End device and surgical robot
阅读说明:本技术 一种末端装置及手术机器人 (End device and surgical robot ) 是由 金培训 于 2020-05-29 设计创作,主要内容包括:本发明涉及一种末端装置,包括连接机构、紧固机构及固定机构,所述连接机构上设有连接孔及紧固孔,连接孔与所述紧固孔连通,且连接孔的轴向方向与紧固孔的轴向方向呈夹角;固定机构与连接孔插接,且紧固孔与连接孔插接的一端上设有固定槽,另一端上连接手术器械;紧固机构的一端与紧固孔插接,且紧固机构在紧固孔内移动并进入固定槽,以将固定机构固定在连接孔内。本发明还提供一种手术机器人,其包括机械臂及末端装置,末端装置与机械臂连接,以利用机械臂带动末端装置进行手术。本发明提供的末端装置及手术机器人通过紧固机构在紧固孔内抵触夹持固定机构,以增加固定机构安装及拆卸的便捷性。(The invention relates to a tail end device which comprises a connecting mechanism, a fastening mechanism and a fixing mechanism, wherein the connecting mechanism is provided with a connecting hole and a fastening hole, the connecting hole is communicated with the fastening hole, and an included angle is formed between the axial direction of the connecting hole and the axial direction of the fastening hole; the fixing mechanism is inserted into the connecting hole, a fixing groove is arranged at one end of the fastening hole, which is inserted into the connecting hole, and a surgical instrument is connected to the other end of the fastening hole; one end of the fastening mechanism is inserted into the fastening hole, and the fastening mechanism moves in the fastening hole and enters the fixing groove so as to fix the fixing mechanism in the connecting hole. The invention also provides a surgical robot, which comprises a mechanical arm and a tail end device, wherein the tail end device is connected with the mechanical arm so as to drive the tail end device to perform surgery by utilizing the mechanical arm. The end device and the surgical robot provided by the invention abut against the clamping and fixing mechanism in the fastening hole through the fastening mechanism so as to increase the convenience of mounting and dismounting the fixing mechanism.)
1. An end device, comprising:
the connecting mechanism is provided with a connecting hole and a fastening hole, the connecting hole is communicated with the fastening hole, and an included angle is formed between the axial direction of the connecting hole and the axial direction of the fastening hole; one end of the fixing mechanism is provided with a fixing groove, one end of the fixing mechanism close to the fixing groove is inserted into the connecting hole, and one end of the fixing mechanism far away from the fixing groove is connected with a surgical instrument; the fastening mechanism is inserted into the fastening hole and moves in the fastening hole, so that the fixing mechanism is in a locking state or a loosening state in the connecting hole;
when the fixing mechanism is in the locking state, the fastening mechanism is positioned in the fixing groove so as to limit the fixing mechanism to displace in the connecting hole along the axial direction of the connecting hole; after the fastening mechanism is removed from the fixing groove, the fixing mechanism is in the loosening state so as to replace surgical instruments on the fixing mechanism.
2. An end unit as claimed in claim 1, wherein:
the fastening mechanism comprises a shifting rod and a clamping rod, one end of the shifting rod is rotatably connected with the connecting mechanism, the clamping rod is positioned in the fastening hole and is spliced with the fastening hole, and when the shifting rod rotates relative to the connecting mechanism, one end, far away from the connecting mechanism, of the shifting rod is used for pushing the clamping rod to move in the fastening hole towards the direction close to the connecting hole, so that the clamping rod enters the fixing groove.
3. An end unit as claimed in claim 2, wherein:
the connecting mechanism is further provided with an accommodating groove and a first fixing hole, the accommodating groove is communicated with the first fixing hole and the fastening hole respectively, a second fixing hole is formed in one end, far away from the end, rotatably connected with the connecting mechanism, of the shifting lever, and when the shifting lever rotates into the accommodating groove, the first fixing hole and the second fixing hole are concentric.
4. An end unit as claimed in claim 2, wherein:
the fastening mechanism further comprises an elastic piece, wherein the elastic piece is arranged in the fastening hole and is positioned on one side, far away from the connecting hole, of the clamping rod.
5. An end unit as claimed in claim 2, wherein:
the shifting lever is provided with a boss, and the boss is arranged at one end, close to the fastening hole, of the shifting lever.
