CN113100948A - Front end execution device for surgical robot - Google Patents
Front end execution device for surgical robot Download PDFInfo
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- CN113100948A CN113100948A CN202110416190.5A CN202110416190A CN113100948A CN 113100948 A CN113100948 A CN 113100948A CN 202110416190 A CN202110416190 A CN 202110416190A CN 113100948 A CN113100948 A CN 113100948A
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- 239000012636 effector Substances 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 abstract description 20
- 210000000080 chela (arthropods) Anatomy 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- 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
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
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- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The present disclosure provides a front end execution device for a surgical robot, including: the device comprises a connecting seat, a cross shaft, a pitching driving part, opening and closing pincers and an opening and closing driving part; the first end of the connecting seat is connected with the front end of the surgical instrument guide pipe; the first axial direction of the cross shaft is vertically intersected with the second axial direction of the cross shaft; the first shaft end and the second shaft end of the cross shaft are pivotally connected with the second end of the connecting seat; the pitching driving part is pivotally connected with a first shaft end of the cross shaft; the opening and closing pliers are pivotally connected with a third shaft end of the cross shaft; the opening and closing driving parts are respectively pivoted with the two sides of the cross shaft along the normal direction of the plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, and are meshed with the opening and closing pliers. The structural arrangement mode has the decoupling characteristic, the establishment of a kinematics model is facilitated, the control program is simplified, and the motion control precision and reliability are improved.
Description
Technical Field
The present disclosure relates to the field of medical robots, and more particularly, to a front end actuator for a surgical robot.
Background
In the implementation process of the robot-assisted minimally invasive surgery, after the surgical instrument reaches a focus part through the poking card, the initial position of the front end executing device of the surgical instrument is a pose deflected to a certain direction, so that the operation action of the surgery is realized. The movement of the front end effector during the surgical procedure is mostly accomplished within the above-mentioned range of directions. In order to maintain the front end executing device in a posture with a deflection angle during the operation, most of the front end executing devices disclosed at present have a transitional joint structure. The transition joint structure can increase a driving force arm when the tong page performs clamping action, so that the load capacity of the front end execution device is reduced, and the transmission efficiency and the transmission precision of the driving force are influenced.
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a front end actuator for a surgical robot to solve the above-mentioned technical problems.
(II) technical scheme
According to an aspect of the present disclosure, there is provided a surgical robot front end effector including:
the first end of the connecting seat is connected with the front end of the surgical instrument guide pipe;
the first axial direction of the cross shaft is vertically intersected with the second axial direction of the cross shaft; a first shaft end and a second shaft end are respectively arranged on two sides of the cross shaft in the first axial direction, and a third shaft end is arranged on one side of the cross shaft in the second axial direction; the first shaft end and the second shaft end are pivotally connected with the second end of the connecting seat;
the pitching driving part is pivotally connected with the first shaft end of the cross shaft;
the opening and closing pliers are pivotally connected with the third shaft end of the cross shaft;
and the opening and closing driving part is respectively pivoted with the two sides of the cross shaft and meshed with the opening and closing pliers.
In some embodiments of the present disclosure, the pitch drive section comprises:
the pitching driving wheel is pivotally connected with the first shaft end of the cross shaft;
the first driving wire is wound on the pitching driving wheel and penetrates through the surgical instrument conduit to be connected with an instrument driving device; the instrument driving device drives the pitch driving wheel to rotate through the first driving wire.
