimally invasive surgical operation robot operation behaviour how is lifted
The flexibility and the degree of accuracy of work, while the versatility with traditional Minimally Invasive Surgery apparatus is improved, turn into robot assisted minimally invasive surgery
One of technical problem urgently to be resolved hurrily during operation development popularization.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art or correlation technique.
Therefore, first purpose of the invention is to propose a kind of operating theater instruments of operating robot.
Second object of the present invention is to propose a kind of operating robot.
In view of this, according to first purpose of the present invention, the invention provides a kind of operating theater instruments of operating robot,
For minimally invasive surgical operation robot, the operating theater instruments of operating robot includes：First drive division, support shaft and the first transmission
Bar；Support shaft is connected with the first drive division, and first gear is provided with support shaft；One end of first drive link is provided with second
Gear, the other end of the first drive link are connected by connector with operation enforcement division；Wherein, first gear and second gear phase
Engagement, support shaft are located at the side-lower of the first drive link, and the first drive division driving support shaft rotates, and then drives first gear to turn
Dynamic, first gear drives second gear to rotate, and second gear drives the first drive rod rotation, and then drives operation enforcement division to turn
It is dynamic.
The operating theater instruments of operating robot provided by the present invention, it is connected by the first drive link with operation enforcement division,
And by the first drive division drive the first drive rod rotation, and then band have an operation enforcement division rotation；The operation of the operating robot
Apparatus structure is simple, can effectively reduce the volume of the operating theater instruments of operating robot, and rotating manner is flexible so that operation
Enforcement division can rapidly and accurately complete the instruction that doctor is sent in limited space, it is ensured that operation is smoothed out；Pass through
Drive division driving support shaft rotates, support shaft and the first drive link by gear drive, effectively ensure that transmission accuracy and
Stability, avoid support shaft occur idle running phenomenon and so that operating theater instruments can not turn to precalculated position；Also, the first drive link
It can be connected with a variety of operation enforcement divisions, and then realize the driving to a variety of operation enforcement divisions, effectively improve surgical machine
The versatility of the operating theater instruments of people.
In addition, the operating theater instruments of the operating robot in above-mentioned technical proposal provided by the invention can also be with following attached
Add technical characteristic：
In the above-mentioned technical solutions, it is preferable that connector includes：First connector, the first connecting pin and the second connector；
One end of first connector is at least partly sheathed on the first drive link；Radial direction of first connecting pin along the first drive link is plugged in
On first drive link and the first connector, to prevent the first connector relative to the first drive rod rotation；The one of second connector
End and the other end of the first connector are rotatablely connected by the first bearing pin, and the other end of the second connector passes through the second bearing pin and hand
Art enforcement division is connected；Wherein, the first bearing pin is mutually perpendicular to the second bearing pin.
In the technical scheme, by the way that one end of the first connector is at least partly sheathed on the first drive link, and lead to
Cross the first bearing pin to be radially plugged on the first connector and the first drive link so that the first connector is relative to the first drive link
Both it will not relatively rotate, relative will not also slide, and have effectively achieved the fixation to the first connector, and by setting first
Connector, reduce the processing capacity of the first drive link, be effectively guaranteed the linearity of the first drive link；Connected by setting second
Fitting and the first connector are rotatablely connected so that operation enforcement division does not interfere with the other of operation enforcement division during rotation
Motion mode；By the way that the first bearing pin is set perpendicularly into the second bearing pin so that operation enforcement division is orthogonal with two
The free degree in direction, and then it is more flexible make it that operation enforcement division rotates, and is easy to operation of the doctor to enforcement division of performing the operation.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：Second drive link and drive
Lever；Second drive link is embedded in the first drive link；One end of drive rod and one end of the second drive link are rotatablely connected, drive rod
The other end pass through the 3rd bearing pin and the second connector and be rotatablely connected；Wherein, the 3rd bearing pin is parallel with the first bearing pin, when the second biography
When lever moves back and forth, the second connector is driven to be rotated around the first bearing pin.
In the technical scheme, by the way that the second drive link is embedded in the first drive link, the hand of operating robot is reduced
The volume of art apparatus, and then efficiently reduce occupancy of the operating theater instruments to space of operating robot；By setting drive rod,
And be connected one end of drive rod with the second drive rod rotation, the other end of drive rod and the second connector are rotatablely connected, and
Second connector and the first connector are rotatablely connected by the first bearing pin, so when the second drive link moves reciprocatingly, can band
Dynamic drive rod moves reciprocatingly, and then drives the second connector to be rotated around the first bearing pin, and because the 3rd bearing pin and first are sold
Axle is parallel, it is ensured that the flexibility of rotation.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：Guide pad, guide pad
In the first drive link；Axis direction of the guide pad along the first drive link is provided with guide groove, and drive rod is embedded in guide groove.
In the technical scheme, by setting guide pad, and by drive rod in the guide groove of guide pad, guide pad pair
Drive rod plays a part of guiding, is effectively guaranteed the accuracy of the drive rod direction of motion and the stability of motion.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：First screw rod, second
Drive division and the first sliding block；First screw rod is parallel with the second drive link；Second drive division is connected with the first screw rod, with driving
First screw rod rotates；First slide block set is on the first screw rod, with the rotation of the first screw rod along the axis direction of the first screw rod
Move back and forth；First sliding block is connected with the second drive link, to drive the second drive link to move reciprocatingly in the axial direction.
In the technical scheme, the first screw rod is driven to rotate by the second drive division, the first screw rod and the first sliding block coordinate,
The first sliding block is driven to be moved reciprocatingly along the first screw rod, the first sliding block is connected with the second drive link, and the second drive link is with
The motion of one sliding block and move back and forth, realize to perform the operation enforcement division driving；Screw rod is connected through a screw thread with sliding block, passes through
The rotation of one screw rod drives the first sliding block to move back and forth, and the first screw rod often rotates one week, and the first sliding block only moves pitch
Distance, this also make it that the control of the motion to the first sliding block is more accurate, and then ensures the accurate of the control to enforcement division of performing the operation
Property.First screw rod equally leading screw can be used to replace, and can reach the effect same with the first screw rod.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：3rd drive link and company
Extension bar；3rd drive link is embedded in the second drive link；One end of connecting rod is connected with one end of the 3rd drive link, connecting rod
The other end is connected by transiting rod with operation enforcement division, to drive operation enforcement division.
In the technical scheme, by the way that the 3rd drive link is embedded in the second drive link, surgical machine is further reduced
The volume of the operating theater instruments of people；3rd drive link is connected by connecting rod with operation enforcement division, and connecting rod is soft bar, and
With some strength, certain axial force can be born, connecting rod is flexible when by radial load, when only by axial force not
It can bend, this kind of connecting rod can both avoid influenceing rotating around the first bearing pin for operation enforcement division, also not interfere with the 3rd transmission
Driving of the bar to enforcement division of performing the operation, it is ensured that the stability that operation enforcement division is moved in each free degree；Specifically, connecting rod can
For steel wire.
In any of the above-described technical scheme, it is preferable that the first spring is arranged with connecting rod, is connected in the two of connecting rod
End.
In the technical scheme, by setting the first spring in connecting rod so that connecting rod upon bending can be with footpath
Automatically reset to the disappearance of power, and ensure that connecting rod is in straight configuration all the time；When connecting rod is by axial force, can increase
The bending strength of strong connecting rod, it is ensured that the accuracy of the driving to enforcement division of performing the operation, the enforcement division that avoids performing the operation is because of the bending of connecting rod
And it is unable to reach precalculated position.
