Laparoscopic surgical robot elbow device and laparoscopic surgical robot

Abstract

The present invention provides a laparoscopic surgical robot elbow device and a laparoscopic surgical robot, which relate to the technical field of medical devices. The laparoscopic surgical robot elbow device includes a base and a rotating seat for rotatably connecting with the base. The base includes a first connecting outer end and a second connecting outer end that are arranged opposite to each other, and a cavity is provided between the first connecting outer end and the second connecting outer end, and the cavity is suitable for the rotating seat to be embedded and connected. A first sensor is provided at the connection between the rotating seat and the first connecting outer end, and a second sensor is provided at the connection between the rotating seat and the second connecting outer end. Compared with the prior art, the laparoscopic surgical robot elbow device of the present invention can realize the relative rotation between the base and the rotating seat, and has a compact structure, meets the degree of freedom requirements of the laparoscopic surgical robot when working, and can ensure the accuracy and reliability of the swing position of the rotating seat, so that the laparoscopic surgical robot has higher stability and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a laparoscopic surgical robot elbow device and a laparoscopic surgical robot. Background Art

[0002] With the development of modern robotics technology and the rapid advancement of medical standards, surgical robots are gradually being used in the field of minimally invasive surgery. Compared with traditional minimally invasive surgery, the robot-assisted surgery model has greatly improved the accuracy and safety of surgical execution, greatly reduced the patient's pain, and shortened the recovery time.

[0003] During the use of a laparoscopic surgical robot, its robotic arm generally needs to swing with multiple degrees of freedom. Therefore, high stability and safety are required during the swinging process. However, in the prior art, the robotic arm only uses a single detection mechanism to detect the position during the swinging process, which has errors and is not accurate enough, affecting stability and safety. Summary of the invention

[0004] The problem solved by the present invention is that in the prior art, the robot arm only detects the position through a single detection mechanism during the swinging process, which has errors and is not accurate enough, affecting at least one aspect of stability and safety.

[0005] To solve the above problems, the present invention provides a laparoscopic surgical robot elbow device, comprising a base and a rotating seat for rotatably connecting to the base, the base comprising a first connecting outer end and a second connecting outer end arranged opposite to each other, and a cavity is provided between the first connecting outer end and the second connecting outer end, the cavity is suitable for the rotating seat to be embedded and connected, and a first sensor is provided at the connection between the rotating seat and the first connecting outer end, and a second sensor is provided at the connection between the rotating seat and the second connecting outer end.

[0006] Optionally, the rotating seat includes a first connecting inner end and a second connecting inner end that are arranged opposite to each other, and the first connecting inner end is connected to the first connecting outer end, and the second connecting inner end is connected to the second connecting outer end.

[0007] Optionally, the first sensor is a coding sensor, and one end of the coding sensor is connected to the first connection outer end through a bearing end cover, and the other end of the coding sensor is connected to the first connection inner end.

[0008] Optionally, the encoding sensor includes an encoder static plate, an encoder movable plate, a rotating shaft and an axle ring, one end of the encoder static plate is connected to the first connecting inner end, the other end of the encoder static plate, the encoder movable plate, the rotating shaft and the axle ring are connected in sequence, and the axle ring is connected to the first connecting inner end.

[0009] Optionally, the bearing end cover is connected to the rotating shaft and the shaft ring respectively.

[0010] Optionally, the second connection inner end is connected to a braking device, the braking device includes an electromagnetic end and a movable end, the electromagnetic end is connected to the second connection inner end, and the movable end is connected to the second connection outer end via a connecting plate.

[0011] Optionally, the braking device further comprises a bushing cover, a bushing and a bearing, wherein the bushing is arranged in the through hole of the electromagnetic end, and the bushing, the bushing cover and the bearing are connected in sequence.

[0012] Optionally, the second sensor is a potentiometer, and the potentiometer is connected to the bushing cover through a shaft cover.

[0013] Optionally, a first gear is disposed on the rotating shaft of the potentiometer, the first gear is meshed with a gear ring through a second gear, and the second gear and the gear ring are respectively connected to the second connecting outer end.