In some embodiments of the present disclosure, the opening and closing driving part includes:
the first bevel gear is in a normal direction of a plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, and the first bevel gear is in pivot connection with one side of the cross shaft;
the first opening and closing driving wheel is connected with the back end of the tooth of the first bevel gear; the first opening and closing driving wheel rotates to drive the first bevel gear to rotate;
the first guide wheel is pivotally connected with the second shaft end of the cross shaft;
one end of the second driving wire is fixedly arranged on the first opening and closing driving wheel, the other end of the second driving wire sequentially bypasses the first opening and closing driving wheel and the first guide wheel, and the second driving wire penetrates through the surgical instrument guide pipe and is connected with the instrument driving device;
the second guide wheel is pivotally connected with the first shaft end of the cross shaft;
one end of the third driving wire is fixedly arranged on the first opening and closing driving wheel, the other end of the third driving wire sequentially bypasses the first opening and closing driving wheel and the second guide wheel, and the third driving wire penetrates through the surgical instrument guide pipe and is connected with the instrument driving device; the instrument driving device drives the first opening and closing driving wheel to rotate through the second driving wire and the third driving wire;
the second bevel gear is in a normal direction of a plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, and the second bevel gear is in pivot connection with the other side of the cross shaft;
the second opening and closing driving wheel is connected with the back end of the second bevel gear; the second opening and closing driving wheel rotates to drive the second bevel gear to rotate;
one end of the fourth driving wire is fixedly arranged on the second opening and closing driving wheel, the other end of the fourth driving wire sequentially bypasses the second opening and closing driving wheel and the second guide wheel, and the fourth driving wire penetrates through a surgical instrument guide pipe and is connected with an instrument driving device;
one end of the fifth driving wire is fixedly arranged on the second opening and closing driving wheel, the other end of the fifth driving wire sequentially bypasses the second opening and closing driving wheel and the first guide wheel, and the fifth driving wire penetrates through the surgical instrument catheter and is connected with the instrument driving device; the instrument driving device drives the second opening and closing driving wheel to rotate through the fourth driving wire and the fifth driving wire.
In some embodiments of the present disclosure, the opening and closing forceps comprises:
the first opening and closing clamp leaf is pivotally connected with the third shaft end of the cross shaft;
the rotating end of the first opening and closing clamp leaf is fixedly connected with the first opening and closing bevel gear; the first opening and closing bevel gear is in meshed connection with the first bevel gear;
the second opening and closing clamp page is pivotally connected with a third shaft end of the cross shaft;
the rotating end of the second opening and closing clamp leaf is fixedly connected with the second opening and closing bevel gear; the second opening and closing bevel gear is in meshed connection with the second bevel gear.
In some embodiments of the present disclosure, the pitch drive wheel has an axis of rotation that coincides with the first axial direction of the spider.
In some embodiments of the present disclosure, the axes of rotation of the first and second split drive wheels, the first bevel gear, and the second bevel gear coincide.
In some embodiments of the present disclosure, the rotation axis of the opening and closing clamp coincides with the second axis direction of the cross shaft.
In some embodiments of the present disclosure, a wire slot is disposed on the pitch drive wheel, and the first drive wire is wound around the wire slot of the pitch drive wheel.
In some embodiments of the present disclosure, the first opening and closing driving wheel and the second opening and closing driving wheel are both provided with double-row wire grooves, and the first guide wheel and the second guide wheel are provided with double-row wire grooves.
In some embodiments of the present disclosure, the connecting seat is further provided with a threading hole.
(III) advantageous effects
According to the technical scheme, the front end executing device for the surgical robot disclosed by the invention has at least one or part of the following beneficial effects:
(1) the structural arrangement mode has the decoupling characteristic, the establishment of a kinematics model is facilitated, the control program is simplified, and the motion control precision and reliability are improved.
(2) The device shortens the axial size, can obtain larger clamping force and deflection bending moment under the drive of the same drive wire tension, and is favorable for improving the load capacity of surgical instruments.
(3) The bevel gear transmission is adopted, so that the wrap angle of the driving wire is reduced, and the transmission efficiency and the transmission precision of the driving force are improved.
Drawings
Fig. 1 is a first movement diagram of a front end effector for a surgical robot according to an embodiment of the present disclosure.
Fig. 2 is a second movement diagram of a front end executing device for a surgical robot according to an embodiment of the disclosure.
Fig. 3 is an exploded view of the front end effector for a surgical robot according to an embodiment of the present disclosure.
Fig. 4 is an exploded view of the front end effector structure for a surgical robot according to another embodiment of the disclosure.
Fig. 5 is a schematic structural diagram of a combination of the first bevel gear and the first opening and closing driving wheel in fig. 4.
Fig. 6 to 11 are schematic views showing the arrangement of the partial fitting driving wires of the front end effector for the surgical robot in fig. 1.
Fig. 12 is a schematic view of an initial pose of a front end effector for a surgical robot according to an embodiment of the present disclosure.