6. An end unit as claimed in claim 2, wherein:
a protruding part is arranged at one end, close to the shifting lever, of the clamping rod, the fastening hole comprises a collision part and a penetrating part, the penetrating part is communicated with the collision part, and the aperture of the collision part is larger than that of the penetrating part, so that a step is formed between the collision part and the penetrating part;
the fastening mechanism further comprises a first spring, the first spring is located in the abutting portion and sleeved on the clamping rod, and two ends of the first spring are respectively in contact with the protruding portion and the step formed by the penetrating portion and the abutting portion.
7. An end unit as claimed in claim 1, wherein:
the fixing mechanism comprises a fixing piece, a fixing plate and an instrument adapter, the fixing groove is formed in one end of the fixing piece, a through hole and a positioning hole are formed in the fixing plate, one end, provided with the fixing groove, of the fixing piece penetrates through the through hole and is connected with the fixing plate, and the instrument adapter is connected with one end, far away from the fixing groove, of the fixing piece;
and when the positioning shaft is inserted into the positioning hole, one side of the fixing piece, which is provided with the fixing groove, is inserted into the connecting hole.
8. An end unit as claimed in claim 7, wherein:
an instrument hole, a locking threaded hole and a screw hole are formed in one side, away from the fixing groove, of the fixing piece, and the instrument adapter is inserted into the instrument hole;
the fixing mechanism further comprises a locking knob and a set screw, the locking knob is in threaded fit with the locking threaded hole, and the set screw is inserted into the screw hole.
9. An end unit as claimed in claim 1, wherein:
the fastening mechanism comprises a drawing piece, a connecting rod, a plug connector and a second spring, and a baffle is arranged on the side wall of one end of the fastening hole, which is far away from the connecting hole;
the connecting part is positioned in the fastening hole, and two ends of the connecting part are respectively connected with the pulling and shifting piece;
the side, far away from the connecting rod, of the plug connector is located in the connecting hole, and the drawing piece is located on the side, far away from the plug connector, of the baffle;
the second spring is sleeved on the connecting rod, and two opposite sides of the spring are respectively contacted with the connecting piece and the baffle.
10. A surgical robot, comprising:
a robotic arm and an end unit as claimed in any one of claims 1 to 9, the end unit being connected to the robotic arm to carry the end unit along with the robotic arm to perform a procedure.
Technical Field
The invention relates to the field of medical equipment, in particular to a tail end device and a surgical robot.
Background
The surgical robot has a large number of applications in clinical surgery, and a surgeon can operate the robot far away from an operating table, so that an operation incision is precisely controlled by machinery, the accuracy of the operation can be improved, and the probability of risks caused by misoperation is reduced. At present, the end devices of the surgical robot products which are mature at home and abroad are usually fixed by locking screws, and when the surgical instruments need to be replaced in the surgical process, the end devices are troublesome to detach and replace, so that the convenience of replacing the surgical instruments is influenced. Meanwhile, the locking screw usually has no anti-drop measures, and if the locking screw falls off in the operation process, the operation machine cannot be fixed through the end device, so that the operation is seriously influenced.
Disclosure of Invention
In view of this, the present invention provides a distal end device and a surgical robot, which solve the problem of inconvenience in replacing and fixing surgical instruments during a surgical operation.
In order to achieve the above object, an aspect of the present invention is to provide a terminal apparatus, including: the connecting mechanism is provided with a connecting hole and a fastening hole, the connecting hole is communicated with the fastening hole, and an included angle is formed between the axial direction of the connecting hole and the axial direction of the fastening hole; one end of the fixing mechanism is provided with a fixing groove, one end of the fixing mechanism close to the fixing groove is inserted into the connecting hole, and one end of the fixing mechanism far away from the fixing groove is connected with a surgical instrument; the fastening mechanism is inserted into the fastening hole and moves in the fastening hole, so that the fixing mechanism is in a locking state or a loosening state in the connecting hole; when the fixing mechanism is in the locking state, the fastening mechanism moves into the fixing groove to limit the displacement of the fixing mechanism in the connecting hole along the axial direction of the connecting hole; after the fastening mechanism is removed from the fixing groove, the fixing mechanism is in the loosening state so as to replace surgical instruments on the fixing mechanism.
The invention also provides a surgical robot, which comprises a mechanical arm and a tail end device, wherein the tail end device is connected with the mechanical arm so as to drive the tail end device to perform surgery by utilizing the mechanical arm.
