CN107334535A - Apparatus transmission component, the operating theater instruments of operating robot and operating robot - Google Patents
Apparatus transmission component, the operating theater instruments of operating robot and operating robot Download PDFInfo
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- CN107334535A CN107334535A CN201710645933.XA CN201710645933A CN107334535A CN 107334535 A CN107334535 A CN 107334535A CN 201710645933 A CN201710645933 A CN 201710645933A CN 107334535 A CN107334535 A CN 107334535A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 37
- 230000007704 transition Effects 0.000 claims description 27
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000005452 bending Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides the operating theater instruments and operating robot of a kind of apparatus transmission component, operating robot, the operating theater instruments of operating robot includes drive component；Apparatus transmission component includes：Folding apparatus, the first bearing pin and the first drive link；Folding apparatus includes the first noumenon and the second body, and the first noumenon and the second body are arranged in a crossed manner；First bearing pin is inserted in the infall of the first noumenon and the second body, and the first bearing pin is rotatablely connected with the first noumenon, and the first bearing pin is fixedly connected with the second body；One end of first drive link is connected by transiting rod with the first noumenon, and the other end is connected with drive component, to drive the first noumenon to be rotated around the first bearing pin.When folding apparatus grips article by the first noumenon and the second body, because the second body does not rotate, make the gripping of folding apparatus more stable, further realize the accurate control to open and close device tool folding, and then effectively improve the success rate of operation.
Description
Technical field
The present invention relates to Medical robot technical field, in particular to a kind of apparatus transmission component, operating robot
Operating theater instruments and operating robot.
Background technology
At present, in the related art, robot assisted micro-wound surgical operation is increasingly becoming the development of micro-wound surgical operation and become
Gesture, it is necessary to complete to grip, cut and the action such as cut, support in surgical procedure, therefore apparatus transmission component must possess the work(of folding
Energy；Meanwhile operating theater instruments works in human body, when operating theater instruments implements opening and closing movement in human body, it is necessary to realize to surgical device
The accurate control of tool, if any deviation, the process performed the operation can be influenceed；Meanwhile when operating theater instruments implement grip work, first have to really
To protect picked up object not drop, secondly, it is ensured that operating theater instruments will not impact in folding to other organs in human body,
Therefore how to design it is a accurately control, and opening and closing movement can be completed, while grip the surgical device of stable operating robot
Tool is very necessary.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art or correlation technique.
Therefore, one side of the invention proposes a kind of apparatus transmission component.
The second aspect of the invention proposes a kind of operating theater instruments of operating robot.
The third aspect of the invention proposes a kind of operating robot.
In view of this, first aspect present invention provides a kind of apparatus transmission component, the surgical device for operating robot
Tool, the operating theater instruments of operating robot include drive component；Apparatus transmission component includes：Folding apparatus, the first bearing pin and first
Drive link；Folding apparatus includes the first noumenon and the second body, and the first noumenon and the second body are arranged in a crossed manner；First bearing pin plugs
In the first noumenon and the infall of the second body, the first bearing pin is rotatablely connected with the first noumenon, and the first bearing pin is consolidated with the second body
Fixed connection；One end of first drive link is connected by transiting rod with the first noumenon, and the other end is connected with drive component, to drive
Dynamic the first noumenon rotates around the first bearing pin.
Apparatus transmission component provided by the present invention, first, the first noumenon of folding apparatus is intersected with the second body and set
Put；Then, the first bearing pin is inserted in the infall of the first noumenon and the second body, meanwhile, make the first bearing pin and the first noumenon
Rotation connection, the first bearing pin are fixedly connected with the second body；After again, one end of the first drive link is passed through into transiting rod and first
Body phase is connected, and the other end of the first drive link is connected with drive component, to drive the first noumenon to be rotated around the first bearing pin,
And then realize the open or close of folding apparatus.Due to, the first bearing pin is inserted in the infall of the first noumenon and the second body, its
It is rotatablely connected with the first noumenon, and is fixedly connected with the second body, when the first noumenon, which covers the first bearing pin, to be rotated, the second body is simultaneously
Do not rotate, therefore, the rotational angle that the opening distance of the first noumenon and the second body has the first noumenon determines, so as to reduce out
The folding scope of clutch tool, and then realize the accurate control to open and close device tool folding；Meanwhile when folding apparatus passes through first
Body and the second body gripping article, because the second body does not rotate, make the gripping of folding apparatus more stable, it is further real
Show the accurate control to open and close device tool folding, and then effectively improve the success rate of operation.
