Clamping manipulator device for surgical robot

Abstract

The present invention is applicable to the field of robotic arm technology and provides a clamping robotic arm device for a surgical robot, comprising a base, a robotic arm body is arranged inside the base, a support plate is fixedly connected to the outer surface of the base, a clamping mounting device is arranged on the support plate, two symmetrical fixed blocks are fixedly connected to the robotic arm body, a trapezoidal positioning groove is provided on the top of the fixed block, a trapezoidal positioning rod is slidably connected to the inside of the trapezoidal positioning groove, the cross-sections of the trapezoidal positioning groove and the trapezoidal positioning rod are both trapezoidal, and a clamping claw is connected to a fixed tube on the side of the trapezoidal positioning rod away from the trapezoidal positioning groove. The clamping robotic arm device for a surgical robot of the present invention drives the water supply pipe and the water outlet pipe to move back and forth through the connecting plate via the transmission frame, and enables the nozzle to more comprehensively disinfect the clamping surface of the clamping claw, so that the disinfection of the clamping claw is more thorough, and medical staff can use the device more conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more particularly, to a clamping robotic arm device for a surgical robot. Background Art

[0002] At present, minimally invasive surgical robots have become a research hotspot in the field of medical robots. They combine traditional medical devices with information technology and robotics technology, making surgical diagnosis and treatment minimally invasive, miniaturized, intelligent and digital. Compared with traditional surgery, minimally invasive surgical robots have significant advantages: minimally invasive robotic surgery can improve the doctor's working mode, making the doctor more dexterous, convenient and precise when performing surgery, and even allow surgeons from two different fields to perform two related operations at the same time.

[0003] At present, some existing robotic arms use mechanical claws to clamp surgical tools. However, after the device is used, it is difficult for medical staff to clean and disinfect the mechanical claws, which makes the subsequent maintenance of the device more troublesome and requires medical staff to manually clean it, which increases the labor intensity of medical staff to a certain extent. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the object of the present invention is to provide a clamping mechanical arm device for a surgical robot.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The control cabinet is provided with the support frame, and the control cabinet is provided with the support frame. The control cabinet is provided with the support frame. The control cabinet is provided with the support frame.

[0007] The present invention is further configured as follows: the clamping and mounting device includes a threaded rod, the surface of the threaded rod is connected to the internal thread of the support plate, the bottom end of the threaded rod is rotatably connected to the clamping plate, the top of the clamping plate is fixedly connected to a limiting round rod, the top of the limiting round rod slides through the interior of the support plate and extends to the outside of the support plate, a groove is provided at the bottom of the base, and the surface of the clamping plate is slidably connected to the inside of the groove.

[0008] The present invention is further configured as follows: the power loading and unloading device includes a fixing rod, the surface of the fixing rod is slidingly connected to the inside of the power slot, the inside of the power slot is rotatably connected with a gear, a fixing slot is opened on the side of the trapezoidal positioning rod close to the fixing rod, and the side of the fixing rod close to the fixing slot is plugged into the inside of the fixing slot.

[0009] The present invention is further configured such that teeth are provided on a side of the fixing rod close to the gear, and the fixing rod is meshedly connected with the surface of the gear through the teeth.

[0010] The present invention is further configured as follows: a rotating column is fixedly connected to the top of the gear, and the top end of the rotating column rotates through the interior of the fixed block and extends to the outside of the fixed block.

[0011] The present invention is further configured as follows: a spring is fixedly connected to a side of the fixing rod away from the fixing groove, and an end of the spring away from the fixing rod is fixedly connected to the inner wall of the power groove.

[0012] The present invention is further configured as follows: the transmission reciprocating device includes a support frame, a side of the support frame close to the box body is fixedly connected to the surface of the box body, one side of the support frame is fixedly connected to a motor, the output end of the motor is fixedly connected to a rotating disk, the outer surface of the water pipe is fixedly connected to a connecting plate, one side of the connecting plate is fixedly connected to a transmission frame, the cross-section of the transmission frame is T-shaped, a movable groove is opened inside the transmission frame, a movable column is fixedly connected to the side of the rotating disk close to the transmission frame, and the surface of the movable column is movably connected to the inside of the movable groove.