Compared with the prior art, the end device and the surgical robot provided by the invention have the following beneficial effects:
through the connecting holes and the fastening holes which are communicated with each other and form included angles, the fixing grooves in the fixing mechanisms in the connecting holes are abutted and clamped by the fastening mechanisms, so that the fastening device can be quickly mounted and dismounted.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of an end device according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an end device according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of an exploded view of the tip assembly of FIG. 2;
FIG. 4 is a schematic structural view of the coupling mechanism of FIG. 2;
FIG. 5 is a cross-sectional view of the coupling mechanism of FIG. 4;
FIG. 6 is a schematic structural view of the fastening mechanism of FIG. 2;
FIG. 7 is a cross-sectional view of the fastening mechanism and the connecting mechanism of FIG. 2;
FIG. 8 is a schematic structural view of the securing mechanism of FIG. 2;
FIG. 9 is a cross-sectional view of the securing mechanism of FIG. 8;
FIG. 10 is a schematic structural diagram of an end device according to a third embodiment of the present invention;
FIG. 11 is a cross-sectional view of the tip assembly of FIG. 10;
description of reference numerals: 10a, a terminal device; 20a, a connecting mechanism; 201a, a connecting hole; 203a, fastening holes; 30a, a fastening mechanism; 40a, a fixing mechanism; 401a, a fixing groove;
10. a terminal device; 20. a connecting mechanism; 201. connecting holes; 203. a fastening hole; 205. accommodating grooves; 207. a first fixing hole; 2031. a contact part; 2033. a penetration portion; 30. a fastening mechanism; 301. a deflector rod; 3011. a second fixing hole; 3013. a boss; 303. a clamping bar; 3031. a boss portion; 305. an elastic member; 3051. an elastic hole; 40. a fixing mechanism; 401. fixing grooves; 403. a fixing member; 4031. an instrument hole; 4033. locking the threaded hole; 4035. screw holes; 405. a fixing plate; 4051. a through hole; 4053. positioning holes; 407. an instrument adapter; 408. screwing the screw; 409. locking the knob;
10b, a terminal device; 30b, a fastening mechanism; 301b, a pull; 303b, a connecting rod; 305b, a plug-in unit; 40b, a fixing mechanism; 401b, fixing grooves; 201b, a connecting hole; 203b, fastening holes; 2031b and a baffle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, an end device 10b according to a first embodiment of the present invention includes a
For example, when the
It should be noted that the
The surgical instrument includes a scalpel, a needle tube, and other instruments for performing an operation on a patient, and is detachably connected to the
It should be noted that the included angle between the axial direction of the
Referring to fig. 2-7, a second embodiment of the present invention provides an
When the
It should be noted that, after the clamping
It should be noted that, in the present embodiment, the
Further, the connecting
It should be noted that, after the driving
Further, the
When the driving
Furthermore,
In this embodiment, the sum of the height of the
Further, the
In the present embodiment, the
Further, a protruding
When one side of the clamping
It should be noted that, in this embodiment, the fixing
Referring to fig. 8-9, the fixing
Specifically, a through hole 4051 and a positioning hole 4053 are formed in the fixing plate 405, and one side of the fixing member 403 where the fixing
Further, a side of the fixing member 403 away from the fixing
Further, the fixing
Further, the fixing
Referring to fig. 10-11, a third embodiment of the present invention provides an end device 10b, which is different from the
Specifically, the connecting rod 303b is located in the
When the
Further, in this embodiment, the included angles between the sidewalls of the opposite sides of the fixing
A fourth embodiment of the present invention provides a surgical robot, which includes a robot arm and a terminal device in the first, second, or third embodiments, wherein the terminal device is connected to the robot arm, and the terminal device is driven by the movement of the robot arm to perform a surgery.
Compared with the prior art, the end device and the surgical robot provided by the invention have the following beneficial effects:
through the connecting holes and the fastening holes which are communicated with each other and form included angles, the fixing grooves in the fixing mechanisms in the connecting holes are abutted and clamped by the fastening mechanisms, so that the fastening device can be quickly mounted and dismounted.
Through setting up first fixed orifices and second fixed orifices for behind the clamping bar jack-in fixed slot, the position of usable fixed pin fixed driving lever, thereby make the driving lever conflict one side of clamping bar, avoid the clamping bar not hard up.
Through setting up the elastic component, increase the dynamics that the clamping bar contradicted the fixed slot to it is not hard up to further place the clamping bar.
Through setting up the boss for better promotion clamping bar of driving lever removes in the fastening hole.
The clamping rod can be helped to exit from the fixing groove through the position relation among the steps formed by the second spring, the protruding part, the abutting part and the penetrating part.
The positioning holes are formed in the fixing plate, and the positioning shaft is arranged on the connecting mechanism, so that the fixing mechanism can be positioned when being inserted into the connecting hole every time.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
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