In addition, the apparatus transmission component in above-mentioned technical proposal provided by the invention can also have following supplementary technology special
Sign：
In the above-mentioned technical solutions, it is preferable that apparatus transmission component also includes：Connecting rod；One end of connecting rod and transition
Bar is connected, and the other end is connected with the first drive link.
In the technical scheme, passed by the way that one end of connecting rod is connected with transiting rod, and by its other end and first
Lever is connected, and realizes driving of first drive link to transiting rod.Due to there is provided connecting rod, reducing the first drive link
Processing capacity, it is effectively guaranteed the linearity of the first drive link；Meanwhile connecting rod is soft connecting rod, can bear axial force, therefore
It will not be bent when connecting rod bears axial force, bending can be produced by bearing radial load when connecting rod, therefore connecting rod can be realized
Move reciprocatingly vertically, when folding apparatus needs to do oscillating motion, connecting rod can be bent because by radial load, avoid
Swing of one drive link to open and close device tool produces interference, and expands the scope of application of product.
In the above-mentioned technical solutions, it is preferable that transiting rod includes：First Transition bar, the second transiting rod and the 3rd transiting rod；
One end of First Transition bar and the second transiting rod is rotatablely connected with connecting rod, and the other end and the first noumenon of First Transition bar rotate
One end of connection, the other end of the second transiting rod and the 3rd transiting rod is rotatablely connected, the other end of the 3rd transiting rod and the first pin
Axle is rotatablely connected；Wherein, when the first drive link moves reciprocatingly, the first noumenon is driven to be rotated around the first bearing pin.
In the technical scheme, first, one end of First Transition bar and the second transiting rod and connecting rod are rotatablely connected；So
Afterwards, the other end of First Transition bar and the first noumenon are rotatablely connected, and make the other end and the 3rd transiting rod of the second transiting rod
One end rotation connection；After again, the other end of the other end of the 3rd transiting rod and the first bearing pin are rotatablely connected, now, the 3rd
Transiting rod is using as the fulcrum of the second transiting rod so that First Transition bar, the second transiting rod, the 3rd transiting rod and the first noumenon group
Into a quadrangle；After again, when the first drive link moves reciprocatingly, the first drive link drives First Transition bar by connecting rod
Rotated with the second transiting rod, so that First Transition bar promotes the first noumenon to rotate, and then drives folding apparatus open or close,
Realize the driving to open and close device tool.
In the above-mentioned technical solutions, it is preferable that apparatus transmission component also includes：Second drive link, the second drive link are arranged
In the outside of the first drive link, one end of the second drive link is connected with the first bearing pin, to prevent the first bearing pin from producing displacement.
In the technical scheme, first, the second drive link is sheathed on to the outside of the first drive link, then, second passed
One end of lever is connected with the first bearing pin.When connecting rod moves reciprocatingly, connecting rod passes through First Transition bar and the second mistake
Crossing bar drives the first noumenon and the second body to rotate, and the first bearing pin for being now placed in the first noumenon and the second body infall will
By thrust, the first bearing pin is fixed on the second drive link, avoids the first bearing pin from being subjected to displacement because by thrust, causes
One body and the second body move with the first bearing pin, and can not normal open or close；Therefore, by one end of the second drive link with
First bearing pin is connected, to prevent the first bearing pin from producing displacement, it can be ensured that and the first noumenon and the second body rotate around the first bearing pin,
And then folding apparatus open or close is driven, the driving to open and close device tool is realized, the stability of product transmission is improved, enters one
Step realizes the accurate control to open and close device tool, avoids operating theater instruments from damaging the hair of other organs situation in human body at work
It is raw, effectively improve the success rate of operation.
