阅读说明：本技术 医疗剪及精密驱动装置 (Medical scissors and precision driving device ) 是由 肖汉杰 于 2020-05-12 设计创作，主要内容包括：本发明公开了一种医疗剪及精密驱动装置,其中医疗剪包括剪刀部和支撑连接部,所述支撑连接部一端与所述剪刀部连接,另一端与所述腕关节部连接；所述剪刀部包括剪刀体、铰接轴、盖部、驱动丝；所述精密驱动装置包括电机、连接轴、小齿轮、连接盖帽、精密丝杠、大齿轮、丝杠螺母、支撑套筒。本发明医疗剪结构简单,组装以及拆装都很方便,清洗极其容易,同时本发明提供的精密驱动装置可以提供非常精密的驱动力,可有效保证剪切力可控,极大的降低了手术风险。(The invention discloses medical scissors and a precision driving device, wherein the medical scissors comprise a scissor part and a supporting connecting part, one end of the supporting connecting part is connected with the scissor part, and the other end of the supporting connecting part is connected with a wrist joint part; the scissors part comprises a scissors body, a hinge shaft, a cover part and a driving wire; the precise driving device comprises a motor, a connecting shaft, a pinion, a connecting cap, a precise lead screw, a gearwheel, a lead screw nut and a supporting sleeve. The medical scissors are simple in structure, convenient to assemble and disassemble and easy to clean, and meanwhile the precise driving device provided by the invention can provide very precise driving force, can effectively ensure controllable shearing force and greatly reduce surgical risks.)

1. The utility model provides a medical mechanical arm, includes drive division (1), flexible arm (2), wrist joint portion (3) and medical scissors (4), its characterized in that: the medical scissors (4) comprise a scissors part (5) and a supporting connecting part (6), one end of the supporting connecting part (6) is connected with the scissors part (5), and the other end of the supporting connecting part (6) is connected with the wrist joint part (3); the scissors part (5) comprises a scissors body (51), a hinge shaft (52), a cover part (53) and a driving wire (54); the scissors body (51) comprises a scissors edge part (511) and a rotating part (512), wherein the rotating part (512) is provided with a circular groove (513), a wire winding wheel (514), a shaft hole (515) and a wire guiding column (516); the cover part (53) comprises a cover top (531), a cover wall (532), a cover top through hole (533), a positioning blind hole (534) and a wire moving hole (535); the driving wire (54) is wound on the wire winding wheel (514) and guided by a wire guide column (516), the cover wall (532) is inserted into the circular groove (513) of the rotating part (512), the driving wire (54) is guided by the wire guide column (516) and then penetrates out of the wire feeding hole (535), and the wire guide column (516) is further inserted into a positioning blind hole (534) of the cover part (53) so as to facilitate the assembly and the limiting; the hinge shaft (52) sequentially passes through the supporting connection part (6), the cap top through hole (533) and the shaft hole (515) to assemble and connect the scissor part (5) and the supporting connection part (6).

2. The medical robotic arm of claim 1, wherein: support connecting portion (6) and include connecting portion (61), transition portion (62), supporting part (63) in proper order, transition portion (62) are connected connecting portion (61) with supporting part (63), supporting part (63) are the platykurtic, further include opening (631) and through-hole (632), opening (631) are used for the installation scissors portion (5) provide sufficient open space scope, through-hole (632) supply articulated shaft (52) pass.

3. The medical robotic arm of claim 1, wherein: the driving part (1) comprises a motor (11), a connecting shaft (12), a pinion (13), a connecting cap (14), a precise screw rod (15), a large gear (16), a screw rod nut (17) and a supporting sleeve (18); the connecting cap (14) is connected with the driving wire (54) and the precision lead screw (15), the motor (11) is connected with the small gear (13) through the connecting shaft (12), the small gear (13) is meshed with the large gear (16), the large gear (16) is fixedly connected with the lead screw nut (17), and the lead screw nut (17) is in transmission connection with the precision lead screw (15); support sleeve (18) including last sleeve (181), lower sleeve (182), go up sleeve (181) inside and be provided with overhead gage (183), bearing (184), lower limiting plate (185), overhead gage (183) pass through the bolt with go up sleeve (181) fixed connection, lower limiting plate (185) are located bottom in last sleeve (181), bearing (184) are located overhead gage (183) with between lower limiting plate (185), lower sleeve (182) are including slip through-hole (1821), precision lead screw (15) bottom is provided with sliding projection (151), sliding projection (151) are in slide in slip through-hole (1821).

4. The medical robotic arm of claim 1, wherein: the connecting screw is arranged in the connecting cap (14), the top of the precision lead screw (15) is provided with a corresponding threaded hole, and the driving wire (54) is connected with the precision lead screw (15) through the matching of the connecting screw and the threaded hole.

[ technical field ] A method for producing a semiconductor device

The invention relates to a medical scissors and a precise driving device, in particular to a medical surgical instrument which is convenient to clean and can precisely control the operating force, belonging to the field of medical instruments.

[ background of the invention ]

Medical robots are advanced devices currently used in telesurgery, have the characteristics of precise operation, small wound and rapid healing, and are estimated to have an annual value of 7000 million dollars in the field. At present, in the field of medical robots, the more mature foreign companies have intuitive surgery/Aolin Bass/Yixikang/Cohui/Royal Philips, the foreign companies have minimally invasive medicine/Shenzhen Jingfeng medicine/Beijing technology Rui/Chengdu Ke Binshi medical robot Limited, and the foreign transportation university/Harbin industry/Tianjin university also have more researches. However, in terms of the current products and patents, the existing medical scissors have a complex structure, which causes difficulty in assembly, especially complicated cleaning, and the existing driving device is not precise enough, so that the medical scissors are easy to accidentally injure healthy tissues when cutting diseased tissues, and especially when the cutting route is curved, the incidence of medical accidents is higher.

[ summary of the invention ]

In view of the above problems, the present invention provides a pair of medical scissors and a precision driving device, wherein the medical scissors are convenient to assemble and simple to clean, and the driving device can provide a very precise driving force, so as to effectively ensure the controllable shearing force of the medical scissors. The specific technical scheme of the invention is as follows:

the utility model provides a medical mechanical arm, includes drive division, flexible arm, wrist joint portion and medical scissors, its characterized in that: the medical scissors comprise a scissors part and a supporting connecting part, one end of the supporting connecting part is connected with the scissors part, and the other end of the supporting connecting part is connected with the wrist joint part; the scissors part comprises a scissors body, a hinge shaft, a cover part and a driving wire; the scissors body comprises a scissors edge part and a rotating part, and the rotating part is provided with a circular groove, a wire winding wheel, a shaft hole and a wire guide column; the cover part comprises a cover top, a cover wall, a cover top through hole, a positioning blind hole and a thread passing hole; the driving wire is wound on the wire winding wheel and is guided by the wire guide column, the cover wall is inserted into the circular groove of the rotating part, the driving wire penetrates out of the wire moving hole after being guided by the wire guide column, and the wire guide column is further inserted into the positioning blind hole of the cover part so as to facilitate assembly and limiting; the hinge shaft sequentially passes through the supporting connection part, the capping through hole and the shaft hole so as to assemble and connect the scissor part and the supporting connection part.

Further, support connecting portion include connecting portion, transition portion, supporting part in proper order, transition portion connects connecting portion with the supporting part, the supporting part is the platykurtic, further includes opening and through-hole, the opening is used for the installation scissors portion provides sufficient open space scope, the through-hole supplies the articulated shaft passes.

Further, the driving part comprises a motor, a connecting shaft, a pinion, a connecting cap, a precise screw rod, a gearwheel, a screw rod nut and a supporting sleeve; the connecting cap is connected with the driving wire and the precision lead screw, the motor is connected with the pinion through the connecting shaft, the pinion is meshed with the gearwheel, the gearwheel is fixedly connected with the lead screw nut, and the lead screw nut is in transmission connection with the precision lead screw; the utility model discloses a precision lead screw, including last sleeve, upper shield, lower limiting plate, upper shield, lower sleeve, support sleeve, upper shield, lower limiting plate, the upper shield pass through the bolt with upper shield fixed connection, the lower limiting plate is located the bottom in the upper shield, the bearing is located the upper shield with between the lower limiting plate, the lower sleeve includes the slip through-hole, accurate lead screw bottom is provided with the slip lug, the slip lug is in slide in the slip through-hole.

