阅读说明：本技术 持针器的卡口结构及持针器控制组件 (Bayonet structure of needle holder and needle holder control assembly ) 是由 李耀 袁源 龚俊杰 于 2019-12-17 设计创作，主要内容包括：本发明公开了一种持针器的卡口结构及持针器控制组件,其中,所述持针器的卡口结构持针器的卡口结构,包括滑块、轴承、连接杆和卡口套；所述轴承安装在所述滑块上；所述连接杆一端与所述持针器连接,另一端沿圆周方向开设有环形卡槽；所述卡口套的至少部分内壁面与所述环形卡槽卡合连接,所述卡口套与所述轴承固定连接。本发明具有如下效果：1、滑块往复直线运动时,滑块带动安装在其上面的轴承、卡口套和连接杆做同向直线运动,从而实现对持针器的开合控制；2、当持针器转动时,轴承可以允许卡口套实现旋转运动,从而降低摩擦。(The invention discloses a bayonet structure of a needle holder and a needle holder control assembly, wherein the bayonet structure of the needle holder comprises a sliding block, a bearing, a connecting rod and a bayonet sleeve; the bearing is arranged on the sliding block; one end of the connecting rod is connected with the needle holder, and the other end of the connecting rod is provided with an annular clamping groove along the circumferential direction; at least part of the inner wall surface of the bayonet sleeve is connected with the annular clamping groove in a clamping mode, and the bayonet sleeve is fixedly connected with the bearing. The invention has the following effects: 1. when the sliding block moves linearly in a reciprocating way, the sliding block drives the bearing, the bayonet sleeve and the connecting rod which are arranged on the sliding block to do linear motion in the same direction, so that the opening and closing control of the needle holder is realized; 2. when the needle holder rotates, the bearing can allow the bayonet sleeve to realize rotary motion, so that the friction is reduced.)

1. A bayonet structure of a needle holder, comprising:

a slider;

a bearing mounted on the slider;

one end of the connecting rod is connected with the needle holder, and the other end of the connecting rod is provided with an annular clamping groove along the circumferential direction;

and at least part of the inner wall surface of the bayonet sleeve is connected with the annular clamping groove in a clamping manner, and the bayonet sleeve is fixedly connected with the bearing.

2. The bayonet structure of needle holder of claim 1, characterized in that, the bayonet cover comprises two semicircular covers, and the two semicircular covers are spliced into the bayonet cover.

3. The bayonet structure of needle holder according to claim 2, wherein the inner wall surface of the first end of the bayonet sleeve forms an annular protrusion, and the annular protrusion is snapped into the annular groove.

4. The bayonet structure of needle holder according to claim 3, further comprising a fixing sleeve, wherein the second end of the bayonet sleeve extends out of the bearing, and the outer wall surface of the second end is provided with a thread to be in threaded connection with the fixing sleeve, so as to realize the splicing of the two semicircular sleeves.

5. Bayonet construction of a needle holder according to claim 4, characterized in that one end of said fixing sleeve abuts against a first side end face of said bearing remote from said connecting rod.

6. The bayonet structure of needle holder of claim 1, wherein said bayonet sleeve comprises a first stepped bore at said first end and a second stepped bore at a second end, said first stepped bore being formed by said annular protrusion, said annular bayonet being snap-fit with said annular protrusion.

7. The bayonet structure of needle holder of claim 6, wherein the cross-sectional area of the second stepped hole of the bayonet sleeve is larger than the cross-sectional area of the connecting shaft.

8. The bayonet structure of needle holder of claim 6, further comprising a stop plate secured to the slider and abutting against a second side end surface of the bearing proximate to the connecting rod.

9. A needle holder control assembly comprising a bayonet structure of a needle holder according to any one of claims 1 to 8, the needle holder control assembly further comprising a drive means connected to the slider for linear movement of the slider.

10. The needle holder control assembly of claim 9 wherein the drive arrangement comprises:

the screw rod is in threaded fit connection with the sliding block;

and the motor is connected with the screw rod, wherein the motor drives the screw rod to rotate so as to enable the sliding block to move linearly.

11. The needle holder control assembly of claim 10 further comprising a instrumentation seat, the lead screw being mounted on the instrumentation seat.

Technical Field

The invention relates to the technical field of surgical robots, in particular to a needle holder control assembly.

Background

The minimally invasive surgery technology enables most surgical operations to be distinguished from open surgical modes, the application of the robot technology to medical surgical operations has received high attention from all countries in the world, the robot has the advantages that the operation stability, the operation rapidness and the operation accuracy cannot be achieved, the robot technology is integrated into the surgical operations, the operation environment of doctors can be improved, and the recovery time of patients can be shortened.

At present, the main minimally invasive surgical tool adopts a rod transmission mode, the front end of the minimally invasive surgical tool is provided with a multi-degree-of-freedom surgical executing tool, and when the surgical executing tool realizes the opening and closing and rotating degrees of freedom, a needle holder control assembly needs to be redesigned.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to design the bayonet structure of the needle holder and the needle holder control assembly realizes two degrees of freedom of opening and closing control and rotation of the needle holder.

