Surgical robot end effector with manual quick-change mechanism
A surgical robot and surgical instrument technology, applied in the field of surgical instruments, can solve the problems of cumbersome installation process, unsuitable for instrument use scenarios, etc.
Active Publication Date: 2020-10-30
TIANJIN UNIV
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Problems solved by technology
[0004] However, most of the current surgical robots fix surgical syringes, micro surgical forceps, puncture needles and other instruments at the end of the robot.
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[0034] A preferred example of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0035] like Figure 1-2 As shown, the surgical robot end device with manual quick-change mechanism includes:
[0036] Linear motion part 1, rotation part 2, instrument quick-change clamping part 3 and surgical instrument (various types) 4. The linear motion part includes end device mounting frame 1-1, motor Ⅰ1-2, reduction box Ⅰ1-3, motor mounting base Ⅰ1-4, linear drive gear set 1-5, lead screw 1-6, lead screw upper seat 1-7 , lead screw lower seat 1-8, nut 1-9 and slide rod 1-10, motor I1-2 and reduction box I1-3 are fixed on the end device mounting frame 1-1 through the motor mounting base I1-4; end device Mounting holes are reserved on both sides of the installation frame 1-1 to connect with the surgical robot; the output shaft of the reduction box Ⅰ1-3 is connected to the linear drive pinion 1-51, and the screw 1-6 is connected to the lo...
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The invention discloses a surgical robot end effector with a manual quick-change mechanism. The surgical robot end effector can achieve autorotation and linear movement along the axis of a clamped surgical instrument (4) and comprises an instrument quick-change clamping part (3) used for clamping the surgical instrument (4), an autorotation part (2) used for driving the instrument quick-change clamping part (3) to rotate through a motor gear mechanism and a linear movement part (1) used for driving the autorotation part (2) to do linear movement. The rotation part (2) is arranged on a screw rod mechanism nut (1-9) of the linear motion part (1); the axis of the motor gear mechanism is parallel to the axis of the instrument quick-change clamping part (3) and is parallel to the axis of a motor gear unit of the driving screw rod mechanism; the axis of the motor gear unit is parallel to the axis of a lead screw (1-6) of the lead screw mechanism. The surgical robot end effector has the freedom degree in the two directions of rotating along the instrument shaft and moving in the axial direction of the instrument, quick replacement and clamping of the surgical instrument can be completed by rotating a quick replacement knob within a small range, and the instrument is convenient to replace.
Description
technical field [0001] The invention relates to the technical field of surgical instruments, in particular to a surgical robot end device with a manual quick-change mechanism. Background technique [0002] Minimally invasive surgery has been widely used in clinical operations due to its advantages of small wounds, less bleeding, and quick recovery. Large operating force will increase the risk of surgery. [0003] With the continuous expansion of the application range of robot technology, robot-assisted surgery has gradually become the future development trend because of its advantages of improving the movement accuracy and stability of instruments and significantly filtering jitter. [0004] However, most of the current surgical robots fix surgical syringes, micro surgical forceps, puncture needles and other instruments on the end of the robot. Contents of the invention [0005] Aiming at the deficiencies in the prior art, a surgical robot end device that can manually an...
Claims
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IPC IPC(8): A61B34/30A61B17/00
CPCA61B34/30A61B17/00234A61B2034/301A61B2017/00398
Inventor 左思洋王震王树新
Owner TIANJIN UNIV