In the above-mentioned technical solutions, it is preferable that one end that the first drive link is connected with drive component is provided with spherical
Connecting portion, the diameter of connecting portion are more than the diameter of the first drive link.
In the technical scheme, by setting ball contact in one end that the first drive link is connected with drive component, and
The diameter of connecting portion is more than the diameter of the first drive link, can be achieved ball contact being embedded in drive component, to prevent the
The displacement of one drive link vertically；Simultaneously as the first drive link is provided with ball contact, therefore, when the first drive link is sent out
During raw rotation, the ball contact in drive device can reduce the coefficient of friction of rotation, it is ensured that the first drive link occurs to turn
Dynamic is smoothed out, so as to improve the stability of transmission.
In the above-mentioned technical solutions, it is preferable that spring is arranged with connecting rod, spring is connected in the both ends of connecting rod.
In the technical scheme, connecting rod both ends are connected to by the sheathed spring in connecting rod, and by spring.Work as connection
When bar is by slight radial load, because spring has certain bending strength, connecting rod can be avoided to swing, and ensure to be driven
Stability；When connecting rod is by larger radial load, swing connecting rod, due to the bullet being now set in connecting rod
Spring is by elastic deformation, and after the radial load suffered by connecting rod disappears, the connecting rod righting that will can swing makes its recovery
The original state to move reciprocatingly, to ensure that connecting rod can continue to move reciprocatingly vertically, it is ensured that the smooth implementation of transmission.
In the above-mentioned technical solutions, it is preferable that folding apparatus includes scissors, nipper, elastic separating plier and needle holder.
In the technical scheme, because folding apparatus includes scissors, nipper, elastic separating plier and needle holder, realize to a variety of
The driving of apparatus, enhances the versatility of product, and then expands the user scope of product.
Second aspect of the present invention provides a kind of operating theater instruments of operating robot, including any technical scheme institute as described above
The apparatus transmission component stated, therefore, the apparatus that the operating theater instruments of the operating robot is included described in any of the above-described technical scheme pass
Whole beneficial effects of dynamic component.
In the above-mentioned technical solutions, it is preferable that drive component includes：Motor, screw rod and sliding block；Motor is provided with output
Axle；Screw rod is connected with the output shaft of motor；Slide block set is connected with screw flight on the screw rod, and with the first drive link phase
Connection；Wherein, motor driven screw rod rotates, and sliding block moves reciprocatingly with the rotation of screw rod along the axial direction of screw rod, and then drives
First drive link moves reciprocatingly.
In the technical scheme, first, output shaft set on motor is connected with screw rod；Secondly, by slide block set
It is located on screw rod, and sliding block is connected with screw rod by screw thread, meanwhile, sliding block is connected with the first drive link, realized
When motor driven screw rod rotates, sliding block moves reciprocatingly with the rotation of screw rod along the axial direction of screw rod, and then drives first to pass
Lever moves reciprocatingly.Because sliding block is connected with screw rod by screw thread, therefore when screw rod rotates one week, sliding block only mobile one
The distance of individual pitch, this also make it that the control of the motion to sliding block is more accurate, so that it is guaranteed that the standard of the control to operating theater instruments
True property, and then effectively improve the success rate of operation.