In any of the above-described technical scheme, it is preferable that operation enforcement division is folding apparatus, and folding apparatus includes the first noumenon
With the second body, the first noumenon and the second body are arranged in a crossed manner, and the infall and the second bearing pin of the first noumenon and the second body turn
Dynamic connection；Transiting rod includes First Transition bar and the second transiting rod, one end and connecting rod of First Transition bar and the second transiting rod
Rotation connection, the other end and the first noumenon of First Transition bar are rotatablely connected, and the other end of the second transiting rod and the second body turn
Dynamic connection；Wherein, folding apparatus with the reciprocating motion of the 3rd drive link open or close.
In the technical scheme, the first noumenon of folding apparatus and the second body pass through the second hinge, First Transition
The afterbody of bar and the second transiting rod respectively with the first noumenon and the second body is connected so that First Transition bar, the second transiting rod,
The first noumenon and the second body form a quadrangle, when the 3rd drive link moves reciprocatingly, drive First Transition bar and the
Two transiting rod open or closes, and then folding apparatus open or close is driven, realize the driving to open and close device tool.
In any of the above-described technical scheme, it is preferable that operation enforcement division is electric hook, and electric hook and the second bearing pin are rotatablely connected；
Transiting rod includes：3rd transiting rod, the 4th transiting rod and the 5th transiting rod；One end and the company of 3rd transiting rod and the 4th transiting rod
Extension bar is rotatablely connected, the other end and operation enforcement division rotation connection, the other end and the 5th of the 4th transiting rod of the 3rd transiting rod
One end rotation connection of transiting rod, the other end of the 5th transiting rod and the second bearing pin are rotatablely connected.Wherein, when the 3rd drive link is done
During reciprocating motion, electric hook is driven to be rotated around the second bearing pin.
In the technical scheme, when enforcement division of performing the operation is electric hook, the 3rd transiting rod, the 4th transiting rod, the 5th transiting rod
A quadrangle, the 3rd transiting rod and the 4th transiting rod are formed with operation enforcement division to be rotatablely connected with connecting rod, the 5th transiting rod
With operation enforcement division and the second hinge, when connecting rod moves reciprocatingly, band has an operation enforcement division around the second bearing pin turn
It is dynamic, further increase the free degree of operation enforcement division so that the motion for enforcement division of performing the operation is more flexible, and then causes doctor couple
The operation for enforcement division of performing the operation is more convenient.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：Second screw rod, the 3rd
Drive division and the second sliding block；Second screw rod is parallel with the 3rd drive link；3rd drive division is connected with the second screw rod, with driving
Second screw rod rotates；Second slide block set is on the second screw rod, with the rotation of the second screw rod along the axis direction of the second screw rod
Move back and forth；Second sliding block is connected with the 3rd drive link, to drive the 3rd drive link to move reciprocatingly in the axial direction.
In the technical scheme, the 3rd drive division drives the second screw rod to rotate, and the second sliding block is connected with the second screw flight,
Moved reciprocatingly with the rotation of the second screw rod along the axis of screw rod, the second sliding block is connected with the 3rd drive link, and then drives
3rd drive link moves reciprocatingly vertically；The second sliding block is driven to move back and forth by the rotation of the second screw rod, the second screw rod is every
Rotating one week, the second sliding block only moves the distance of a pitch, and this also make it that the control of the motion to the second sliding block is more accurate,
And then ensure the accuracy of the control to enforcement division of performing the operation.
In any of the above-described technical scheme, it is preferable that the first drive division includes：Motor, connecting shaft and bail；Motor is set
It is equipped with output shaft；Connecting shaft is tubular structure, and one end of connecting shaft is sheathed on the output shaft of motor；Wherein, connecting shaft is arranged
In one end on output shaft at least one opening is offered along the axis direction of connecting shaft；Bail is sheathed in connecting shaft, with
Connecting shaft is clamped on output shaft.
In the technical scheme, connecting shaft is clamped on the output shaft of motor by bail, realize connecting shaft with
The connection of output shaft, and this kind of connected mode make it that connecting shaft and the axiality of output shaft are good, it is ensured that the stabilization of power transmission
Property, it efficiently avoid and vibration and noise are produced in transmission process, it is ensured that the stability of product.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：First terminal pad, the
One terminal pad is three, and one end with support shaft, the first screw rod and the second screw rod is connected respectively；First drive division also includes：
Second terminal pad and the second connecting pin；Second terminal pad is sheathed on the other end of connecting shaft；Footpath of second connecting pin along connecting shaft
To through the second terminal pad and connecting shaft；Wherein, slideway is provided with the inwall of the second terminal pad, the second connecting pin is embedded in slideway
It is interior, so that the second terminal pad can be slided in the axial direction with respect to connecting shaft；Second terminal pad is connected with the first terminal pad, and second
Terminal pad and one in the first terminal pad it is upper set fluted, be provided with projection on another, groove is engaged with projection, with
The second terminal pad is set to drive the first terminal pad to rotate.
In the technical scheme, the second terminal pad is connected with connecting shaft, and passes through the connection of the second connecting pin limitation second
Disk is rotated relative to connecting shaft so that the second terminal pad can be rotated with the rotation of connecting shaft, and the second terminal pad is connected with first
One in disk upper to set fluted, is provided with projection on another, groove is engaged with projection so that the second terminal pad can band
Dynamic first terminal pad rotates, and then drives support shaft, the first screw rod or the second screw rod to rotate；This kind of connected mode is simple in construction,
It is easy to connect and easy for removal and installation, effectively improve the versatility of the first drive division.Raised cross sectional shape can be
Yi word pattern or cross, irregular figure also can, as long as can realize by the second terminal pad drive the first terminal pad rotate.
In any of the above-described technical scheme, it is preferable that the first drive division also includes：Second spring, second spring are sheathed on
In connecting shaft, it is connected between bail and the second terminal pad, so that the second terminal pad can automatically reset.
In the technical scheme, by setting second spring in connecting shaft, and it is connected in bail and is connected with second
Between disk so that the installation between the first terminal pad and the second terminal pad need not manually adjust position, as long as raised and groove
After cooperation, under the thrust of second spring, the second terminal pad can fit with the first terminal pad automatically, and then drive first
Terminal pad rotates.
In any of the above-described technical scheme, it is preferable that the second drive division is identical with the first drive division, the 3rd drive division and
One drive division is identical.
In the technical scheme, by the way that the second drive division and the 3rd drive division are arranged to drive with the first drive division identical
Dynamic portion, effectively improves the versatility between three drive divisions.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：First support, first
Support is U-shaped, and first support includes the first side wall, second sidewall and bottom wall；First drive link is passed through after the first side wall with first
Connector is connected；One end of first screw rod pass through the first side wall after be connected with the first terminal pad, one end of the first screw rod with
Second sidewall is rotatablely connected；One end of second screw rod is connected after passing through the first side wall with the first terminal pad, and the one of the second screw rod
End is rotatablely connected with second sidewall；Support shaft is connected after passing through the first side wall with the first terminal pad.
In the technical scheme, the first screw rod, the second screw rod, the first drive link, the second transmission are supported by first support
Bar and the 3rd drive link so that the part-structure forms the driving section of an entirety, in surgical procedure, if necessary to more hand-off
Art enforcement division, doctor can directly change the driving section equipped with different operation enforcement divisions, you can realize to operation enforcement division more
Change, replacing speed is fast, and substitute mode is easy.
In any of the above-described technical scheme, it is preferable that the operating theater instruments of operating robot also includes：Second support, first
Drive division, the second drive division and the 3rd drive division are both secured in second support, second support and first support clamping, so that the
One drive division drives support shaft, and the second drive division drives the first screw rod, and the 3rd drive division drives the second screw rod.
In the technical scheme, by the way that the first drive division, the second drive division and the 3rd drive division are fixed on into second support
On so that first support need to be only installed in second support by the operating theater instruments of operating robot during use
The connection of driving section and drive division is realized, and can further lift the first drive division, the second drive division and the 3rd drive division
Versatility.