Detailed Description
The present disclosure provides a front end execution device for a surgical robot, including: the device comprises a connecting seat, a cross shaft, a pitching driving part, opening and closing pincers and an opening and closing driving part; the first end of the connecting seat is connected with the front end of the surgical instrument guide pipe; the first axial direction of the cross shaft is vertically intersected with the second axial direction of the cross shaft; the first shaft end and the second shaft end of the cross shaft are pivotally connected with the second end of the connecting seat; the pitching driving part is pivotally connected with a first shaft end of the cross shaft; the opening and closing pliers are pivotally connected with a third shaft end of the cross shaft; the opening and closing driving parts are respectively pivoted with the two sides of the cross shaft along the normal direction of the plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, and are meshed with the opening and closing pliers. The structural arrangement mode has the decoupling characteristic, the establishment of a kinematics model is facilitated, the control program is simplified, and the motion control precision and reliability are improved.
Regarding the shaft end setting of cross axle, specifically be: a first shaft end and a second shaft end are respectively arranged on two sides of the cross shaft in the first axis direction, and a third shaft end is arranged on one side of the cross shaft in the second axis direction.
The following describes each component of the surgical robot front end effector in detail.
A pitch drive section comprising: a pitch drive wheel and a first drive wire. The pitch drive wheel is pivotally connected to the first shaft end of the cross shaft. The first driving wire is wound on the pitching driving wheel and penetrates through the surgical instrument conduit to be connected with the instrument driving device. The instrument driving device drives the pitching driving wheel to rotate through the first driving wire.
The drive portion opens and shuts includes: the first bevel gear, the first opening and closing driving wheel, the first guide wheel, the second driving wire, the second guide wheel, the third driving wire, the second bevel gear, the second opening and closing driving wheel, the fourth driving wire and the fifth driving wire. Along the normal direction of the plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, the first bevel gear is in pivot connection with one side of the cross shaft, and the second bevel gear is in pivot connection with the other side of the cross shaft; the first opening and closing driving wheel is connected with the back end of the tooth of the first bevel gear and drives the first bevel gear to rotate; the second opening and closing driving wheel is connected with the back end of the second bevel gear to drive the second bevel gear to rotate; the first guide wheel is in pivot connection with the second shaft end of the cross shaft; the second guide wheel is pivotally connected with the first shaft end of the cross shaft.
One end of the second driving wire is fixedly arranged on the first opening and closing driving wheel, the other end of the second driving wire sequentially bypasses the first opening and closing driving wheel and the first guide wheel, and the second driving wire penetrates through the surgical instrument guide pipe to be connected with the instrument driving device. One end of the third driving wire is fixedly arranged on the first opening and closing driving wheel, the other end of the third driving wire sequentially bypasses the first opening and closing driving wheel and the second guide wheel, and the third driving wire penetrates through the surgical instrument guide pipe to be connected with the instrument driving device. The instrument driving device drives the first opening and closing driving wheel to rotate through the second driving wire and the third driving wire.
One end of a fourth driving wire is fixedly arranged on the second opening and closing driving wheel, the other end of the fourth driving wire sequentially bypasses the second opening and closing driving wheel and the second guide wheel, and the fourth driving wire penetrates through the surgical instrument guide pipe to be connected with the instrument driving device. One end of the fifth driving wire is fixedly arranged on the second opening and closing driving wheel, the other end of the fifth driving wire sequentially bypasses the second opening and closing driving wheel and the first guide wheel, and the fifth driving wire penetrates through the surgical instrument guide pipe to be connected with the instrument driving device. The instrument driving device drives the second opening and closing driving wheel to rotate through the fourth driving wire and the fifth driving wire.
Opening and closing pliers, including: the gear mechanism comprises a first opening and closing clamp leaf, a first opening and closing bevel gear, a second opening and closing clamp leaf and a second opening and closing bevel gear. The first opening and closing clamp leaf is pivotally connected with the third shaft end of the cross shaft. The rotating end of the first opening and closing tong leaf is fixedly connected with a first opening and closing bevel gear; the first opening and closing bevel gear is in meshed connection with the first bevel gear. The second opening and closing clamp leaf is pivotally connected with the third shaft end of the cross shaft. The rotating end of the second opening and closing tong leaf is fixedly connected with a second opening and closing bevel gear; the second opening and closing bevel gear is in meshed connection with the second bevel gear.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In a first exemplary embodiment of the present disclosure, a surgical robot front end effector is provided. Fig. 1 is a first movement diagram of a front end effector for a surgical robot according to an embodiment of the present disclosure. Fig. 2 is a second movement diagram of a front end executing device for a surgical robot according to an embodiment of the disclosure. As shown in fig. 1 and 2, the front end executing device for the surgical robot includes a connecting seat 101 for connecting the surgical instrument guide tube and the front end executing device for the surgical robot, the connecting seat 101 is fixedly installed at the front end of the surgical instrument guide tube, the rotation axis of the connecting seat 101 coincides with the axis of the surgical instrument guide tube, and the rotation of the surgical instrument guide tube around the axis thereof can drive the front end executing device for the surgical robot to synchronously rotate, so as to realize the autorotation motion of the front end executing device for the surgical robot. The front end execution device for the surgical robot further comprises: and the cross shaft 102, two opening and closing forceps pages for completing operation actions are arranged at the same side of the third shaft end of the cross shaft, namely above the cross shaft. The two opening and closing clamp leaves are respectively a first opening and closing clamp leaf and a second opening and closing clamp leaf. The rotation axis of the opening and closing movement of the opening and closing nipper is coincidently arranged with the deflection movement second axis R2.