[0013] The present invention is further configured as follows: the movable column is located away from the center of the rotating disk, a support connecting plate is fixedly connected to the surface of the support frame, a side of the support connecting plate close to the transmission frame is fixedly connected to a limiting rod, and the surface of the limiting rod is slidably connected to the inside of the transmission frame.

[0014] The advantages of the present invention are:

[0015] 1. The clamping mechanical arm device for a surgical robot of the present invention drives the water supply pipe and the water outlet pipe to move back and forth through the transmission frame and the connecting plate, and enables the nozzle to more comprehensively disinfect the clamping surface of the clamping claw, making the disinfection of the clamping claw more thorough and enabling medical staff to use the device more conveniently.

[0016] 2. The clamping mechanical arm device for the surgical robot of the present invention rotates the threaded rod by medical personnel, so that the clamping plate can move up and down under the restriction of the limiting round rod, and the device can be clamped and installed on the plate body through the clamping plate and the base, so that the device can be fixed in different ways, making the device fixing and installation methods diversified. The mechanical arm body can clamp and fix surgical tools through the clamping claws.

[0017] 3. The clamping mechanical arm device for the surgical robot of the present invention slides in and out of the fixing groove through the fixing rod, and realizes the position fixing and release of the trapezoidal positioning rod, so that the installation and disassembly of the clamping claw is more convenient, so that medical staff can disassemble and replace the clamping claw according to the shape of the surgical tool, and make the later maintenance of the clamping claw more convenient. At the same time, the device can clamp different surgical tools, and the scope of use of the device is improved to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of a clamping mechanical arm device for a surgical robot according to the present invention;

[0019] Figure 2 Schematic diagram of the structure of the robot arm body of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the support frame of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the clamping claw of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the fixing block of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the box body of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the transmission frame of the present invention.

[0025] In the figure: 1. Base; 2. Robotic arm body; 3. Support plate; 4. Threaded rod; 5. Clamping plate; 6. Limiting round rod; 7. Groove; 8. Clamping claw;

[0026] 9. Fixed block; 10. Trapezoidal positioning rod; 11. Trapezoidal positioning slot; 12. Rotating column; 13. Power slot; 14. Fixed rod; 15. Fixed slot; 16. Gear; 17. Spring;

[0027] 18. Box body; 19. Support connecting plate; 20. Support frame; 21. Motor; 22. Rotating plate; 23. Limit rod; 24. Transmission frame; 25. Movable slot; 26. Movable column;

[0028] 27. Connecting plate; 28. Pump body; 29. ​​Water pipe; 30. Connecting hose; 31. Water outlet pipe. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] See also Figure 1-7 The present invention provides the following technical solutions: a clamping manipulator device for a surgical robot, comprising a base 1, a manipulator body 2 is arranged inside the base 1, the manipulator body 2 is an existing structure, and no further details are given here. A support plate 3 is fixedly connected to the outer surface of the base 1, and a clamping and mounting device is arranged on the support plate 3. Two symmetrical fixing blocks 9 are fixedly connected to the manipulator body 2, and a trapezoidal positioning groove 11 is provided on the top of the fixing block 9. A trapezoidal positioning rod 10 is slidably connected inside the trapezoidal positioning groove 11. The cross-sections of the trapezoidal positioning groove 11 and the trapezoidal positioning rod 10 are both trapezoidal. A fixing tube on the side of the trapezoidal positioning groove 11 of the trapezoidal positioning rod 10 is connected to a clamping claw 8, and the clamping claw 8 can clamp and fix surgical tools, so that medical staff can use the device more conveniently. A power slot 13 is provided inside the fixing block 9, and a power loading and unloading device is arranged inside the power slot 13. A box 18 is fixedly connected to one side of the manipulator body 2. The interior of the box 18 is filled with disinfectant, and the bottom of the box 18 is fixedly connected to a pump body 28. The pump body 28 is an existing structure and will not be described in detail here. The pump body 28 is connected to the interior of the box 18 through a pipeline. The water delivery end of the pump body 28 is fixedly connected to a connecting hose 30, and the end of the connecting hose 30 away from the pump body 28 is fixedly connected to a water delivery pipe 29. Two water outlet pipes 31 are fixedly connected to the water delivery pipe 29, and a nozzle is provided at the end of the water delivery pipe 31 away from the water delivery pipe 29. A transmission reciprocating device is provided on the box 18. When the medical staff starts the pump body 28, the pump body 28 sprays the disinfectant inside the box 18 through the connecting hose 30, the water delivery pipe 29 and the water outlet pipe 31 through the nozzle, so that the disinfectant can disinfect the surface of the clamping claw 8, so that the medical staff can disinfect the clamping claw 8 more conveniently after use, so that the clamping claw 8 can be kept clean to a certain extent and the medical staff can use the device more conveniently.

