Medical mechanical gripper hand

Abstract

This utility model relates to a medical robotic gripper, belonging to the field of minimally invasive surgical instrument technology. It includes a working part, a transition connecting part, and a gripping part. The gripping part includes a handle. A finger shaft is placed on the left side of the handle, extending through the handle and into its interior. A gripping finger is fixedly connected to the bottom surface of the finger shaft. A winding wheel is connected to the finger shaft. A transition shaft is rotatably connected inside the handle. A transition winding wheel is fixedly installed on the outer peripheral wall of the transition shaft. A reversing shaft is rotatably connected inside the handle. A reversing shaft wheel is fixedly installed on the outer peripheral wall of the reversing shaft. This medical robotic gripper adopts a modular design, facilitating assembly by medical personnel, simplifying the mechanical structure, reducing the quantity and cost of consumables for minimally invasive surgery, lowering the learning threshold, and reducing the cost of minimally invasive surgery procedures and training. Furthermore, the gripping finger facilitates use by different operators, making it more convenient and practical.

Description

Technical Field

[0001] This utility model relates to the field of minimally invasive surgical instruments, specifically a medical mechanical gripper. Background Technology

[0002] With the continuous advancement of medical technology, minimally invasive surgery has become an important trend in modern medicine. Traditional laparoscopic surgical instruments have become relatively mature, and their types and functions have been largely solidified. However, due to the limited functionality of most traditional laparoscopic surgical instruments, and the increasing difficulty of minimally invasive surgery, multi-degree-of-freedom surgical robots such as the da Vinci have shown significant operational advantages. However, due to the complexity of the technology and commercial monopoly of such robots, the cost of using them for minimally invasive surgery remains high, limiting the large-scale promotion of these surgical robots.

[0003] In recent years, with the advancement of technology, a surgical robotic arm device has emerged that is between traditional laparoscopic surgical instruments and multi-degree-of-freedom surgical robots. It not only possesses the multi-degree-of-freedom and high flexibility of the da Vinci robot, but also, due to its purely mechanical structure, it has the low-cost characteristics of traditional laparoscopic surgery. Based on these characteristics, it has been favored by more and more medical institutions and is rapidly becoming more widespread.

[0004] This type of medical robotic hand mainly consists of a working part at the head, a gripping part at the tail, and an internal steel wire rope winding system. The working part is a thin rod-like structure with a tool head at the head. It needs to enter the human tissue during operation. Because the robotic hand has a very compact structure, it is generally designed as an integrated unit with the entire steel wire rope wound and installed, which is quite difficult. Therefore, a medical robotic gripper is proposed to solve the above problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a medical robotic gripper that offers the advantage of convenient assembly. It solves the problem that existing robotic grippers are typically very compact in size, use an integrated design, and require a single section of steel wire for installation, which makes installation difficult.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a medical mechanical gripper, comprising a working part, a transition connecting part, and a gripping part, wherein the gripping part includes a handle, and a finger axis is placed on the left side of the handle, one end of which passes through the handle and extends into its interior.

[0007] A finger clip is fixedly connected to the bottom surface of the finger shaft, a winding wheel is connected to the finger shaft, a transition shaft is rotatably connected inside the handle, a transition wheel is fixedly installed on the outer peripheral wall of the transition shaft, a reversing shaft is rotatably connected inside the handle, a reversing axis wheel is fixedly installed on the outer peripheral wall of the reversing shaft, a pitch shaft is connected between the transition connection part and the grip part, and a pitch axis wheel is installed on the pitch shaft.

[0008] The outer peripheral wall of the winding reel is wound with a steel wire that passes through the handle and extends into the transition connection part, and the steel wire is fixedly connected to the working part.

[0009] Furthermore, an anti-tipping wheel is placed inside the transition connection, and the steel wire and the anti-tipping wheel are in contact.

[0010] Furthermore, a first positioning hole is provided on the front side of the transition connection portion, and a second positioning hole is provided on the front side of the transition connection portion, with the second positioning hole located at the top of the first positioning hole.