In any of the above-described technical scheme, it is preferable that limiting section is provided with second support, limiting section is L-type, positioned at
The bottom wall of length direction extension of the edge of two supports along second support, limiting section and second support surrounds one into second support
The stopper slot of side opening；The spacing preiection being engaged with stopper slot is provided with first support, spacing preiection is embedded in stopper slot.
In the technical scheme, coordinated by stopper slot and spacing preiection, realize and erected between first support and second support
The upward positioning of Nogata, when first support is assembled with second support, bearing of trend of the spacing preiection along stopper slot is slipped into spacing
In groove, you can realize positioning to first support, it is simple in construction, be easy to installation of the doctor to the operating theater instruments of operating robot with
Dismounting；Stopper slot equally be may be provided in first support, and spacing preiection is set on the secondary support bracket.
In any of the above-described technical scheme, it is preferable that the upper surface of the bottom wall of second support and the bottom wall of first support
Lower surface is engaged, and is provided with one in the lower surface of the upper surface of the bottom wall of second support and the bottom wall of first support convex
For the positioning convex on surface, the locating slot being engaged with positioning convex is provided with another.
In the technical scheme, by setting positioning convex and locating slot, positioning convex coordinates with locating slot realizes first
Horizontal location between support and second support, it is ensured that the accuracy of first support position in the horizontal direction.
In any of the above-described technical scheme, it is preferable that alignment pin is provided with first support, alignment pin passes through the 3rd spring
It is connected in first support；Positioning hole is provided with second support, alignment pin is embedded in positioning hole；Handle is provided with alignment pin
Hand, handle are used for plug alignment pin.
In the technical scheme, by setting alignment pin in first support, and it is embedded in and sets on the secondary support bracket
In positioning hole, first support is avoided by deviating from stopper slot and locating slot, it is ensured that it is accurate that second support positions to first support
Property；Alignment pin is connected in first support by spring so that alignment pin remains at when not in the presence of by external force
In positioning hole on two supports, alignment pin is avoided by deviating from positioning hole；By setting handle, it is easy to plug alignment pin.
In any of the above-described technical scheme, it is preferable that operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, ultrasound
Knife and needle holder；Wherein, scissors, nipper, elastic separating plier and needle holder are folding apparatus.
According to second object of the present invention, the invention provides a kind of operating robot, it is characterised in that Surgery Surgery
Robot includes the operating theater instruments of the operating robot described in any technical scheme as described above, and therefore, the operating robot includes
Whole beneficial effects of the operating theater instruments of operating robot described in any technical scheme as described above.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 shows the structural representation of the operating theater instruments of operating robot according to an embodiment of the invention；
Fig. 2 is part of the operating theater instruments of the operating robot according to an embodiment of the invention shown in Fig. 1 at A
Enlarged drawing；
Fig. 3 is part of the operating theater instruments of the operating robot according to an embodiment of the invention shown in Fig. 1 at B
Enlarged drawing；
Fig. 4 shows driving part structure schematic diagram according to an embodiment of the invention；
Fig. 5 shows the sectional view of drive division according to an embodiment of the invention；
Fig. 6 shows the structural representation of the operating theater instruments of operating robot according to another embodiment of the invention；
Fig. 7 is office of the operating theater instruments of the operating robot according to another embodiment of the invention shown in Fig. 6 at C
Portion's enlarged drawing；
Fig. 8 shows the drive mechanism schematic diagram of the second drive link according to an embodiment of the invention；
Fig. 9 is part of the drive mechanism of the second drive link according to an embodiment of the invention shown in Fig. 8 at D
Enlarged drawing；
Figure 10 shows the drive mechanism schematic diagram of folding apparatus according to an embodiment of the invention；
Figure 11 is partial enlarged drawing of the folding apparatus according to an embodiment of the invention at E shown in Figure 10；
Figure 12 shows the drive mechanism schematic diagram of electric hook according to an embodiment of the invention；
Figure 13 is partial enlarged drawing of the electric hook according to an embodiment of the invention at F shown in Figure 12；
Figure 14 shows the schematic diagram of first support according to an embodiment of the invention；
Figure 15 shows the schematic diagram of second support according to an embodiment of the invention；
Figure 16 shows the schematic diagram of support according to an embodiment of the invention；
Figure 17 is sectional view of the support according to an embodiment of the invention along G-G shown in Figure 16；
Wherein, the corresponding relation between the reference in Fig. 1 to Figure 17 and component names is：
102 first drive links, 104 first gears, 106 support shafts, 108 first sliding blocks, 110 first screw rods, 112 second slide
Block, 114 second screw rods, 116 second gears, 118 first terminal pads, 120 first connectors, 122 second connectors, 124 operations
Enforcement division, 126 first drive divisions, 1,262 second terminal pads, 1264 connecting shafts, 1266 second springs, 1268 bails, 1269 electricity
Machine, 128 second drive divisions, 130 the 3rd drive divisions, 132 second drive links, 134 the 3rd drive links, 136 drive rods, 138 are oriented to
Block, 140 connecting rods, 142 first springs, 144 the first noumenons, 146 second bodies, 148 First Transition bars, 150 second transiting rods,
152 electric hooks, 154 the 3rd transiting rods, 156 the 4th transiting rods, 158 the 5th transiting rods, 160 first supports, 1602 the first side walls,
1604 second sidewalls, 1066 spacing preiections, 162 second supports, 1622 limiting sections, 1624 positioning convex, 1626 positioning holes, 164
Handle, 166 alignment pins, 168 the 3rd springs.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The operating theater instruments and hand of operating robot described according to some embodiments of the invention are described referring to Fig. 1 to Figure 17
Art robot.
In first aspect present invention embodiment, as shown in Figures 1 to 5, the invention provides a kind of operating robot
Operating theater instruments, for operating robot, the operating theater instruments of operating robot includes：First drive division 126, support shaft 106 and
One drive link 102；Support shaft 106 is connected with the first drive division 126, and first gear 104 is provided with support shaft 106；First
One end of drive link 102 is provided with second gear 116, and the other end of the first drive link 102 passes through connector and operation enforcement division
124 are connected；Wherein, first gear 104 is meshed with second gear 116, and support shaft 106 is located at the side of the first drive link 102
Lower section, the first drive division 126 driving support shaft 106 rotates, and then drives first gear 104 to rotate, and first gear 104 drives the
Two gears 116 rotate, and second gear 116 drives the first drive link 102 to rotate, and then drive operation enforcement division 124 to rotate.
In this embodiment, it is connected by the first drive link 102 with operation enforcement division 124, and passes through the first drive division
126 the first drive links 102 of driving rotate, and then band enforcement division 124 of having an operation rotates；The operating theater instruments knot of this kind of operating robot
Structure is simple, can effectively reduce the volume of the operating theater instruments of operating robot, and rotating manner is flexible so that operation enforcement division
124 can rapidly and accurately complete the instruction that doctor is sent in limited space, it is ensured that operation is smoothed out；Pass through driving
Portion's driving support shaft 106 rotates, and the drive link 102 of support shaft 106 and first effectively ensures that the accurate of transmission by gear drive
Property and stability, avoid support shaft 106 occur idle running phenomenon and cause perform the operation enforcement division 124 can not turn to precalculated position；And
And first drive link 102 can with it is a variety of operation enforcement divisions 124 be connected, and then realize to it is a variety of operation enforcement divisions 124 drive
It is dynamic, effectively improve the versatility of the operating theater instruments of operating robot.