Third aspect present invention provides a kind of operating robot, including the surgical engine described in any technical scheme as described above
The operating theater instruments of device people, therefore, the operating robot include the surgical device of the operating robot described in any of the above-described technical scheme
Whole beneficial effects of tool.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 shows the structural representation of the operating theater instruments of operating robot according to an embodiment of the invention；
Fig. 2 is part of the operating theater instruments of the operating robot according to an embodiment of the invention shown in Fig. 1 at A
Enlarged drawing；
Fig. 3 shows the structural representation of the operating theater instruments of operating robot according to another embodiment of the invention；
Fig. 4 is part of the operating theater instruments of the operating robot according to an embodiment of the invention shown in Fig. 3 at B
Enlarged drawing；
Fig. 5 shows the structural representation of the operating theater instruments of operating robot according to still a further embodiment；
Fig. 6 is operating theater instruments the cuing open along C-C of the operating robot according to still a further embodiment shown in Fig. 5
View；
Fig. 7 is office of the operating theater instruments of the operating robot according to still a further embodiment shown in Fig. 6 at D
Portion's enlarged drawing；
Wherein, the corresponding relation between the reference in Fig. 1 to Fig. 7 and component names is：
102 folding apparatuses, 1022 the first noumenons, 1,024 second bodies, 104 first bearing pins, 106 first drive links, 1062
Connecting portion, 108 transiting rods, 1082 First Transition bars, 1,084 second transiting rods, 1086 the 3rd transiting rods, 110 connecting rods, 112
Two drive links, 114 springs, 20 drive components, 202 screw rods, 204 sliding blocks.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Described according to some embodiments of the invention apparatus transmission component, operating robot are described referring to Fig. 1 to Fig. 7
Operating theater instruments and operating robot.
In first aspect present invention embodiment, as depicted in figs. 1 and 2, the invention provides a kind of apparatus transmission component,
For the operating theater instruments of operating robot, the operating theater instruments of operating robot includes drive component 20；Apparatus transmission component includes：
Folding apparatus 102, the first bearing pin 104 and the first drive link 106；Folding apparatus 102 includes the body of the first noumenon 1022 and second
1024, the first noumenon 1022 and the second body 1024 are arranged in a crossed manner；First bearing pin 104 is inserted in the first noumenon 1022 and second
The infall of body 1024, the first bearing pin 104 are rotatablely connected with the first noumenon 1022, and the first bearing pin 104 and the second body 1024 are solid
Fixed connection；One end of first drive link 106 is connected by transiting rod 108 with the first noumenon 1022, the other end and drive component
20 are connected, to drive the first noumenon 1022 to be rotated around the first bearing pin 104.
In this embodiment, first, it is the first noumenon 1022 of folding apparatus 102 and the second body 1024 is arranged in a crossed manner；
Then, the first bearing pin 104 is inserted in the infall of the body 1024 of the first noumenon 1022 and second, meanwhile, make the first bearing pin 104
It is rotatablely connected with the first noumenon 1022, the first bearing pin 104 is fixedly connected with the second body 1024；After again, by the first drive link 106
One end be connected by transiting rod 108 with the first noumenon 1022, and by the other end of the first drive link 106 and drive component 20
It is connected, to drive the first noumenon 1022 to be rotated around the first bearing pin 104, and then realizes the open or close of folding apparatus 102.By
In the first bearing pin 104 is inserted in the infall of the body 1024 of the first noumenon 1022 and second, and it is rotated with the first noumenon 1022 connects
Connect, and be fixedly connected with the second body 1024, when 1022 set of first bearing pin 104 of the first noumenon rotates, the second body 1024 is simultaneously
Do not rotate, therefore, the rotational angle that the opening distance of the body 1024 of the first noumenon 1022 and second has the first noumenon 1022 determines,
So as to reduce the folding scope of folding apparatus 102, and then realize the accurate control to the folding of open and close device tool 102；Meanwhile when
Folding apparatus 102 grips article by the body 1024 of the first noumenon 1022 and second, because the second body 1024 does not rotate, makes
The gripping of folding apparatus 102 is more stable, further realizes the accurate control to the folding of open and close device tool 102, and then effectively
Ground improves the success rate of operation.