[0011] Furthermore, the winding wheel is located inside the handle.

[0012] Furthermore, a threading plate is fixedly connected at the connection between the transition connection and the working part, and the threading plate has six connection holes.

[0013] Furthermore, the working part is a long rod, and a tool head is fixedly installed on the left side of the working part.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] This medical robotic gripper adopts a modular design, which makes it easy for medical personnel to assemble, simplifies the mechanical structure, reduces the number and cost of consumables for minimally invasive surgery, lowers the learning threshold, and reduces the cost of novelty and training for minimally invasive surgery. At the same time, the gripping action makes it easy for different operators to use, making it more convenient and practical. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a top view of the internal structure of the anti-tipping wheel in this utility model.

[0018] Figure 3 This is a top view of the internal structure of the handle in this utility model.

[0019] Figure 4 This is a schematic diagram of the threading plate in the structure of this utility model.

[0020] In the diagram: 1 Working part, 101 Threading plate, 102 Connecting hole, 2 Transition connection part, 3 Grip part, 301 Handle, 302 Finger clip, 303 Finger shaft, 304 Winding wheel, 305 Transition shaft, 306 Transition wheel, 307 Reversing shaft, 308 Pitch shaft, 309 Reversing shaft wheel, 4 Anti-tipping wheel, 5 Steel wire, 6 First positioning hole, 7 Second positioning hole. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example 1: Please refer to Figures 1 to 4 The medical mechanical gripper in this embodiment includes a working part 1, a transition connection part 2 and a gripping part 3. The gripping part 3 includes a handle 301, and a finger shaft 303 with one end passing through the handle 301 and extending into it is placed on the left side of the handle 301.

[0023] A finger clip 302 is fixedly connected to the bottom surface of the finger shaft 303. A winding wheel 304 is connected to the finger shaft 303. A transition shaft 305 is rotatably connected inside the handle 301. A transition wheel 306 is fixedly installed on the outer peripheral wall of the transition shaft 305. A reversing shaft 307 is rotatably connected inside the handle 301. A reversing axis wheel 309 is fixedly installed on the outer peripheral wall of the reversing shaft 307. A pitch shaft 308 is connected between the transition connection part 2 and the grip part 3. A pitch axis wheel is installed on the pitch shaft 308.

[0024] A steel wire 5 is wound around the outer peripheral wall of the winding reel 304, one end of which passes through the handle 301 and extends into the interior of the transition connection part 2. The steel wire 5 is fixedly connected to the working part 1.

[0025] An anti-tipping wheel 4 is placed inside the transition connection part 2. The steel wire 5 is in contact with the anti-tipping wheel 4. A first positioning hole 6 is opened on the front of the transition connection part 2. A second positioning hole 7 is opened on the front of the transition connection part 2. The second positioning hole 7 is located on top of the first positioning hole 6. The winding wheel 304 is located inside the handle 301. A threading plate 101 is fixedly connected at the connection between the transition connection part 2 and the working part 1. The threading plate 101 has six connecting holes 102. The working part 1 is a long rod. A tool head is fixedly installed on the left side of the working part 1.

[0026] The threading plate 101 is made of a non-metallic material with self-lubrication to reduce the friction of the steel wire 5 at the threading plate 101 and improve the synchronization during operation.

[0027] Specifically, the working part 1, the transition connection part 2, and the grip part 3 are assembled together. During operation, medical personnel grip the handle 301, insert their thumb and forefinger into the finger clip 302 on the handle 301, and control the opening and closing of the finger clip 302. The finger clip 302 is connected to the finger shaft 303, and a winding wheel 304 is also connected to the finger shaft 303. The head of the steel wire 5 is wound around the upper half turn of the winding wheel 304. After being led out from the winding wheel 304 on the finger shaft 303, the steel wire 5 is wound onto the transition wheel 306 on the transition 3051. After being led out from the transition wheel 306, it is wound onto the reversing axis wheel 30 of the reversing shaft 307. On the 9th, the wire 5 is led out from the reversing axis wheel 309 and wound around to the pitch axis wheel connected to the pitch axis 308. Then, through the anti-tipping wheel 4, the wire 5 is led into the rod of the transition connection part 2 in the groove. The end of the wire 5 is connected to the working part 1. In this way, the gripping part 3 provides power to the working part 1 through the transmission of the wire 5. The position of the anti-tipping wheel 4 is moved from the first positioning hole 6 to the second positioning hole 7, reducing one set of wheels and improving the synchronous response speed. Under the action of the wire guide plate 101 and the connecting hole 102, the path of the wire 5 is constrained, reducing the mutual interference of the wire 5 inside the wire tube and improving the transmission accuracy of the wire 5.

[0028] The working principle of the above embodiments is as follows:

[0029] The working part 1, the transition connection part 2, and the grip part 3 are assembled together. During operation, medical personnel grip the handle 301 and insert their thumb and forefinger into the finger clip 302 on the handle 301 to control the opening and closing of the finger clip 302. The finger clip 302 is connected to the finger shaft 303, and a winding wheel 304 is also connected to the finger shaft 303. The head of the steel wire 5 is wound around the upper half turn of the winding wheel 304. After being led out from the winding wheel 304 on the finger shaft 303, the steel wire 5 is wound onto the transition wheel 306 on the transition 3051. After being led out from the transition wheel 306, it is wound onto the reversing axis wheel 309 of the reversing shaft 307. The wire 5 is led out from the reversing axis wheel 309 and wound onto the pitch axis wheel connected to the pitch axis 308. Then, it passes through the anti-tipping wheel 4 and is led into the rod of the transition connection part 2 in the groove. The end of the wire 5 is connected to the working part 1. In this way, the gripping part 3 provides power to the working part 1 through the transmission of the wire 5. The position of the anti-tipping wheel 4 is moved from the first positioning hole 6 to the second positioning hole 7, reducing one set of wheels and improving the synchronous response speed. Under the action of the wire guide plate 101 and the connecting hole 102, the path of the wire 5 is constrained, reducing the mutual interference of the wires 5 inside the wire tube and improving the transmission accuracy of the wire 5.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A medical robotic gripper, comprising a working part (1), a transition connecting part (2), and a gripping part (3), characterized in that: The grip (3) includes a handle (301), and a finger axis (303) is placed on the left side of the handle (301) with one end passing through the handle (301) and extending into it; The bottom surface of the finger shaft (303) is fixedly connected to the finger clip (302), the finger shaft (303) is connected to the winding wheel (304), the handle (301) is rotatably connected to the interior of the handle (301), the outer peripheral wall of the transition shaft (305) is fixedly installed with the transition wheel (306), the handle (301) is rotatably connected to the interior of the handle (301), the outer peripheral wall of the reversing shaft (307) is fixedly installed with the reversing axis wheel (309), the transition connection part (2) and the grip part (3) are connected to the pitch shaft (308), and the pitch shaft (308) is installed with the pitch axis wheel; The outer peripheral wall of the winding wheel (304) is wound with a steel wire (5) that passes through the handle (301) and extends into the transition connection (2), and the steel wire (5) is fixedly connected to the working part (1).

2. The medical mechanical pincer hand according to claim 1, characterized in that: An anti-tipping wheel (4) is placed inside the transition connection part (2), and the steel wire (5) and the anti-tipping wheel (4) are in contact.

3. The medical mechanical pincer hand of claim 2, wherein: The transition connection part (2) has a first positioning hole (6) on its front side and a second positioning hole (7) on its front side, with the second positioning hole (7) located at the top of the first positioning hole (6).

4. The medical mechanical pincer hand of claim 1, wherein: The winding wheel (304) is located inside the handle (301).

5. The medical mechanical pincer hand of claim 1, wherein: A threading plate (101) is fixedly connected at the connection between the transition connection part (2) and the working part (1), and the threading plate (101) has six connection holes (102).

6. The medical mechanical pincer hand of claim 5, wherein: The working part (1) is a long rod, and a tool head is fixedly installed on the left side of the working part (1).

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