Fig. 3 is an exploded view of the front end effector for a surgical robot according to an embodiment of the present disclosure. Fig. 4 is an exploded view of the front end effector structure for a surgical robot according to another embodiment of the disclosure. As shown in fig. 3 and 4, the connecting seat 101 includes a base and a supporting seat 103. One end of the base is connected with the front end of the surgical instrument guide pipe, and the other end of the base is connected with the supporting seat 103. The first shaft end and the second shaft end of the cross 102 are mounted on a support seat 103 provided on the connection seat 101, the cross 102 is rotatable about a first axis R1, and the first shaft end of the cross 102 is pivotally connected to the pitch drive portion.
The pitch drive section specifically includes: pitch drive wheel 104 and first drive wire 113. The pitch driving wheel 104 is fixedly mounted at the first axial end of the cross 102, the rotation axis of the pitch driving wheel 104 is overlapped with the first axial line R1 of the cross 102, the rotation of the pitch driving wheel 104 can drive the cross 102 to rotate around the first axial line R1, and the first axial line R1 is perpendicularly intersected with the second axial line R2.
On the cross 102, a first bevel gear 105 is mounted on one side of the plane where the first axis R1 and the second axis R2 are located in the normal direction, and can rotate on the cross 102, a first opening and closing driving wheel 106 is fixedly mounted at the back end of teeth of the first bevel gear 105, as shown in fig. 5, the rotation axis of the first opening and closing driving wheel 106 is overlapped with the rotation axis of the first bevel gear 105, and the rotation of the first opening and closing driving wheel 106 can drive the first bevel gear 105 to rotate. On the cross shaft 102, a second bevel gear 107 is mounted on the other side of the normal direction of the plane where the first axis R1 and the second axis R2 are located, the second bevel gear 107 can rotate on the cross shaft 102, a second opening and closing driving wheel 108 is fixedly mounted at the back end of teeth of the second bevel gear 107, the rotation axis of the second opening and closing driving wheel 108 is overlapped with the rotation axis of the second bevel gear 107, and the second bevel gear 107 can be driven to rotate by the rotation of the second opening and closing driving wheel 108.
A first opening and closing tong leaf 109 and a second opening and closing tong leaf 110 are arranged above the cross shaft 102, namely, at the third shaft end, opening and closing bevel gears are respectively and fixedly arranged at the rotating ends of the two opening and closing tong leaves and are used for driving the two opening and closing tong leaves to rotate independently, and the two opening and closing tong leaves can do rotating motion around a second axis R2 on the cross shaft 102, namely, the deflection motion and the opening and closing motion K are realized. The first opening and closing bevel gear fixedly arranged on the first opening and closing tong leaf 109 is meshed with the first bevel gear 105, and after the first opening and closing bevel gear is meshed with the first bevel gear 105, the first opening and closing driving wheel 106 rotates to drive the first opening and closing tong leaf 109 to rotate around the second axis R2. After the second bevel opening and closing gear fixed on the second opening and closing tong 110 is engaged with the second bevel gear 107, the rotation of the second driving opening and closing wheel 108 can drive the second opening and closing tong 110 to rotate around the second axis R2.
The arrangement of the drive wires in the front end effector for a surgical robot will be described with reference to the drawings.