In one embodiment of the invention, it is preferable that as depicted in figs. 1 and 2, apparatus transmission component also includes：Connection
Bar 110；One end of connecting rod 110 is connected with transiting rod 108, and the other end is connected with the first drive link 106.
In this embodiment, by the way that one end of connecting rod 110 is connected with transiting rod 108, and by its other end and
One drive link 106 is connected, and realizes driving of first drive link 106 to transiting rod 108.Due to there is provided connecting rod 110, subtracting
Lack the processing capacity of the first drive link 106, be effectively guaranteed the linearity of the first drive link 106；Meanwhile connecting rod 110 is
Soft connecting rod, axial force can be born, therefore will not be bent when connecting rod 110 bears axial force, when connecting rod 110 is born radially
Power can produce bending, therefore connecting rod 110 can be realized and moved reciprocatingly vertically, when folding apparatus 102 needs to do swing fortune
When dynamic, connecting rod 110 can be bent because by radial load, and it is dry to avoid swing generation of first drive link 106 to open and close device tool 102
Relate to, and expand the scope of application of product.
In one embodiment of the invention, it is preferable that as depicted in figs. 1 and 2, transiting rod 108 includes：First Transition bar
1082nd, the second transiting rod 1084 and the 3rd transiting rod 1086；One end of the transiting rod 1084 of First Transition bar 1082 and second and company
Extension bar 110 is rotatablely connected, and the other end and the first noumenon 1022 of First Transition bar 1082 are rotatablely connected, the second transiting rod 1084
One end of the other end and the 3rd transiting rod 1086 is rotatablely connected, and the other end and the first bearing pin 104 of the 3rd transiting rod 1086 rotate
Connection；Wherein, when the first drive link 106 moves reciprocatingly, the first noumenon 1022 is driven to be rotated around the first bearing pin 104.
In this embodiment, first, by 110 turns of one end of the transiting rod 1084 of First Transition bar 1082 and second and connecting rod
Dynamic connection；Then, the other end of First Transition bar 1082 and the first noumenon 1022 are rotatablely connected, and make the second transiting rod 1084
The other end and the 3rd transiting rod 1086 one end be rotatablely connected；After again, by the other end of the other end of the 3rd transiting rod 1086
It is rotatablely connected with the first bearing pin 104, now, the 3rd transiting rod 1086 is using as the fulcrum of the second transiting rod 1084 so that first
Transiting rod 1082, the second transiting rod 1084, the 3rd transiting rod 1086 and the first noumenon 1022 form a quadrangle；After again, when
When first drive link 106 moves reciprocatingly, the first drive link 106 drives First Transition bar 1082 and second by connecting rod 110
Transiting rod 1084 rotates, so that First Transition bar 1082 promotes the first noumenon 1022 to rotate, and then drives folding apparatus 102 to beat
Open or close, realize the driving to open and close device tool 102.
In one embodiment of the invention, it is preferable that as shown in Figure 3 and Figure 4, apparatus transmission component also includes：Second
Drive link 112, the second drive link 112 are sheathed on the outside of the first drive link 106, one end of the second drive link 112 and the first pin
Axle 104 is connected, to prevent the first bearing pin 104 from producing displacement.
In this embodiment, first, the second drive link 112 is sheathed on to the outside of the first drive link 106, then, by
One end of two drive links 112 is connected with the first bearing pin 104.When connecting rod 110 moves reciprocatingly, connecting rod 110 passes through
One transiting rod 1082 drives the body 1024 of the first noumenon 1022 and second to rotate with the second transiting rod 1084, and is now placed in first
First bearing pin 104 will be fixed on the second biography by the first bearing pin 104 of the infall of 1022 and second body of body 1024 by thrust
In lever 112, avoid the first bearing pin 104 from being subjected to displacement because by thrust, cause the body 1024 of the first noumenon 1022 and second
Moved with the first bearing pin 104, and can not normal open or close；Therefore, by one end of the second drive link 112 and the first bearing pin
104 are connected, to prevent the first bearing pin 104 from producing displacement, it can be ensured that the body 1024 of the first noumenon 1022 and second is around the first pin
Axle 104 rotates, and then drives the open or close of folding apparatus 102, realizes the driving to open and close device tool 102, improves product
The stability of transmission, the accurate control to open and close device tool 102 is furthermore achieved that, avoids operating theater instruments from damaging human body at work
The occurrence of interior other organs, effectively improve the success rate of operation.