In one embodiment of the invention, it is preferable that as shown in figure 3, connector includes：First connector 120, first
Connecting pin and the second connector 122；One end of first connector 120 is at least partly sheathed on the first drive link 102；First connects
Radial direction of the pin along the first drive link 102 is plugged on the first drive link 102 and the first connector 120, to prevent the first connection
Part 120 rotates relative to the first drive link 102；The other end of one end of second connector 122 and the first connector 120 passes through the
One bearing pin is rotatablely connected, and the other end of the second connector 122 is connected by the second bearing pin with operation enforcement division 124；Wherein,
One bearing pin is mutually perpendicular to the second bearing pin.
In this embodiment, by the way that one end of the first connector 120 is at least partly sheathed on the first drive link 102,
And radially it is plugged on the first connector 120 and the first drive link 102 by the first bearing pin so that the phase of the first connector 120
It will not both have been relatively rotated for the first drive link 102, and relative will not also slide, have effectively achieved to the first connector 120
It is fixed, and by setting the first connector 120, reduce the processing capacity of the first drive link 102, be effectively guaranteed the first biography
The linearity of lever 102；By setting the second connector 122 to be rotatablely connected with the first connector 120 so that operation enforcement division
124 do not interfere with other motion modes of operation enforcement division 124 during rotation；By the way that the first bearing pin is arranged into vertical
In the second bearing pin so that operation enforcement division 124 has the free degree of two mutually orthogonal directions, and then causes operation enforcement division
124 rotations are more flexible, are easy to operation of the doctor to enforcement division 124 of performing the operation.
In one embodiment of the invention, it is preferable that as shown in Figures 6 to 9, the operating theater instruments of operating robot is also wrapped
Include：Second drive link 132 and drive rod 136；Second drive link 132 is embedded in the first drive link 102；One end of drive rod 136
It is rotatablely connected with one end of the second drive link 132, the other end of drive rod 136 passes through 122 turns of the 3rd bearing pin and the second connector
Dynamic connection；Wherein, the 3rd bearing pin is parallel with the first bearing pin, when the second drive link 132 moves back and forth, drives the second connector
122 rotate around the first bearing pin.
In this embodiment, by the way that the second drive link 132 is embedded in the first drive link 102, operating robot is reduced
Operating theater instruments volume, and then efficiently reduce occupancy of the operating theater instruments to space of operating robot；Driven by setting
Lever 136, and one end of drive rod 136 and the second drive link 132 are rotatablely connected, the other end of drive rod 136 and second connects
Fitting 122 is rotatablely connected, and the second connector 122 and the first connector 120 are rotatablely connected by the first bearing pin, so when the
When two drive links 132 move reciprocatingly, drive rod 136 can be driven to move reciprocatingly, and then drive the second connector 122 around first
Bearing pin rotates, and because the 3rd bearing pin is parallel with the first bearing pin, it is ensured that the flexibility of rotation.
In one embodiment of the invention, it is preferable that as shown in figure 9, the operating theater instruments of operating robot also includes：Lead
To block 138, guide pad 138 is embedded in the first drive link 102；Axis direction of the guide pad 138 along the first drive link 102 is provided with
Guide groove, drive rod 136 are embedded in guide groove.
In this embodiment, by setting guide pad 138, and by drive rod 136 in the guide groove of guide pad 138,
Guide pad 138 plays a part of guiding to drive rod 136, be effectively guaranteed the direction of motion of drive rod 136 accuracy and
The stability of motion.
In one embodiment of the invention, it is preferable that as shown in fig. 7, the operating theater instruments of operating robot also includes：The
One screw rod 110, the second drive division 128 and the first sliding block 108；First screw rod 110 is parallel with the second drive link 132；Second drives
Dynamic portion 128 is connected with the first screw rod 110, to drive the first screw rod 110 to rotate；First sliding block 108 is sheathed on the first screw rod 110
On, moved back and forth with the rotation of the first screw rod 110 along the axis direction of the first screw rod 110；First sliding block 108 and the second transmission
Bar 132 is connected, to drive the second drive link 132 to move reciprocatingly in the axial direction.
In this embodiment, the first screw rod 110 is driven to rotate by the second drive division 128, the first screw rod 110 and first is slided
Block 108 coordinates, and drives the first sliding block 108 to be moved reciprocatingly along the first screw rod 110, the first sliding block 108 and the phase of the second drive link 132
Connection, the second drive link 132 move back and forth with the motion of the first sliding block 108, realize the drive to enforcement division 124 of performing the operation
It is dynamic；Screw rod is connected through a screw thread with sliding block, drives the first sliding block 108 to move back and forth by the rotation of the first screw rod 110, the first spiral shell
Bar 110 often rotates one week, and the distance of the first one pitch of movement of sliding block 108, this also causes the motion to the first sliding block 108
Control is more accurate, and then ensures the accuracy of the control to enforcement division 124 of performing the operation.Leading screw equally can be used in first screw rod 110
Instead of can reach the effect same with the first screw rod 110.
In one embodiment of the invention, it is preferable that as shown in Fig. 7, Figure 10 and Figure 11, the surgical device of operating robot
Tool also includes：3rd drive link 134 and connecting rod 140；3rd drive link 134 is embedded in the second drive link 132；Connecting rod 140
One end be connected with one end of the 3rd drive link 134, the other end of connecting rod 140 passes through transiting rod and operation enforcement division 124
It is connected, with driving operation enforcement division 124.
In this embodiment, by the way that the 3rd drive link 134 is embedded in the second drive link 132, operation is further reduced
The volume of the operating theater instruments of robot；3rd drive link 134 is connected by connecting rod 140 with operation enforcement division 124, connecting rod
140 be soft bar, and has some strength, can bear certain axial force, bendable when by radial load of connecting rod 140
Song, it will not be bent when only by axial force, this kind of connecting rod 140 can avoid influenceing selling around first for operation enforcement division 124
Axle rotate, do not interfere with yet the 3rd drive link 134 to perform the operation enforcement division 124 driving, it is ensured that operation enforcement division 124 it is each from
By the stability moved on degree；Connecting rod 140 can be steel wire.
In one embodiment of the invention, it is preferable that as shown in figure 11, the first spring is arranged with connecting rod 140
142, it is connected in the both ends of connecting rod 140.
In this embodiment, by setting the first spring 142 in connecting rod 140 so that connecting rod 140 upon bending may be used
Automatically reset with the disappearance of radial load, and ensure that connecting rod 140 is in straight configuration all the time；Connecting rod 140 by
During axial force, the bending strength of connecting rod can be strengthened, it is ensured that the accuracy of the driving to enforcement division 124 of performing the operation, avoid operation from performing
Portion 124 is unable to reach precalculated position because of the bending of connecting rod 140.
In one embodiment of the invention, it is preferable that as shown in figure 11, operation enforcement division 124 is folding apparatus, folding
Apparatus includes the body 146 of the first noumenon 144 and second, and the first noumenon 144 and the second body 146 are arranged in a crossed manner, the first noumenon 144
It is rotatablely connected with the infall of the second body 146 and the second bearing pin；Transiting rod includes the transiting rod of First Transition bar 148 and second
150, one end of the transiting rod 150 of First Transition bar 148 and second is rotatablely connected with connecting rod 140, First Transition bar 148 it is another
End is rotatablely connected with the first noumenon 144, and the other end of the second transiting rod 150 is rotatablely connected with the second body 146；Wherein, folding
Apparatus opens or closes with the reciprocating motion of the 3rd drive link 134.
In this embodiment, the body 146 of the first noumenon 144 and second of folding apparatus is by the second hinge, and first
Afterbody of the transiting rod 150 of transiting rod 148 and second respectively with the body 146 of the first noumenon 144 and second is connected so that the first mistake
Cross bar 148, the second transiting rod 150, the body 146 of the first noumenon 144 and second and form a quadrangle, when the 3rd drive link 134
When moving reciprocatingly, First Transition bar 148 and the open or close of the second transiting rod 150 are driven, and then drive folding apparatus to open
Or closure, realize the driving to open and close device tool.