In order to solve the above technical problem, the present invention provides a bayonet structure of a needle holder, comprising:

a slider;

a bearing mounted on the slider;

one end of the connecting rod is connected with the needle holder, and the other end of the connecting rod is provided with an annular clamping groove along the circumferential direction;

and at least part of the inner wall surface of the bayonet sleeve is connected with the annular clamping groove in a clamping manner, and the bayonet sleeve is fixedly connected with the bearing.

Furthermore, the bayonet sleeve comprises two semicircular sleeves, and the two semicircular sleeves are spliced into the bayonet sleeve.

Furthermore, the inner wall surface of the first end of the bayonet sleeve forms an annular bulge, and the annular bulge is clamped in the annular clamping groove.

Further, bayonet structure still includes fixed cover, the second end of bayonet cover stretches out the bearing, just the outer wall of second end is equipped with the screw thread, in order with fixed cover threaded connection realizes two the concatenation of semicircle cover.

Further, one end of the fixed sleeve abuts against the first side end face of the bearing, which is far away from the connecting rod.

Further, bayonet socket is including being located the first shoulder hole of first end and being located the second shoulder hole of second end, first shoulder hole by annular bulge forms, annular slot with annular bulge block is connected.

Further, the cross-sectional area of the second stepped hole of the bayonet sleeve is larger than that of the connecting shaft.

Further, the bayonet structure further comprises a baffle plate which is fixed on the sliding block and abuts against the second side end face of the bearing, close to the connecting rod.

A needle holder control assembly comprises the bayonet structure of the needle holder, and further comprises a driving device which is connected with the sliding block so as to enable the sliding block to move linearly.

Further, the driving device includes:

the screw rod is in threaded fit connection with the sliding block;

and the motor is connected with the screw rod, wherein the motor drives the screw rod to rotate so as to enable the sliding block to move linearly.

Further, the needle holder control assembly further comprises a mechanical seat, and the screw rod is mounted on the mechanical seat.

Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:

according to the needle holder control assembly, 1, the reciprocating linear motion of the sliding block is realized through the motion of the driving screw rod, and the sliding block drives the bearing, the bayonet sleeve and the connecting rod which are arranged on the sliding block to do the linear motion in the same direction, so that the opening and closing control of a needle holder is realized; 2. the bearing may allow the bayonet to achieve a rotational movement when the needle holder is turned, thereby reducing friction.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of a needle holder control assembly according to the present invention;

FIG. 2 is a schematic view of a bayonet structure of a needle holder provided in the present invention;

FIG. 3 is a partial schematic view of a bayonet structure of a needle holder provided in the present invention;

fig. 4 is a schematic structural view of a bayonet sleeve of a bayonet structure of a needle holder provided by the invention.

List of reference numerals:

10-a slide block; 20-a screw rod; 30-a motor;

40-a needle holder; 50-a guide bar; 60-bayonet sleeve;

70-a bearing; 80-a connecting rod; 90-a baffle;

100-fixing a sleeve; 110-a tool holder; 601-first stepped hole;

603-second step holes.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the following will describe in detail an implementation method of the present invention with reference to the accompanying drawings and embodiments, so that how to apply technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.

In one embodiment of the present invention, as shown in fig. 2-3, an embodiment of the present invention provides a bayonet structure of a needle holder, comprising a slider 10, a bearing 70, a connecting rod 80 and a bayonet sleeve 60; the bearing 70 is installed on the sliding block 10; one end of the connecting rod 80 is connected with the needle holder 40, and the other end is provided with an annular clamping groove along the circumferential direction; at least part of the inner wall surface of the bayonet sleeve 60 is connected with the annular bayonet in a clamping way, and the outer wall surface of the bayonet sleeve 60 is fixedly connected with the inner wall surface of the bearing 70.

The bayonet structure of the needle holder has the following effects: 1. when the sliding block 10 moves linearly in a reciprocating manner, the sliding block 10 drives the bearing 70, the bayonet sleeve 60 and the connecting rod 80 which are arranged on the sliding block 10 to do linear motion in the same direction, so that the opening and closing of the needle holder 40 are controlled; 2. the bearing 70 may allow the bayonet sleeve to achieve a rotational movement when the needle holder 40 is turned, thereby reducing friction.

In this embodiment, preferably, the bayonet sleeve 60 includes two semicircular sleeves, the two semicircular sleeves are spliced to form the bayonet sleeve 60, and in order to facilitate the bayonet sleeve 60 to be clamped into the annular bayonet slot of the connecting rod, the bayonet sleeve 60 is designed into two semicircular shapes, and then the two semicircular sleeves are spliced to form the bayonet sleeve 60; it is noted that, for the convenience of installation, the snap-fit sleeve 60 is made up of a plurality of arc-shaped sleeves, which also falls within the scope of the present invention.

In this embodiment, it is preferable that the inner wall of the first end of the bayonet sleeve 60 forms an annular projection which snaps into the annular bayonet groove.