[0031] Specifically, the clamping and mounting device includes a threaded rod 4, the surface of the threaded rod 4 is connected to the internal thread of the support plate 3, the bottom end of the threaded rod 4 is rotatably connected to the clamping plate 5, the top of the clamping plate 5 is fixedly connected to the limiting round rod 6, the top of the limiting round rod 6 slides through the interior of the support plate 3 and extends to the outside of the support plate 3, and a groove 7 is provided at the bottom of the base 1. The surface of the clamping plate 5 is slidably connected to the interior of the groove 7, and the clamping plate 5 can slide into the interior of the groove 7 for storage, so that the device can be fixed and installed by bolts. At the same time, the medical staff rotates the threaded rod 4, so that the clamping plate 5 can move up and down under the restriction of the limiting round rod 6, and the device can be clamped and installed on the plate body by the clamping plate 5 and the base 1, so that the device can be fixed in different ways, the fixing and installation methods of the device are diversified, and the medical staff can use the device more conveniently.

[0032] The power loading and unloading device includes a fixing rod 14, the surface of which is slidably connected to the inside of the power groove 13, and the internal rotation of the power groove 13 is connected to a gear 16. The fixing rod 14 is provided with teeth on the side close to the gear 16, and the fixing rod 14 is meshed with the surface of the gear 16 through the teeth. A fixing groove 15 is provided on the side of the trapezoidal positioning rod 10 close to the fixing rod 14, and the side of the fixing rod 14 close to the fixing groove 15 is plugged into the inside of the fixing groove 15. The fixing rod 14 can slide in and out of the inside of the fixing groove 15, and realize the position fixing and release of the trapezoidal positioning rod 10, making the installation and disassembly of the clamping claw 8 more convenient, so that medical staff can disassemble and replace the clamping claw 8 according to the shape of the surgical tool, and make the later maintenance of the clamping claw 8 more convenient. At the same time, the device can clamp different surgical tools and the scope of use of the device is improved to a certain extent.

[0033] The top of the gear 16 is fixedly connected to the rotating column 12, and the top of the rotating column 12 rotates through the interior of the fixed block 9 and extends to the outside of the fixed block 9. The side of the fixed rod 14 away from the fixed groove 15 is fixedly connected to the spring 17, and the end of the spring 17 away from the fixed rod 14 is fixedly connected to the inner wall of the power groove 13. The movement of the fixed rod 14 can compress and reset the spring 17.