In one embodiment of the invention, it is preferable that as shown in Figure 12 and Figure 13, operation enforcement division 124 is electric hook
152, the rotation connection of the bearing pin of electric hook 152 and second；Transiting rod includes：3rd transiting rod 154, the 4th transiting rod 156 and the 5th mistake
Cross bar 158；One end of 3rd transiting rod 154 and the 4th transiting rod 156 is rotatablely connected with connecting rod 140, the 3rd transiting rod 154
The other end is rotatablely connected with operation enforcement division 124, and the other end of the 4th transiting rod 156 and one end of the 5th transiting rod 158 rotate
Connection, the other end of the 5th transiting rod 158 and the second bearing pin are rotatablely connected wherein, when the 3rd drive link 134 moves reciprocatingly,
Electric hook 152 is driven to be rotated around the second bearing pin.
In this embodiment, when perform the operation enforcement division 124 be electric hook 152 when, the 3rd transiting rod 154, the 4th transiting rod 156,
5th transiting rod 158 and operation enforcement division 124 form a quadrangle, and the 3rd transiting rod 154 and the 4th transiting rod 156 are with being connected
Bar 140 is rotatablely connected, the 5th transiting rod 158 and the operation hinge of enforcement division 124 and second, when connecting rod 140 does reciprocal fortune
When dynamic, band enforcement division 124 of having an operation rotates around the second bearing pin, further increases the free degree for enforcement division 124 of performing the operation so that
The motion for enforcement division 124 of performing the operation is more flexible, and then make it that operation of the doctor to enforcement division 124 of performing the operation is more convenient.
In one embodiment of the invention, it is preferable that as shown in fig. 7, the operating theater instruments of operating robot also includes：The
Two screw rods 114, the 3rd drive division 130 and the second sliding block 112；Second screw rod 114 is parallel with the 3rd drive link 134；3rd drives
Dynamic portion 130 is connected with the second screw rod 114, to drive the second screw rod 114 to rotate；Second sliding block 112 is sheathed on the second screw rod 114
On, moved back and forth with the rotation of the second screw rod 114 along the axis direction of the second screw rod 114；Second sliding block 112 and the 3rd transmission
Bar 134 is connected, to drive the 3rd drive link 134 to move reciprocatingly in the axial direction.
In this embodiment, the 3rd drive division 130 drives the second screw rod 114 to rotate, the second sliding block 112 and the second screw rod
114 threaded connections, move reciprocatingly with the rotation of the second screw rod 114 along the axis of screw rod, the second sliding block 112 and the 3rd transmission
Bar 134 is connected, and then drives the 3rd drive link 134 to move reciprocatingly vertically；The is driven by the rotation of the second screw rod 114
Two sliding blocks 112 move back and forth, and the second screw rod 114 often rotates one week, the distance of the second one pitch of movement of sliding block 112, this
So that the control of the motion to the second sliding block 112 is more accurate, and then ensure the accuracy of the control to enforcement division 124 of performing the operation.
In one embodiment of the invention, it is preferable that as shown in Figure 4 and Figure 5, the first drive division 126 includes：Motor
1269th, connecting shaft 1264 and bail 1268；Motor 1269 is provided with output shaft；Connecting shaft 1264 is tubular structure, connecting shaft
1264 one end is sheathed on the output shaft of motor 1269；Wherein, connecting shaft 1264 is sheathed on one end edge connection on output shaft
The axis direction of axle 1264 offers at least one opening；Bail 1268 is sheathed in connecting shaft 1264, by connecting shaft
1264 are clamped on output shaft.
In this embodiment, connecting shaft 1264 is clamped on the output shaft of motor 1269 by bail 1268, realized
Connecting shaft 1264 and the connection of output shaft, and this kind of connected mode make it that connecting shaft 1264 and the axiality of output shaft are good,
Ensure the stability of power transmission, efficiently avoid and vibration and noise are produced in transmission process, it is ensured that the stabilization of product
Property.
In one embodiment of the invention, it is preferable that as shown in Fig. 2, Fig. 4 and Fig. 5, the operating theater instruments of operating robot
Also include：First terminal pad 118, the first terminal pad 118 be three, respectively with support shaft 106, the first screw rod 110 and the second spiral shell
One end of bar 114 is connected；First drive division 126 also includes：Second terminal pad 1262 and the second connecting pin；Second terminal pad
1262 are sheathed on the other end of connecting shaft 1264；Second connecting pin is along connecting shaft 1264 radially across the He of the second terminal pad 1262
Connecting shaft 1264；Wherein, slideway is provided with the inwall of the second terminal pad 1262, the second connecting pin is embedded in slideway, so that the
Two terminal pads 1262 can be slided in the axial direction with respect to connecting shaft 1264；Second terminal pad 1262 is connected with the first terminal pad 118
Connect, the second terminal pad 1262 and one in the first terminal pad 118 it is upper set fluted, be provided with projection, groove on another
It is engaged with projection, so that the second terminal pad 1262 drives the first terminal pad 118 to rotate.
In this embodiment, the second terminal pad 1262 is connected with connecting shaft 1264, and passes through the second connecting pin limitation the
Two terminal pads 1262 rotate relative to connecting shaft 1264 so that the second terminal pad 1262 can turn with the rotation of connecting shaft 1264
Dynamic, the second terminal pad 1262 and a upper setting in the first terminal pad 118 are fluted, are provided with projection, groove on another
It is engaged with projection so that the second terminal pad 1262 can drive the first terminal pad 118 to rotate, and then drive support shaft 106, first
The screw rod 114 of screw rod 110 or second rotates；This kind of connected mode is simple in construction, easy to connect, and easy for removal and installation, has
Improve to effect the versatility of the first drive division 126.Raised cross sectional shape can be yi word pattern or cross, irregular figure
Can, drive the first terminal pad 118 to rotate by the second terminal pad 1262 as long as can realize.
In one embodiment of the invention, it is preferable that as shown in Figure 4 and Figure 5, the first drive division 126 also includes：Second
Spring 1266, second spring 1266 are sheathed in connecting shaft 1264, are connected between the terminal pad 1262 of bail 1268 and second,
So that the second terminal pad 1262 can automatically reset.
In this embodiment, by setting second spring 1266 in connecting shaft 1264, and it is connected in bail 1268
Between the second terminal pad 1262 so that the installation between the first terminal pad 118 and the second terminal pad 1262 need not adjust manually
Whole position, if it is raised coordinate with groove after, under the thrust of second spring 1266, the second terminal pad 1262 can automatically with
First terminal pad 118 fits, and then drives the first terminal pad 118 to rotate.
In one embodiment of the invention, it is preferable that as shown in figure 4, the second drive division 128 and the first drive division 126
Identical, the 3rd drive division 130 is identical with the first drive division 126.
In this embodiment, by the way that the second drive division 128 and the 3rd drive division 130 are arranged to and the first drive division 126
Identical drive division, effectively improve the versatility between three drive divisions.
In one embodiment of the invention, it is preferable that as shown in Fig. 2 and Figure 14, the operating theater instruments of operating robot is also
Including：First support 160, first support 160 are U-shaped, and first support 160 includes the first side wall 1602, the and of second sidewall 1604
Bottom wall；First drive link 102 is connected after passing through the first side wall 1602 with the first connector 120；Wear one end of first screw rod 110
It is connected after crossing the first side wall 1602 with the first terminal pad 118, one end of the first screw rod 110 rotates with second sidewall 1604 to be connected
Connect；One end of second screw rod 114 is connected after passing through the first side wall 1602 with the first terminal pad 118, one end of the second screw rod 114
It is rotatablely connected with second sidewall 1604；Support shaft 106 is connected after passing through the first side wall 1602 with the first terminal pad 118.