In this embodiment, it is preferred, the bayonet structure still includes fixed cover 100, the second end of bayonet cover 60 stretches out bearing 70, and the outer wall face of the second end of bayonet cover 60 is equipped with the external screw thread, with fixed cover 100 threaded connection realizes two the concatenation of semicircle cover, promptly fixed cover 100 is equipped with the internal thread, fixed cover 100 with bayonet cover 60 passes through screw-thread fit and connects, pieces together two semicircle covers bayonet cover 60's the protruding card of annular of bayonet cover 60 is gone into back in the annular groove, need fix two semicircle covers, avoids two semicircle covers to drop, consequently can realize right through fixed cover 100 the bayonet cover 60 that the piece together formed is fixed, then install fixed bayonet cover 60 on bearing 70.

In this embodiment, it is preferable that one end of the fixing sleeve 100 abuts on a first side end surface of the bearing 70 away from the connecting rod 80 to prevent the bearing 70 from falling off from one direction; the bearing 70 is provided with a baffle 90, the baffle 90 abuts against the second side end face of the bearing 70 close to the connecting rod 80, the baffle 90 is fixed on the slider 10, the bearing 70 is limited by the baffle 90 to prevent the bearing 70 from falling off from another direction, specifically, the fixing sleeve 100 abuts against the small ring of the bearing 70, the baffle 90 abuts against the large ring of the bearing 70 in another direction, namely, the two sides of the bearing 70 are respectively limited by the fixing sleeve 100 and the baffle 90, and the bearing 70 is effectively prevented from falling off.

In this embodiment, preferably, the inner hole of the bayonet sleeve 60 is stepped, the bayonet sleeve 60 includes a first stepped hole 601 at a first end of the bayonet sleeve 60 and a second stepped hole 603 at a second end of the bayonet sleeve 60, the diameter of the second stepped hole 603 is larger than that of the first stepped hole 601, the first stepped hole 601 is formed by the annular protrusion, and the annular bayonet is connected with the annular protrusion in a snap-fit manner_；The cross-sectional area of the second stepped hole 603 of the bayonet sleeve is equal to or larger than that of the connecting shaft 80, and a part of the bayonet sleeve 60 corresponding to the second stepped hole 603 extends out of the bearing 70; the bayonet sleeve 60 is in the internal surface of first step hole 601 department with the connecting rod 80 is in the internal surface contact cooperation of ring groove department, consequently realizes the part bayonet sleeve 60 card is gone into in the ring groove slider 10 reciprocating linear motion, slider 10 drives bearing 70 removes, bearing 70 drives bayonet sleeve 60 removes, because part bayonet sleeve 60 card is gone into in the ring groove, promptly bayonet sleeve 60 drives connecting axle 80 removes, connecting axle 80 drives needle holder 40 to the realization is to the control of opening and shutting of needle holder 40.

In this embodiment, preferably, the connecting rod 80 is detachably connected to the needle holder 40 by screw-fitting, so as to facilitate replacement of the needle holder 40. Please note that the detachable connection means that the connection means of the connecting rod 80 and the needle holder 40 is detachable, and it is within the scope of the present invention to include a threaded connection, a screw connection or other detachable connection.

In this embodiment, preferably, the slider 10 is provided with a mounting hole matched with the bearing 70, an outer wall surface of the bearing 70 is in contact fit with an inner wall surface of the slider 10 at the mounting hole, and a mounting manner of the bearing 70 is a well-known technique in the art, and details are not described here.

In an embodiment of the present invention, as shown in fig. 1 to 3, a needle holder control assembly comprises the bayonet structure of the needle holder, and the needle holder control assembly further comprises a driving device connected with the sliding block 10 to make the sliding block 10 move linearly; the driving device comprises a screw rod 20 and a motor 30, the screw rod 20 is in threaded fit connection with the slide block 10, the motor 30 is connected with the screw rod 20 through a coupling, wherein the motor 30 drives the screw rod 20 to rotate so as to enable the slide block 10 to move linearly; the needle holder control assembly further comprises a mechanical seat 110, and the screw rod 20 is rotatably mounted on the mechanical seat 110.

The instrument base 110 is provided with a guide rod 50 for limiting the rotation of the slider, specifically, the slider 10 is provided with a guide hole, the guide rod 50 passes through the guide hole and is in contact fit with the slider 10, when the screw rod 20 rotates in a threaded manner, the slider 10 moves along the guide rod 50 (the screw rod 20) due to the threaded fit between the slider 10 and the screw rod 20 and the limitation of the guide rod 50.

The motor 30 drives the screw rod 20 to rotate in the forward and reverse directions, the screw rod 20 drives the sliding block 10 to move linearly in a reciprocating mode when rotating, the sliding block 10 drives the bearing 70 to move, the bearing 70 drives the bayonet sleeve 60 to move, the bayonet sleeve 60 is clamped into the annular clamping groove, namely the bayonet sleeve 60 drives the connecting shaft 80 to move, and the connecting shaft 80 drives the needle holder 40, so that the opening and closing of the needle holder 40 are controlled.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.