In one embodiment of the invention, it is preferable that as shown in Figures 5 to 7, the first drive link 106 and drive component
20 one end being connected are provided with spherical connecting portion 1062, and the diameter of connecting portion 1062 is more than the diameter of the first drive link 106.
In this embodiment, by setting ball contact in one end that the first drive link 106 is connected with drive component 20
1062, and the diameter of connecting portion 1062 is more than the diameter of the first drive link 106, it can be achieved ball contact 1062 embedded in drive
In dynamic component 20, to prevent the displacement of the first drive link 106 vertically；Simultaneously as the first drive link 106 is provided with spherical company
Socket part 1062, therefore, when the first drive link 106 rotates, the ball contact 1062 in drive device can reduce
The coefficient of friction of rotation, it is ensured that what the first drive link 106 rotated is smoothed out, so as to improve the stability of transmission.
In one embodiment of the invention, it is preferable that as depicted in figs. 1 and 2, spring is arranged with connecting rod 110
114, spring 114 is connected in the both ends of connecting rod 110.
In this embodiment, by the sheathed spring 114 in connecting rod 110, and spring 114 is connected to connecting rod 110
Both ends.When connecting rod 110 is by slight radial load, because spring 114 has certain bending strength, connecting rod can be avoided
110 swing, and ensure the stability of transmission；When connecting rod 110 is by larger radial load, put connecting rod 110
Dynamic, the spring 114 due to being now set in connecting rod 110 is disappeared by elastic deformation in the radial load suffered by connecting rod 110
After mistake, the righting of connecting rod 110 that will can swing, the original state for making its recovery move reciprocatingly, to ensure connecting rod 110
It can continue to move reciprocatingly vertically, it is ensured that the smooth implementation of transmission.
In one embodiment of the invention, it is preferable that folding apparatus 102 includes scissors, nipper, elastic separating plier and holds pin
Device.
In this embodiment, because folding apparatus 102 includes scissors, nipper, elastic separating plier and needle holder, realize to a variety of
The driving of apparatus, enhances the versatility of product, and then expands the user scope of product.
In one embodiment of the invention, first, by the body of the first noumenon 1022 and second in folding apparatus 102
1024 is arranged in a crossed manner, and the first bearing pin 104 is plugged into the infall with the body 1024 of the first noumenon 1022 and second, makes first
Body 1022 is rotatablely connected with the first bearing pin 104, and the second body 1024 is fixedly connected with the first bearing pin 104.Secondly, by First Transition
One end of bar 1082 is rotatablely connected with the first noumenon 1022, and its other end is rotatablely connected with connecting rod 110；Meanwhile by
One end connecting rod 110 of two transiting rods 1084 connects, and is rotatablely connected one end of its other end and the 3rd transiting rod 1086, and make
The other end of 3rd transiting rod 1086 is rotatablely connected with the first bearing pin 104；Now, the 3rd transiting rod 1086 will be used as the second transition
The fulcrum of bar 1084 so that 1022 groups of First Transition bar 1082, the second transiting rod 1084, the 3rd transiting rod 1086 and the first noumenon
Into a quadrangle.Again, the other end of connecting rod 110 is connected with the first drive link 106；Meanwhile in connecting rod 110
Sheathed spring 114, and spring 114 is connected to the both ends of connecting rod 110.Again, the second drive link 112 is set in the first biography
The outside of lever 106, and when the second drive link 112 one end be connected with the first bearing pin 104.Again, by the first drive link 106 1
The ball contact 1062 at end is in drive component 20, to prevent the first drive link 106 along relative drive component 20 vertically
It is mobile.Therefore, when drive component 20 drives the first drive link 106 to move reciprocatingly vertically, connecting rod 110 will be driven to do edge
Axially move reciprocatingly, now connecting rod 110 will push away to 1082 and second transiting rod of First Transition bar, 1,084 1 axial directions respectively
Power, so that the transiting rod 1084 of First Transition bar 1082 and second rotates；The rotation of First Transition bar 1082 also can be to the first noumenon
1022 and second body 1024 produce thrust, due to positioned at the body 1024 of the first noumenon 1022 and second the first bearing pin 104 consolidate
Be scheduled on the second drive link 112, and displacement can not be produced, at the same the second body 1024 because being fixedly connected with the first bearing pin 104 and
It can not rotate, therefore this thrust will drive the first noumenon 1022 to rotate, to realize the open or close of folding apparatus 102.