In this embodiment, the first screw rod 110, the second screw rod 114, the first drive link are supported by first support 160
102nd, the second drive link 132 and the 3rd drive link 134 so that the part-structure forms the driving section of an entirety, is performing the operation
Cheng Zhong, if necessary to change operation enforcement division 124, doctor can directly change the driving section equipped with different operation enforcement divisions 124,
The replacing of opponent's art enforcement division 124 can be achieved, replacing speed is fast, and substitute mode is easy.
In one embodiment of the invention, it is preferable that as shown in Fig. 4 and Figure 15, the operating theater instruments of operating robot is also
Including：Second support 162, the first drive division 126, the second drive division 128 and the 3rd drive division 130 are both secured to second support
On 162, second support 162 and the clamping of first support 160, so that the first drive division 126 drives support shaft 106, the second drive division
128 the first screw rods 110 of driving, the 3rd drive division 130 drive the second screw rod 114.
In this embodiment, by the way that the first drive division 126, the second drive division 128 and the 3rd drive division 130 are fixed on into
On two supports 162 so that first support 160 need to only be installed on the by the operating theater instruments of operating robot during use
The connection of driving section and drive division can be achieved on two supports 162, and can further lift the drive of the first drive division 126, second
The versatility of the dynamic drive division 130 of portion 128 and the 3rd.
In one embodiment of the invention, it is preferable that as shown in figure 15, limiting section is provided with second support 162
1622, limiting section 1622 is L-type, positioned at length direction extension of the edge of second support 162 along second support 162, limiting section
1622 with the bottom wall of second support 162 surround one into second support 162 side opening stopper slot；Set in first support 160
There is the spacing preiection 1606 being engaged with stopper slot, spacing preiection 1606 is embedded in stopper slot.
In this embodiment, coordinated by stopper slot and spacing preiection 1606, realize first support 160 and second support
Positioning between 162 on vertical direction, when first support 160 and second support 162 are assembled, by spacing preiection 1606 along stopper slot
Bearing of trend slip into stopper slot, you can realize positioning to first support 160, it is simple in construction, be easy to doctor to surgical engine
The installation and dismounting of the operating theater instruments of device people；Stopper slot equally be may be provided in first support 160, and spacing preiection 1606 is arranged on
In second support 162.
In one embodiment of the invention, it is preferable that as shown in Figure 14 and Figure 15, the bottom wall of second support 162 it is upper
Surface is engaged with the lower surface of the bottom wall of first support 160, upper surface and the first support 160 of the bottom wall of second support 162
Bottom wall lower surface in one on be provided with the positioning convex 1624 for protruding from surface, be provided with another and convex
Play 1624 locating slots being engaged.
In this embodiment, by setting positioning convex 1624 and locating slot, positioning convex 1624 coordinates real with locating slot
Existing horizontal location between first support 160 and second support 162, it is ensured that the position in the horizontal direction of first support 160 it is accurate
Property.
In one embodiment of the invention, it is preferable that as shown in Figure 16 and Figure 17, it is fixed to be provided with first support 160
Position pin 166, alignment pin 166 are connected in first support 160 by the 3rd spring 168；Positioning hole is provided with second support 162
1626, alignment pin 166 is embedded in positioning hole 1626；Handle 164 is provided with alignment pin 166, handle 164 is used for plug alignment pin
166。
In this embodiment, by setting alignment pin 166 in first support 160, and it is embedded in and is arranged on second support
In positioning hole 1626 on 162, first support 160 is avoided by deviating from stopper slot and locating slot, it is ensured that second support 162 is to
The accuracy of one support 160 positioning；Alignment pin 166 is connected in first support 160 by spring so that alignment pin 166 is not
When in the presence of by external force, remain in the positioning hole 1626 in second support 162, avoid alignment pin 166 by positioning hole
Deviate from 1626；By setting handle 164, it is easy to plug alignment pin 166.
In one embodiment of the invention, it is preferable that operation enforcement division 124 includes scissors, nipper, electric hook 152, separation
Pincers, ultrasound knife and needle holder；Wherein, scissors, nipper, elastic separating plier and needle holder are folding apparatus.
In second aspect of the present invention embodiment, the invention provides a kind of operating robot, it is characterised in that surgical engine
Device people includes the operating theater instruments of the operating robot as described in above-mentioned any embodiment, and therefore, the operating robot is included as above
State whole beneficial effects of the operating theater instruments of the operating robot described in any embodiment.
In the description of the invention, term " multiple " then refers to two or more, is limited unless otherwise clear and definite, term
The orientation or position relationship of instructions such as " on ", " under " are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that signified device or element there must be specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. all should
It is interpreted broadly, for example, " connection " can be fixedly connected or be detachably connected, or is integrally connected；Can be straight
Connect connected, can also be indirectly connected by intermediary.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Refer at least one implementation that the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In the present invention, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.And
And specific features, structure, material or the feature of description can be in any one or more embodiments or example with suitable
Mode combines.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (21)
1. a kind of operating theater instruments of operating robot, it is characterised in that the operating theater instruments of the operating robot includes：
First drive division；
Support shaft, the support shaft are connected with first drive division, and first gear is provided with the support shaft；
First drive link, one end of first drive link are provided with second gear, and the other end of first drive link passes through
Connector is connected with operation enforcement division；
Wherein, the first gear is meshed with the second gear, and the support shaft is located under the side of first drive link
Side, first drive division drive the support shaft to rotate, and then drive the first gear to rotate, and the first gear drives
The second gear rotates, and the second gear drives first drive rod rotation, and then drives the operation enforcement division to turn
It is dynamic.
2. the operating theater instruments of operating robot according to claim 1, it is characterised in that the connector includes：
First connector, one end of first connector are at least partly sheathed on the first drive link；
First connecting pin, radial direction of first connecting pin along first drive link are plugged in first drive link and described
On first connector, to prevent first connector relative to first drive rod rotation；
The other end of second connector, one end of second connector and first connector is rotated by the first bearing pin to be connected
Connect, the other end of second connector is connected by the second bearing pin with the operation enforcement division；
Wherein, first bearing pin is mutually perpendicular to second bearing pin.
3. the operating theater instruments of operating robot according to claim 2, it is characterised in that also include：
Second drive link, second drive link are embedded in first drive link；
Drive rod, one end of the drive rod and one end of second drive link are rotatablely connected, the other end of the drive rod
It is rotatablely connected by the 3rd bearing pin and second connector；
Wherein, the 3rd bearing pin is parallel with first bearing pin, when second drive link moves back and forth, drives described the
Two connectors rotate around first bearing pin.
4. the operating theater instruments of operating robot according to claim 3, it is characterised in that also include：
Guide pad, the guide pad are embedded in first drive link；
Axis direction of the guide pad along first drive link is provided with guide groove, and the drive rod is embedded in the guide groove
In.
5. the operating theater instruments of operating robot according to claim 3, it is characterised in that also include：
First screw rod, first screw rod are parallel with second drive link；
Second drive division, second drive division are connected with first screw rod, to drive first screw rod to rotate；
First sliding block, first slide block set is on first screw rod, with the rotation of first screw rod along described the
The axis direction of one screw rod moves back and forth；
First sliding block is connected with second drive link, to drive second drive link to do reciprocal fortune in the axial direction
It is dynamic.