Along the first axis R1, a first guide wheel 111 and a second guide wheel 112 are respectively installed at two ends of the cross shaft 102, and two rows of wire grooves are respectively arranged on the first guide wheel 111 and the second guide wheel 112 for driving the wires to guide. For the pitch movement, referring to fig. 6, both ends of the first driving wire 113 pass around the pitch driving wheel 104, pass through the wire passing hole provided on the connection base 101, and then pass through the inside of the surgical instrument guide tube into the instrument driving device. After the driving wires are tensioned, the two ends of the first driving wire 113 are pulled to drive the pitching driving wheel 104 to rotate, so that pitching motion is realized.
For the yaw motion and the opening and closing motion K. Referring to fig. 7, one end of the second driving wire 114 is fixed on a wire groove of the first opening and closing driving wheel 106 (as shown in fig. 8), and the other end of the second driving wire 114 goes around the first opening and closing driving wheel 106 and a wheel groove (e.g., an outer wheel groove) of the first guiding wheel 111, passes through a wire passing hole formed in the connecting seat 101, and then enters the instrument driving device through the inside of the surgical instrument guide tube. Referring to fig. 9, one end of the third driving wire 115 is fixed to another wire groove of the first opening and closing driving wheel 106 (as shown in fig. 8), and the other end of the third driving wire 115 passes through a wire passing hole formed in the connection seat 101 by bypassing one wheel groove (e.g., an inner wheel groove) of the first opening and closing driving wheel 106 and the second guiding wheel 112, and then enters the instrument driving device through the inside of the surgical instrument guide tube. After the driving wires are tensioned, pulling the second driving wire 114 and the third driving wire 115 can drive the first opening and closing driving wheel 106 to rotate, and further drive the first opening and closing jaw 109 to rotate around the second axis R2.
Referring to fig. 10, one end of the fourth driving wire 116 is fixed to a wire groove of the second retractable driving wheel 108 (as shown in fig. 8), and the other end of the fourth driving wire 116 bypasses the second retractable driving wheel 108 and a wheel groove (e.g., an outer wheel groove) of the second guiding wheel 112, passes through a wire passing hole formed in the connection seat 101, and then enters the instrument driving device through the inside of the surgical instrument guide tube. Referring to fig. 11, one end of the fifth driving wire 117 is fixed to another wire groove of the second opening and closing driving wheel 108 (as shown in fig. 8), and the other end of the fifth driving wire 117 bypasses the second opening and closing driving wheel 108 and one wheel groove (e.g., an inner wheel groove) of the first guiding wheel 111, passes through a wire passing hole formed in the connecting base 101, and then enters the instrument driving device through the inside of the surgical instrument guide tube. After the driving wires are tensioned, pulling the fourth driving wire 116 and the fifth driving wire 117 can drive the second opening and closing driving wheel 108 to rotate, and further drive the first opening and closing tong leaf 110 to rotate around the shaft R2. The pivoting of the two opening and closing jaws about the axis R2 effects a pivoting movement and an opening and closing movement K.
Fig. 12 is a schematic view of an initial pose of a front end effector for a surgical robot according to an embodiment of the present disclosure. As shown in fig. 12, in the operation implementation process, the front end execution device for the surgical robot is adjusted to the posture shown in fig. 12, so that the surgical instrument can be inserted into the patient, and after the front end of the surgical instrument reaches the lesion site, the posture of the front end execution device for the surgical robot is adjusted to the initial posture shown in fig. 4, so that the operation action can be performed.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should clearly recognize that the surgical robot front end effector of the present disclosure has.
In conclusion, the front end executing device for the surgical robot has the decoupling characteristic and is convenient for establishment of a kinematic model, and the front end executing device is shorter in axial dimension, can obtain larger clamping force and deflection bending moment under the drive of the same driving wire tension, is beneficial to improving the load capacity of a surgical instrument, improves the transmission efficiency and transmission precision of the driving force, and can be widely applied to the field of medical robots.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A surgical robot front end effector comprising:
the first end of the connecting seat is connected with the front end of the surgical instrument guide pipe;
the first axial direction of the cross shaft is vertically intersected with the second axial direction of the cross shaft; a first shaft end and a second shaft end are respectively arranged on two sides of the cross shaft in the first axial direction, and a third shaft end is arranged on one side of the cross shaft in the second axial direction; the first shaft end and the second shaft end are pivotally connected with the second end of the connecting seat;
the pitching driving part is pivotally connected with the first shaft end of the cross shaft;
the opening and closing pliers are pivotally connected with the third shaft end of the cross shaft;
and the opening and closing driving part is respectively pivoted with the two sides of the cross shaft and meshed with the opening and closing pliers.
2. The surgical robot front end effector according to claim 1, wherein the pitch drive unit includes:
the pitching driving wheel is pivotally connected with the first shaft end of the cross shaft;
the first driving wire is wound on the pitching driving wheel and penetrates through the surgical instrument conduit to be connected with an instrument driving device; the instrument driving device drives the pitch driving wheel to rotate through the first driving wire.
3. The surgical robot tip actuator according to claim 1, wherein the open/close driving unit includes:
the first bevel gear is in a normal direction of a plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, and the first bevel gear is in pivot connection with one side of the cross shaft;
the first opening and closing driving wheel is connected with the back end of the tooth of the first bevel gear; the first opening and closing driving wheel rotates to drive the first bevel gear to rotate;
the first guide wheel is pivotally connected with the second shaft end of the cross shaft;
one end of the second driving wire is fixedly arranged on the first opening and closing driving wheel, the other end of the second driving wire sequentially bypasses the first opening and closing driving wheel and the first guide wheel, and the second driving wire penetrates through the surgical instrument guide pipe and is connected with the instrument driving device;
the second guide wheel is pivotally connected with the first shaft end of the cross shaft;
one end of the third driving wire is fixedly arranged on the first opening and closing driving wheel, the other end of the third driving wire sequentially bypasses the first opening and closing driving wheel and the second guide wheel, and the third driving wire penetrates through the surgical instrument guide pipe and is connected with the instrument driving device; the instrument driving device drives the first opening and closing driving wheel to rotate through the second driving wire and the third driving wire;
the second bevel gear is in a normal direction of a plane where the first axial direction of the cross shaft and the second axial direction of the cross shaft are located, and the second bevel gear is in pivot connection with the other side of the cross shaft;
the second opening and closing driving wheel is connected with the back end of the second bevel gear; the second opening and closing driving wheel rotates to drive the second bevel gear to rotate;
one end of the fourth driving wire is fixedly arranged on the second opening and closing driving wheel, the other end of the fourth driving wire sequentially bypasses the second opening and closing driving wheel and the second guide wheel, and the fourth driving wire penetrates through a surgical instrument guide pipe and is connected with an instrument driving device;
one end of the fifth driving wire is fixedly arranged on the second opening and closing driving wheel, the other end of the fifth driving wire sequentially bypasses the second opening and closing driving wheel and the first guide wheel, and the fifth driving wire penetrates through the surgical instrument catheter and is connected with the instrument driving device; the instrument driving device drives the second opening and closing driving wheel to rotate through the fourth driving wire and the fifth driving wire.
4. The surgical robot front end effector according to claim 3, wherein the opening and closing forceps comprise:
the first opening and closing clamp leaf is pivotally connected with the third shaft end of the cross shaft;
the rotating end of the first opening and closing clamp leaf is fixedly connected with the first opening and closing bevel gear; the first opening and closing bevel gear is in meshed connection with the first bevel gear;
the second opening and closing clamp page is pivotally connected with a third shaft end of the cross shaft;
the rotating end of the second opening and closing clamp leaf is fixedly connected with the second opening and closing bevel gear; the second opening and closing bevel gear is in meshed connection with the second bevel gear.
5. The surgical robot front end effector as claimed in claim 2, wherein the rotation axis of the pitch drive wheel coincides with the first axial direction of the cross shaft.
6. The surgical robot front end effector according to claim 3, wherein rotation axes of the first opening/closing drive wheel, the second opening/closing drive wheel, the first bevel gear, and the second bevel gear coincide with each other.
7. The surgical robot front end effector according to claim 1, wherein the axis of rotation of the opening/closing forceps coincides with the second axis direction of the cross shaft.
8. The surgical robot front end effector as claimed in claim 2, wherein the pitch drive wheel is provided with a wire slot, and the first drive wire is wound around the wire slot of the pitch drive wheel.
9. The surgical robot front end effector as set forth in claim 3, wherein said first and second retractable drive wheels each have double wire grooves formed therein, and said first and second guide wheels each have double wire grooves formed therein.
10. The front end effector for a surgical robot according to claim 1, wherein a threading hole is further provided in the connecting base.
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| CN113100948B (en) | 2022-08-26 |
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