[0034] The transmission reciprocating device includes a support frame 20, and the side of the support frame 20 close to the box body 18 is fixedly connected to the surface of the box body 18. A motor 21 is fixedly connected to one side of the support frame 20. The motor 21 is an existing structure and will not be elaborated here. The output end of the motor 21 is fixedly connected to a rotating disk 22, and the outer surface of the water pipe 29 is fixedly connected to a connecting plate 27. One side of the connecting plate 27 is fixedly connected to a transmission frame 24. The cross-section of the transmission frame 24 is T-shaped, and a movable groove 25 is provided inside the transmission frame 24. The side of the rotating disk 22 close to the transmission frame 24 is fixedly connected to a movable column 26. The surface of the movable column 26 is movably connected to the inside of the movable groove 25, and the movable column 26 can rotate and move inside the movable groove 25.

[0035] The movable column 26 is located at a point away from the center of the rotating disk 22. The movable column 26 can be rotated eccentrically by rotating the rotating disk 22. The surface of the support frame 20 is fixedly connected to the support connecting plate 19. The side of the support connecting plate 19 close to the transmission frame 24 is fixedly connected to the limit rod 23. The surface of the limit rod 23 is slidably connected to the inside of the transmission frame 24. The moving direction of the transmission frame 24 can be limited by the limit rod 23.

[0036] Medical staff starts the motor 21, which drives the rotating disk 22 and the movable column 26 to rotate. The movable column 26 can drive the transmission frame 24 to move back and forth through the movable groove 25, and the transmission frame 24 drives the water supply pipe 29 and the water outlet pipe 31 to move back and forth through the connecting plate 27, so that the nozzle can more comprehensively disinfect the clamping surface of the clamping claw 8, making the disinfection of the clamping claw 8 more thorough, so that medical staff can use the device more conveniently.

[0037] Working principle: The clamping manipulator device for the surgical robot can be used. When in use, the clamping plate 5 can slide into the interior of the groove 7 for storage, so that the device can be fixed and installed by bolts. At the same time, the medical staff rotates the threaded rod 4, so that the clamping plate 5 can move up and down under the restriction of the limiting round rod 6. The device can be clamped and installed on the plate body through the clamping plate 5 and the base 1, so that the device can be fixed in different ways, making the device fixing and installation methods diversified. The manipulator body 2 can clamp and fix surgical tools through the clamping claws 8;

[0038] The medical staff rotates the rotating column 12, causing the rotating column 12 to drive the gear 16 to rotate, and the gear 16 drives the fixing rod 14 to move, so that the fixing rod 14 can slide into and out of the fixing groove 15, and the position of the trapezoidal positioning rod 10 can be fixed and released, making the installation and removal of the clamping claw 8 more convenient, allowing medical staff to disassemble and replace the clamping claw 8 according to the shape of the surgical tool, and making the subsequent maintenance of the clamping claw 8 more convenient. At the same time, the device can clamp different surgical tools, and the scope of use of the device is improved to a certain extent;

[0039] The pump body 28 is started by medical staff, and the pump body 28 sprays the disinfectant in the box body 18 through the connecting hose 30, the water pipe 29 and the water outlet pipe 31 through the nozzle, so that the disinfectant can disinfect the surface of the clamping claw 8, so that the medical staff can disinfect the clamping claw 8 more conveniently after use, so that the clamping claw 8 can be kept clean.

[0040] Medical staff starts the motor 21, which drives the rotating disk 22 and the movable column 26 to rotate. The movable column 26 can drive the transmission frame 24 to move back and forth through the movable groove 25, and the transmission frame 24 drives the water supply pipe 29 and the water outlet pipe 31 to move back and forth through the connecting plate 27, so that the nozzle can more comprehensively disinfect the clamping surface of the clamping claw 8, making the disinfection of the clamping claw 8 more thorough, so that medical staff can use the device more conveniently.

[0041] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A clamping manipulator device for a surgical robot, comprising a base (1), wherein a manipulator body (2) is provided inside the base (1), and characterized in that: The outer surface of the base (1) is fixedly connected to a support plate (3), and a clamping installation device is provided on the support plate (3). Two symmetrical fixed blocks (9) are fixedly connected to the robot arm body (2). The top of the fixed block (9) is provided with a trapezoidal positioning groove (11). The interior of the trapezoidal positioning groove (11) is slidably connected to a trapezoidal positioning rod (10). The cross-sections of the trapezoidal positioning groove (11) and the trapezoidal positioning rod (10) are both trapezoidal. A fixed tube on the side of the trapezoidal positioning rod (10) away from the trapezoidal positioning groove (11) is connected to a clamping claw (8). A power groove (13) is provided inside the fixed block (9). The power groove (1 3) is provided with a power loading and unloading device inside, one side of the robot arm body (2) is fixedly connected to the box body (18), the bottom of the box body (18) is fixedly connected to the pump body (28), the pump body (28) is communicated with the inside of the box body (18) through a pipeline, the water delivery end of the pump body (28) is fixedly connected to a connecting hose (30), the end of the connecting hose (30) away from the pump body (28) is fixedly connected to a water delivery pipe (29), two water outlet pipes (31) are fixedly connected to the water delivery pipe (29), and a nozzle is provided on the end of the water outlet pipe (31) away from the water delivery pipe (29), and a transmission reciprocating device is provided on the box body (18); The power loading and unloading device includes a fixing rod (14), the surface of the fixing rod (14) is slidably connected to the inside of the power groove (13), the inside of the power groove (13) is rotatably connected to a gear (16), a fixing groove (15) is formed on a side of the trapezoidal positioning rod (10) close to the fixing rod (14), and a side of the fixing rod (14) close to the fixing groove (15) is plugged into the inside of the fixing groove (15); The transmission reciprocating device includes a support frame (20), a side of the support frame (20) close to the box body (18) is fixedly connected to the surface of the box body (18), a motor (21) is fixedly connected to one side of the support frame (20), an output end of the motor (21) is fixedly connected to a rotating disk (22), an outer surface of the water pipe (29) is fixedly connected to a connecting plate (27), one side of the connecting plate (27) is fixedly connected to a transmission frame (24), the cross section of the transmission frame (24) is T-shaped, a movable groove (25) is opened inside the transmission frame (24), a movable column (26) is fixedly connected to the side of the rotating disk (22) close to the transmission frame (24), the surface of the movable column (26) is movably connected to the inside of the movable groove (25); the movable column (26) is located at a point away from the center of the rotating disk (22).

2. The surgical robot gripping arm device according to claim 1, wherein: The clamping and mounting device comprises a threaded rod (4), the surface of the threaded rod (4) is connected to the inner thread of the support plate (3), the bottom end of the threaded rod (4) is rotatably connected to the clamping plate (5), the top of the clamping plate (5) is fixedly connected to the limiting round rod (6), the top end of the limiting round rod (6) slides through the interior of the support plate (3) and extends to the outside of the support plate (3), the bottom of the base (1) is provided with a groove (7), and the surface of the clamping plate (5) is slidably connected to the inside of the groove (7).

3. The surgical robot gripping arm device according to claim 1, wherein: The fixing rod (14) is provided with teeth on a side close to the gear (16), and the fixing rod (14) is meshedly connected with the surface of the gear (16) via the teeth.

4. The surgical robot gripping arm device according to claim 1, wherein: The top of the gear (16) is fixedly connected to a rotating column (12), and the top of the rotating column (12) rotates through the interior of the fixed block (9) and extends to the outside of the fixed block (9).

5. The surgical robot gripping arm device according to claim 4, wherein: A spring (17) is fixedly connected to one side of the fixing rod (14) away from the fixing slot (15), and one end of the spring (17) away from the fixing rod (14) is fixedly connected to the inner wall of the power slot (13).

6. The surgical robot gripping arm device according to claim 1, wherein: A support connecting plate (19) is fixedly connected to the surface of the support frame (20), a side of the support connecting plate (19) close to the transmission frame (24) is fixedly connected to a limit rod (23), and a surface of the limit rod (23) is slidably connected to the interior of the transmission frame (24).

Images