6. the operating theater instruments of operating robot according to claim 5, it is characterised in that also include：
3rd drive link, the 3rd drive link are embedded in second drive link；
Connecting rod, one end of the connecting rod are connected with one end of the 3rd drive link, and the other end of the connecting rod leads to
Cross transiting rod with the operation enforcement division to be connected, to drive the operation enforcement division.
7. the operating theater instruments of operating robot according to claim 6, it is characterised in that is arranged with the connecting rod
One spring, it is connected in the both ends of the connecting rod.
8. the operating theater instruments of operating robot according to claim 6, it is characterised in that
The operation enforcement division is folding apparatus, and the folding apparatus includes the first noumenon and the second body, the first noumenon
Arranged in a crossed manner with second body, the infall of the first noumenon and second body rotates with second bearing pin to be connected
Connect；
The transiting rod includes one end of First Transition bar and the second transiting rod, the First Transition bar and second transiting rod
It is rotatablely connected with the connecting rod, the other end and the first noumenon of the First Transition bar are rotatablely connected, second mistake
The other end and second body for crossing bar are rotatablely connected；
Wherein, the folding apparatus with the reciprocating motion of the 3rd drive link open or close.
9. the operating theater instruments of operating robot according to claim 6, it is characterised in that
The operation enforcement division is electric hook, and the electric hook is rotatablely connected with second bearing pin；
The transiting rod includes：3rd transiting rod, the 4th transiting rod and the 5th transiting rod；
One end of 3rd transiting rod and the 4th transiting rod is rotatablely connected with the connecting rod, the 3rd transiting rod
The other end is rotatablely connected with the operating theater instruments, and the other end of the 4th transiting rod rotates with one end of the 5th transiting rod
Connection, the other end and second bearing pin of the 5th transiting rod are rotatablely connected；
Wherein, when the 3rd drive link moves reciprocatingly, the electric hook is driven to be rotated around second bearing pin.
10. the operating theater instruments of operating robot according to claim 6, it is characterised in that also include：
Second screw rod, second screw rod are parallel with the 3rd drive link；
3rd drive division, the 3rd drive division are connected with second screw rod, to drive second screw rod to rotate；
Second sliding block, second slide block set is on second screw rod, with the rotation of second screw rod along described the
The axis direction of two screw rods moves back and forth；
Second sliding block is connected with the 3rd drive link, to drive the 3rd drive link to do reciprocal fortune in the axial direction
It is dynamic.
11. the operating theater instruments of operating robot according to claim 10, it is characterised in that the first drive division bag
Include：
Motor, the motor are provided with output shaft；
Connecting shaft, the connecting shaft are tubular structure, and one end of the connecting shaft is sheathed on the output shaft of the motor；
Wherein, axis direction of the one end of the connecting bushing on the output shaft along the connecting shaft offers at least one
Individual opening；
Bail, the bail are sheathed in the connecting shaft, the connecting shaft are clamped on the output shaft.
12. the operating theater instruments of operating robot according to claim 11, it is characterised in that also include：
First terminal pad, first terminal pad be three, respectively with the support shaft, first screw rod and second spiral shell
One end of bar is connected；
First drive division also includes：
Second terminal pad, second terminal pad are sheathed on the other end of the connecting shaft；
Second connecting pin, second connecting pin is along the connecting shaft radially across second terminal pad and the connection
Axle；
Wherein, slideway is provided with the inwall of second terminal pad, second connecting pin is in the slideway, so that institute
State the second terminal pad can relatively described connecting shaft slide in the axial direction；
Second terminal pad is connected with first terminal pad, second terminal pad and one in first terminal pad
Link slot is provided with individual, is provided with connection bump on another, the link slot is engaged with the connection bump, so that
Two terminal pads drive the first terminal pad to rotate.
13. the operating theater instruments of operating robot according to claim 12, it is characterised in that first drive division also wraps
Include：
Second spring, the second spring are sheathed in the connecting shaft, are connected in the bail and second terminal pad
Between, so that the second terminal pad can automatically reset.
14. the operating theater instruments of operating robot according to claim 13, it is characterised in that second drive division and institute
It is identical to state the first drive division, the 3rd drive division is identical with first drive division.
15. the operating theater instruments of operating robot according to claim 14, it is characterised in that also include：
First support, the first support are U-shaped, and the first support includes the first side wall, second sidewall and bottom wall；
First drive link is connected after passing through the first side wall with first connector；
One end of first screw rod is connected after passing through the first side wall with first terminal pad, first screw rod
One end is rotatablely connected with the second sidewall；
One end of second screw rod is connected after passing through the first side wall with first terminal pad, second screw rod
One end is rotatablely connected with the second sidewall；
The support shaft is connected after passing through the first side wall with first terminal pad.
16. the operating theater instruments of operating robot according to claim 15, it is characterised in that also include：
Second support, first drive division, second drive division and the 3rd drive division are both secured to described second
On frame, the second support and the first support clamping, so that first drive division driving support shaft, described second
Drive division drives first screw rod, and the 3rd drive division drives second screw rod.
17. the operating theater instruments of operating robot according to claim 16, it is characterised in that
Limiting section is provided with the second support, the limiting section is L-type, positioned at the edge of the second support along described
The length direction extension of two supports, the bottom wall of the limiting section and the second support surround one into second support side opening
Stopper slot；
The spacing preiection being engaged with the stopper slot is provided with the first support, the spacing preiection is embedded in described spacing
In groove.
18. the operating theater instruments of operating robot according to claim 16, it is characterised in that
The upper surface of the bottom wall of the second support is engaged with the lower surface of the bottom wall of the first support, the second support
Bottom wall upper surface and the first support bottom wall lower surface in one on be provided with the convex for protruding from surface
Rise, the locating slot being engaged with the positioning convex is provided with another.
19. the operating theater instruments of operating robot according to claim 16, it is characterised in that
Alignment pin is provided with the first support, the alignment pin is connected in the first support by the 3rd spring；
Positioning hole is provided with the second support, the alignment pin is embedded in the positioning hole；
Handle is provided with the alignment pin, the handle is used for alignment pin described in plug.
20. the operating theater instruments of the operating robot according to any one of claim 1 to 19, it is characterised in that
The operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, ultrasound knife and needle holder；
Wherein, the scissors, the nipper, the elastic separating plier and the needle holder are folding apparatus.