Furthermore, a connecting stud is arranged inside the connecting cap, a corresponding threaded hole is formed in the top of the precision lead screw, and the connecting stud is matched with the threaded hole to realize connection of the driving screw and the precision lead screw.

The invention has the following beneficial technical effects: the medical scissors are simple in structure, convenient to assemble and disassemble and easy to clean, and meanwhile the precise driving device provided by the invention can provide very precise driving force, can effectively ensure controllable shearing force and greatly reduce surgical risks. The invention has compact and reasonable structural layout, strong practicability and greater economic and social values.

[ description of the drawings ]

FIG. 1 is a generally schematic drawing of a surgical instrument according to the present invention;

FIG. 2a is a schematic view of the medical shears of the present invention in a closed position;

FIG. 2b is a schematic view of the medical shears of the present invention in an open position;

FIG. 3 is an exploded view of FIG. 2;

fig. 4 is a schematic drawing of the scissor body;

FIG. 5 is a schematic drawing of the cover part;

FIG. 6 is a schematic illustration of a support connection;

FIG. 7 is a schematic structural diagram of a driving part;

fig. 8 is a cross-sectional view of fig. 7.

[ detailed description ] embodiments

The invention will be described first with reference to the specific features indicated by the reference numerals in the drawings, in which: the cutting device comprises a driving part 1, a motor 11, a connecting shaft 12, a pinion 13, a connecting cap 14, a precision screw 15, a sliding lug 151, a large gear 16, a screw nut 17, a supporting sleeve 18, an upper sleeve 181, a lower sleeve 182, a sliding through hole 1821, an upper baffle 183, a bearing 184, a lower limiting plate 185, a flexible arm 2, a joint part 3, a medical scissors 4, a scissors part 5, a scissors body 51, a cutting edge part 511, a rotating part 512, a circular groove 513, a wire winding wheel 514, a shaft hole 515, a wire guiding column 516, a hinge shaft 52, a cover part 53, a cover top 531, a cover wall 532, a cover top through hole 533, a positioning blind hole 534, a wire feeding hole 535, a driving wire 54, a supporting connecting part 6, a connecting part 61, a transition part 62, a supporting part 63, an opening 631 and a through hole 632.

Referring to fig. 1, the medical manipulator generally includes a driving part 1, a flexible arm 2, a wrist joint part 3, and medical scissors 4, and the medical scissors 4 are inserted into a human body to perform a surgical operation.

However, since the opening and closing of the medical scissors are driven by the driving wire, when the driving source is not precise enough, the opening and closing angle of the scissors body is not controlled, that is, the opening and closing angle is usually too large, so that normal tissues are easily damaged during shearing, especially when the shearing path is not straight, the situation is more obvious, if the driving wire is slightly loosened, although the problems can be prevented to a certain extent, the loosened pressing results in that an operator cannot accurately control the operation force, thereby causing certain trouble to precise operation, furthermore, the existing medical scissors have complex structures, disassembly and assembly are difficult, and further, the cleaning is also complicated.

Referring to fig. 2a-2b, the present invention provides a pair of medical scissors and a precision driving device, wherein the medical scissors 4 provided by the present invention not only has a simple structure and is convenient to assemble, but also is easy to clean, and the medical scissors specifically comprises a scissors portion 5 and a supporting connection portion 6, one end of the supporting connection portion 6 is connected with the scissors portion 5, and the other end is connected with the wrist joint portion 3.

Referring to fig. 3 to 5, the scissor portion 5 of the present invention includes a scissor body 51, a hinge shaft 52, a cover 53, a driving wire 54; the scissors body 51 comprises a scissors blade portion 511 and a rotating portion 512, wherein the rotating portion 512 is circular, and a circular groove 513, a wire winding wheel 514, a shaft hole 515 and a wire guiding column 516 are arranged on one surface of the rotating portion. The cover part 53 comprises a cover top 531, a cover wall 532, a cover top through hole 533, a positioning blind hole 534 and a wire moving hole 535, the driving wire 54 is wound on the wire winding wheel 514 to drive the rotating part 512 to rotate, and further drive the shearing blade part 511 to rotate, the driving wire 54 is guided by the two wire guiding columns 516, the distance between the two wire guiding columns 516 is smaller than the diameter of the wire winding wheel 514, so that the driving wire 54 can be prevented from falling off the wire winding wheel 514 on one hand, and the driving wire 54 can be effectively tensioned on the other hand so as to provide necessary driving force. The cover wall 532 is inserted into the circular groove 513 of the rotating portion 512, the driving wire 54 is guided by the wire guiding post 516 and then passes through the wire feeding hole 535, and the wire guiding post 516 is further inserted into the positioning blind hole 534 of the cover portion 53 to perform a limiting function, thereby being very convenient for assembly. Finally, the hinge shaft 52 passes through the support link 6, the cap top through-hole 533, and the shaft hole 515 in order to assemble and connect the scissor portion 5 and the support link 6.