In second aspect of the present invention embodiment, the invention provides a kind of operating theater instruments of operating robot, including such as
Apparatus transmission component described in any of the above-described embodiment, therefore, the operating theater instruments of the operating robot include any of the above-described implementation
Whole beneficial effects of apparatus transmission component described in example.
In one embodiment of the invention, it is preferable that as shown in Figures 5 to 7, drive component 20 includes：Motor, screw rod
202 and sliding block 204；Motor is provided with output shaft；Screw rod 202 is connected with the output shaft of motor；Sliding block 204 is sheathed on screw rod
On 202, it is threadedly coupled with screw rod 202, and is connected with the first drive link 106；Wherein, motor driven screw rod 202 rotates, sliding block
204 move reciprocatingly with the rotation of screw rod 202 along the axial direction of screw rod 202, and then drive the first drive link 106 to do reciprocal fortune
It is dynamic.
In this embodiment, first, output shaft set on motor is connected with screw rod 202；Secondly, by sliding block
204 are set on screw rod 202, and sliding block 204 is connected with screw rod 202 by screw thread, meanwhile, by sliding block 204 and first
Drive link 106 connects, and realizes when motor driven screw rod 202 rotates, and sliding block 204 is with the rotation of screw rod 202 and along screw rod 202
Axial direction move reciprocatingly, and then drive the first drive link 106 move reciprocatingly.Because sliding block 204 and screw rod 202 pass through screw thread
It is connected, therefore when screw rod 202 rotates one week, the distance of sliding block 204 movements, one pitch, this also causes to sliding block 204
Motion control it is more accurate, so that it is guaranteed that the accuracy of the control to operating theater instruments, and then effectively improve operation
Success rate.
In second aspect of the present invention embodiment, the invention provides a kind of operating robot, including any reality as described above
The operating theater instruments of the operating robot described in example is applied, therefore, the operating robot includes the operation described in any of the above-described embodiment
Whole beneficial effects of the operating theater instruments of robot.
In the description of the invention, term " multiple " then refers to two or more, is limited unless otherwise clear and definite, term
The orientation or position relationship of instructions such as " on ", " under " are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that signified device or element there must be specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. all should
It is interpreted broadly, for example, " connection " can be fixedly connected or be detachably connected, or is integrally connected；Can be straight
Connect connected, can also be indirectly connected by intermediary.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Refer at least one implementation that the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In the present invention, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.And
And specific features, structure, material or the feature of description can be in any one or more embodiments or example with suitable
Mode combines.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of apparatus transmission component, for the operating theater instruments of operating robot, the operating theater instruments of the operating robot includes
Drive component, it is characterised in that the apparatus transmission component includes：
Folding apparatus, the folding apparatus include the first noumenon and the second body, and the first noumenon is handed over second body
Fork is set；
First bearing pin, first bearing pin are inserted in the infall of the first noumenon and second body, first pin
Axle is rotatablely connected with the first noumenon, and first bearing pin is fixedly connected with second body；
First drive link, one end of first drive link are connected by transiting rod with the first noumenon, the other end and institute
State drive component to be connected, to drive the first noumenon to rotate around the first bearing pin.