21. a kind of operating robot, it is characterised in that the operating robot is included such as any one of claim 1 to 20 institute
The operating theater instruments for the operating robot stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649778.9A CN107334539B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649778.9A CN107334539B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument of surgical robot and surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107334539A true CN107334539A (en) | 2017-11-10 |
| CN107334539B CN107334539B (en) | 2021-04-13 |
Family
ID=60217285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710649778.9A Active CN107334539B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument of surgical robot and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107334539B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260309A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN108113754A (en) * | 2018-02-05 | 2018-06-05 | 刘陈邦 | A kind of surgical instrument fixation kit and operating robot |
| CN108143496A (en) * | 2018-02-05 | 2018-06-12 | 刘陈邦 | A kind of surgical instrument mounting assembly and operating robot |
| CN108606838A (en) * | 2018-05-25 | 2018-10-02 | 沈阳沈大内窥镜有限公司 | Surgical instrument and operating robot |
| CN109347249A (en) * | 2018-11-13 | 2019-02-15 | 杨斌堂 | Key shaped actuator |
| CN110575257A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | Surgical robot surgical equipment |
| CN110720987A (en) * | 2019-11-01 | 2020-01-24 | 首都医科大学附属北京友谊医院 | A robotic device for single-port minimally invasive surgery |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6004271A (en) * | 1998-05-07 | 1999-12-21 | Boston Scientific Corporation | Combined motor drive and automated longitudinal position translator for ultrasonic imaging system |
| US20010021859A1 (en) * | 2000-02-24 | 2001-09-13 | Toshikazu Kawai | Forceps and manipulator with using thereof |
| US20090032568A1 (en) * | 2005-06-03 | 2009-02-05 | Tyco Healthcare Group Lp | Battery powered surgical instrument |
| CN100594007C (en) * | 2006-08-08 | 2010-03-17 | 泰尔茂株式会社 | Working mechanism and manipulator |
| CN201658395U (en) * | 2010-04-02 | 2010-12-01 | 杭州康友医疗设备有限公司 | Minimally-invasive laparoscope grasping forceps |
| WO2013059432A1 (en) * | 2011-10-19 | 2013-04-25 | Ethicon Endo-Surgery, Inc. | Clip applier adapted for use with a surgical robot |
| CN204133540U (en) * | 2014-08-20 | 2015-02-04 | 许波 | The adjustable bone drill of a kind of moment of torsion |
| CN105286999A (en) * | 2015-10-15 | 2016-02-03 | 天津大学 | Minimally invasive surgery instrument with tail end self-rotation function |
| CN105640647A (en) * | 2014-11-27 | 2016-06-08 | 阿瓦特拉医药有限公司 | Device for robot-assisted surgery |
| CN105816239A (en) * | 2011-11-16 | 2016-08-03 | 柯惠Lp公司 | Surgical device with powered articulation movement and wrist rotation |
| CN106137272A (en) * | 2016-08-06 | 2016-11-23 | 上海市同济医院 | A kind of head rotary type biopsy forceps |
| CN106341976A (en) * | 2013-11-22 | 2017-01-18 | 萨迪哈·斯里瓦斯塔瓦 | Motorized surgical instrument |
| WO2017013453A1 (en) * | 2015-07-22 | 2017-01-26 | Cambridge Medical Robotics Ltd | Drive mechanisms for robot arms |
| CN106667579A (en) * | 2016-12-30 | 2017-05-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Connecting mechanism for laparoscopic surgery robot instruments |
| CN107260309A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN207870965U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | The surgical instrument and operating robot of operating robot |
| CN207870971U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | The surgical instrument and operating robot of operating robot |
-
2017
- 2017-07-31 CN CN201710649778.9A patent/CN107334539B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6004271A (en) * | 1998-05-07 | 1999-12-21 | Boston Scientific Corporation | Combined motor drive and automated longitudinal position translator for ultrasonic imaging system |
| US20010021859A1 (en) * | 2000-02-24 | 2001-09-13 | Toshikazu Kawai | Forceps and manipulator with using thereof |
| US20090032568A1 (en) * | 2005-06-03 | 2009-02-05 | Tyco Healthcare Group Lp | Battery powered surgical instrument |
| CN100594007C (en) * | 2006-08-08 | 2010-03-17 | 泰尔茂株式会社 | Working mechanism and manipulator |
| CN201658395U (en) * | 2010-04-02 | 2010-12-01 | 杭州康友医疗设备有限公司 | Minimally-invasive laparoscope grasping forceps |
| WO2013059432A1 (en) * | 2011-10-19 | 2013-04-25 | Ethicon Endo-Surgery, Inc. | Clip applier adapted for use with a surgical robot |
| CN105816239A (en) * | 2011-11-16 | 2016-08-03 | 柯惠Lp公司 | Surgical device with powered articulation movement and wrist rotation |
| CN106341976A (en) * | 2013-11-22 | 2017-01-18 | 萨迪哈·斯里瓦斯塔瓦 | Motorized surgical instrument |
| CN204133540U (en) * | 2014-08-20 | 2015-02-04 | 许波 | The adjustable bone drill of a kind of moment of torsion |
| CN105640647A (en) * | 2014-11-27 | 2016-06-08 | 阿瓦特拉医药有限公司 | Device for robot-assisted surgery |
| WO2017013453A1 (en) * | 2015-07-22 | 2017-01-26 | Cambridge Medical Robotics Ltd | Drive mechanisms for robot arms |
| CN105286999A (en) * | 2015-10-15 | 2016-02-03 | 天津大学 | Minimally invasive surgery instrument with tail end self-rotation function |
| CN106137272A (en) * | 2016-08-06 | 2016-11-23 | 上海市同济医院 | A kind of head rotary type biopsy forceps |
| CN106667579A (en) * | 2016-12-30 | 2017-05-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Connecting mechanism for laparoscopic surgery robot instruments |
| CN107260309A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN207870965U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | The surgical instrument and operating robot of operating robot |
| CN207870971U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | The surgical instrument and operating robot of operating robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260309A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN108113754A (en) * | 2018-02-05 | 2018-06-05 | 刘陈邦 | A kind of surgical instrument fixation kit and operating robot |
| CN108143496A (en) * | 2018-02-05 | 2018-06-12 | 刘陈邦 | A kind of surgical instrument mounting assembly and operating robot |
| CN108606838A (en) * | 2018-05-25 | 2018-10-02 | 沈阳沈大内窥镜有限公司 | Surgical instrument and operating robot |
| CN108606838B (en) * | 2018-05-25 | 2024-02-23 | 沈阳沈大内窥镜有限公司 | Surgical instrument and surgical robot |
| CN109347249A (en) * | 2018-11-13 | 2019-02-15 | 杨斌堂 | Key shaped actuator |
| CN109347249B (en) * | 2018-11-13 | 2024-05-28 | 杨斌堂 | Key-shaped actuator |
| CN110575257A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | Surgical robot surgical equipment |
| CN110575257B (en) * | 2019-10-21 | 2022-04-22 | 重庆师范大学 | A surgical robot surgical equipment |
| CN110720987A (en) * | 2019-11-01 | 2020-01-24 | 首都医科大学附属北京友谊医院 | A robotic device for single-port minimally invasive surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107334539B (en) | 2021-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107334539A (en) | The operating theater instruments and operating robot of operating robot | |
| CN107260309A (en) | The operating theater instruments and operating robot of operating robot | |
| CN207870965U (en) | The surgical instrument and operating robot of operating robot | |
| CN107260313A (en) | The operating theater instruments and operating robot of operating robot | |
| CN107260310A (en) | The operating theater instruments and operating robot of operating robot | |
| CN207870971U (en) | The surgical instrument and operating robot of operating robot | |
| CN108742848A (en) | A kind of micro-wound operation robot device | |
| CN107334535B (en) | Instrument transmission assembly, surgical instrument of surgical robot and surgical robot | |
| CN107334538A (en) | Device assembly, the operating theater instruments of operating robot and operating robot | |
| CN105212987A (en) | A kind of end effector mechanism of micro-apparatus of performing the operation | |
| CN107334534A (en) | Apparatus transmission component, the operating theater instruments of operating robot and operating robot | |
| WO2023143045A1 (en) | Surgical power device, modular surgical device and surgical robot | |
| CN107242906B (en) | Surgical robot far-end actuating mechanism | |
| CN208259766U (en) | The surgical instrument and operating robot of operating robot | |
| CN112826592A (en) | End effector, end effector decoupling control method and minimally invasive surgical instrument | |
| CN106744063A (en) | Operation stitching line winding device | |
| CN221635867U (en) | Multi-degree-of-freedom joint assembly and endoscopic instrument | |
| CN118141475A (en) | Gear-controlled laparoscopic surgical instruments | |
| CN102319168A (en) | Massaging device with multiple massaging manipulations | |
| CN207870967U (en) | The surgical instrument and operating robot of operating robot | |
| CN207870963U (en) | The surgical instrument and operating robot of operating robot | |
| CN208259762U (en) | A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot | |
| CN208259759U (en) | A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot | |
| KR101717158B1 (en) | Joint Assembly Having Linear-Driving Inducing Yoke | |
| CN110251165B (en) | Handheld endoscopic instruments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |