Tail end swinging joint driving mechanism

Abstract

The invention discloses a tail end swinging joint driving mechanism, which comprises a lower bottom plate, wherein a transverse dovetail guide groove and a longitudinal dovetail guide groove are respectively formed in the lower bottom plate; a transverse guide rail is glidingly connected in the transverse dovetail guide groove; a longitudinal guide rail is glidingly connected in the longitudinal dovetail guide groove; a first pin shaft is connected onto the transverse guide rail; a second pin shaft is connected onto the longitudinal guide rail; the first pin shaft and the second pin shaft are respectively inserted into pin holes of a tool connecting rod for forming two rotating pairs; an upper bottom plate is fixed on the lower bottom plate; a tool connecting rod moving stroke groove is formed in the bottom surface of the upper bottom plate; the back end of the tool connecting rod is arranged in the stroke groove; a steel wire rope moving stroke groove is formed in the front end of the bottom surface of the upper bottom plate; one ends of the two steel wire ropes are respectively guided by one wire guide wheel and then pass through the steel wire rope moving stroke grooves formed in the corresponding side to be fixed in the wire fixing holes of the upper bottom plate; the two wire guide wheels are respectively fixed in the tool connecting rod through wire guide wheel pin shafts. The equal extension and contraction of the tail end swinging joint can be realized.

Description

technical field [0001] The invention relates to a drive mechanism for a swing joint, in particular to a drive mechanism for a swing joint used in a minimally invasive surgical instrument, in particular to a drive mechanism for a swing joint used in single-hole surgery and natural orifice surgery. Background technique [0002] Minimally invasive surgery refers to the surgical operation performed by doctors using modern medical equipment such as abdominal and thoracoscopes and supporting equipment. The derivation of minimally invasive surgical technology has made important contributions to the promotion of human development and civilization progress, and has become a global surgical field in the 21st century. main theme. Compared with open surgery, minimally invasive surgery has many advantages such as less trauma, less bleeding, and faster recovery, and has been more and more widely used in clinical operations. In recent years, with the development of science and technology ...

AI Technical Summary

Problems solved by technology

The driving mechanisms of the existing end swing joints are mostly ball pin pairs or Hooke hinges. The main problem of the two is that when driving the end swing joints, the displacement of the driving end of the tensioned steel wire rope and the slack steel wire rope is not equal. When swinging in the opposite direction, The slack wire cannot be instantly turned into a tension wire, and the tension wire cannot be instantly transformed into a slack wire, resulting in instability of the swing joint pose at the end of this period. In addition, the processing and assembly of the two are relatively complicated

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