2. apparatus transmission component according to claim 1, it is characterised in that also include：
Connecting rod, one end of the connecting rod are connected with the transiting rod, and the other end is connected with first drive link.
3. apparatus transmission component according to claim 2, it is characterised in that
The transiting rod includes：First Transition bar, the second transiting rod and the 3rd transiting rod；
One end of the First Transition bar and second transiting rod is rotatablely connected with the connecting rod, the First Transition bar
The other end is rotatablely connected with the first noumenon, and one end of the other end of second transiting rod and the 3rd transiting rod rotates
Connection, the other end and first bearing pin of the 3rd transiting rod are rotatablely connected；
Wherein, when first drive link moves reciprocatingly, the first noumenon is driven to be rotated around first bearing pin.
4. apparatus transmission component according to claim 1, it is characterised in that also include：Second drive link, described second passes
Lever is sheathed on the outside of first drive link, and one end of second drive link is connected with first bearing pin, to prevent
Only the first bearing pin produces displacement.
5. apparatus transmission component according to claim 1, it is characterised in that first drive link and the drive component
The one end being connected is provided with spherical connecting portion, and the diameter of the connecting portion is more than the diameter of first drive link.
6. apparatus transmission component according to claim 2, it is characterised in that spring is arranged with the connecting rod, it is described
Spring is connected in the both ends of the connecting rod.
7. apparatus transmission component according to any one of claim 1 to 6, it is characterised in that the folding apparatus includes
Scissors, nipper, elastic separating plier and needle holder.
8. a kind of operating theater instruments of operating robot, it is characterised in that including the device as any one of claim 1 to 6
Tool transmission component.
9. the operating theater instruments of operating robot according to claim 8, it is characterised in that the drive component includes：
Motor, the motor are provided with output shaft；
Screw rod, the screw rod are connected with the output shaft of the motor；
Sliding block, the slide block set are connected, and be connected with first drive link on the screw rod with the screw flight
Connect；
Wherein, screw rod described in the motor driven is rotated, and the sliding block is done past with the rotation of the screw rod along the axial direction of screw rod
Multiple motion, and then drive the first drive link to move reciprocatingly.
10. a kind of operating robot, it is characterised in that include the surgical device of operating robot as claimed in claim 8 or 9
Tool.
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| CN201710645933.XA CN107334535B (en) | 2017-07-31 | 2017-07-31 | Instrument transmission assembly, surgical instrument of surgical robot and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710645933.XA CN107334535B (en) | 2017-07-31 | 2017-07-31 | Instrument transmission assembly, surgical instrument of surgical robot and surgical robot |
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| CN107334535A true CN107334535A (en) | 2017-11-10 |
| CN107334535B CN107334535B (en) | 2021-08-10 |
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| CN108969106A (en) * | 2018-07-27 | 2018-12-11 | 微创（上海）医疗机器人有限公司 | Telescopic device and operating robot |
| CN110891514A (en) * | 2018-02-13 | 2020-03-17 | 奥瑞斯健康公司 | System and method for driving a medical instrument |
| CN111096802A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096800A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096801A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096804A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096805A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
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| CN110891514B (en) * | 2018-02-13 | 2023-01-20 | 奥瑞斯健康公司 | System and method for driving a medical instrument |
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| CN111096802A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096800A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096801A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096804A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096805A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
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Denomination of invention: Surgical instruments and surgical robots for instrument transmission components and surgical robots Granted publication date: 20210810 Pledgee: Chengdu Rural Commercial Bank Co.,Ltd. Jinhua Branch Pledgor: CHENGDU BORNS MEDICAL ROBOTICS Inc. Registration number: Y2024980042788 |
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