With further reference to fig. 6, the supporting connection portion 6 sequentially includes a connection portion 61, a transition portion 62, and a supporting portion 63, the transition portion 62 connects the connection portion 61 and the supporting portion 63, the supporting portion 63 is flat, and further includes an opening 631 and a through hole 632, the opening 631 is used for installing the scissor portion 5 and ensuring a sufficient opening space range of the scissor body 51, and the through hole 632 is used for the hinge shaft 52 to pass through for assembly.

As can be seen from the above description, the medical scissors of the invention have simple structure, convenient assembly and disassembly, and extremely easy cleaning.

In order to cooperate with the precise operation of the medical scissors, the invention provides a driving part 1 capable of providing precise driving, which is shown in fig. 7-8 and comprises a motor 11, a connecting shaft 12, a pinion 13, a connecting cap 14, a precise lead screw 15, a large gear 16, a lead screw nut 17 and a supporting sleeve 18.

The connecting cap 14 is used for connecting the driving wire 54 and the precision lead screw 15, the connecting cap 14 is of a cap-shaped structure and can be sleeved on the precision lead screw 15, a connecting stud is arranged inside the connecting cap 14, a corresponding threaded hole is formed in the top of the precision lead screw 15, and the driving wire 54 and the precision lead screw 15 are connected through the matching of the connecting stud and the threaded hole, so that the assembling connection between the connecting cap and the precision lead screw is facilitated, and the tension of the driving wire 54 can be adjusted.

The motor 11 of the invention is connected with a pinion 13 through a connecting shaft 12, wherein the connecting shaft 12 is connected with an output shaft of the motor in a key connection mode, the connecting shaft 12 can be fixedly connected with the pinion 13, the pinion 13 is meshed with a gearwheel 16, the gearwheel 16 is fixedly connected with a lead screw nut 17 through bolts, and the lead screw nut 17 is in transmission connection with a precision lead screw 15.

Further, the supporting sleeve 18 comprises an upper sleeve 181 and a lower sleeve 182, an upper baffle 183, a bearing 184 and a lower limiting plate 185 are arranged in the upper sleeve 181, the upper baffle 183 is fixedly connected with the upper sleeve 181 through a bolt, the lower limiting plate 185 is arranged at the bottom in the upper sleeve 181, and the bearing 184 is arranged between the upper baffle 183 and the lower limiting plate 185. The lower sleeve 182 includes a sliding through hole 1821, and the bottom end of the precision lead screw 15 is provided with a sliding projection 151, and the sliding projection 151 slides in the sliding through hole 1821.

The specific driving process of the invention is as follows: the motor 11 drives the pinion 13 to synchronously rotate, the pinion 13 drives the bull gear 16 to rotate, a first-stage speed reduction effect is achieved, the bull gear 16 further drives the screw nut 17 to synchronously rotate, the screw nut 17 drives the precision screw 15 to do lifting motion, and the precision screw 15 adopts the precision screw, so that a second-stage speed reduction effect is achieved, the rotating motion of the motor is finally subjected to two-stage speed reduction to show up-and-down precision motion of the precision screw 15, and finally precision driving of the driving wire 54 is achieved, so that controllability of shearing force is guaranteed.

According to the technical scheme, the medical scissors are simple in structure, convenient to assemble, disassemble and assemble and easy to clean, and meanwhile the precise driving device provided by the invention can provide very precise driving force, so that the shearing force can be effectively guaranteed to be controllable, and the surgical risk is greatly reduced. The invention has compact and reasonable structural layout, strong practicability and greater economic and social values.

Finally, it should be noted that any invention not departing from the core technical idea of the invention should be considered as included in the protection enclosure of the invention.