[0014] The advantages of the laparoscopic surgical robot elbow device of the present invention over the prior art are:

[0015] A laparoscopic surgical robot elbow device provided by the present invention can realize relative rotation between a base and a rotating seat, and has a compact structure, meeting the degree of freedom requirement of the laparoscopic surgical robot during operation. At the same time, the simultaneous setting of the first sensor and the second sensor can ensure the accurate and reliable swing position of the rotating seat, so that the laparoscopic surgical robot has higher stability and safety.

[0016] The present invention also provides a laparoscopic surgical robot, comprising a column, a robotic arm and the above-mentioned laparoscopic surgical robot elbow device, and a third connecting outer end is provided on the base of the laparoscopic surgical robot elbow device, and a third connecting inner end is provided on the rotating seat of the laparoscopic surgical robot elbow device, and the third connecting outer end is used to connect to the column, and the third connecting inner end is used to connect to the robotic arm.

[0017] The advantages of the laparoscopic surgical robot described in the present invention and the laparoscopic surgical robot elbow device compared with the prior art are the same and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of an elbow device of a laparoscopic surgical robot in an embodiment of the present invention;

[0019] Figure 2 for Figure 1 A front view of

[0020] Figure 3 for Figure 2 Internal structure cross-sectional view in the AA direction;

[0021] Figure 4 Schematic diagram of the exploded structure of the elbow device of the laparoscopic surgical robot in an embodiment of the present invention.

[0022] 1-base, 2-rotating seat, 3-electromagnetic end, 4-movable end, 5-connecting plate, 6-gear ring, 7-shaft cover, 8-first gear, 9-potentiometer, 10-second gear, 11-threaded pin, 12-bearing, 13-bushing pressure cover, 14-bushing, 15-shaft ring, 16-encoder moving plate, 17-encoder static plate, 18-rotating shaft, 19-bearing end cover, 20-connecting block, 21-threaded pin. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0024] In the description of the present invention, it should be understood that the positive direction of "X" in the drawings represents the right, the reverse direction of "X" represents the left, the positive direction of "Y" represents the top, the reverse direction of "Y" represents the bottom, the positive direction of "Z" represents the front, and the reverse direction of "Z" represents the back, and the orientation or position relationship indicated by the terms "X", "Y", "Z", etc. is based on the orientation or position relationship shown in the drawings of the specification, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features. The description of the term "some specific embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same implementation or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0025] like Figure 1-3As shown, an embodiment of the present invention provides a laparoscopic surgical robot elbow device, including a base 1 and a rotating seat 2 for rotationally connecting with the base 1. In this embodiment, it should be noted that the rotational connection means that the base 1 is fixed, and the rotating seat 2 can swing relative to the base 1 within a certain angle range, wherein the angle range includes 0°-53°, and within the above angle range, the degree of freedom requirement of the laparoscopic surgical robot can be met when working. The base 1 includes a first connecting outer end and a second connecting outer end that are arranged opposite to each other, and a cavity is provided between the first connecting outer end and the second connecting outer end, and the cavity is suitable for connecting with the rotating seat 2, wherein the first connecting outer end and the second connecting outer end have a first through hole and a second through hole respectively, and the first through hole, the cavity and the second through hole are connected, and the rotating seat 2 is used to be embedded in the cavity, and is connected to the base 1 through the first connecting outer end and the second connecting outer end, and a first sensor is provided at the connection between the rotating seat 2 and the first connecting outer end, and a second sensor is provided at the connection between the rotating seat 2 and the second connecting outer end.

[0026] In this embodiment, the base 1 and the rotating seat 2 can rotate relative to each other, and the structure is compact, which meets the requirements of freedom when the laparoscopic surgical robot is working. At the same time, the simultaneous setting of the first sensor and the second sensor can ensure the accurate and reliable swing position of the rotating seat 2, so that the laparoscopic surgical robot has higher stability and safety.

[0027] Preferably, the rotating seat 2 includes a first connecting inner end and a second connecting inner end which are arranged opposite to each other, and the first connecting inner end is connected to the first connecting outer end, and the second connecting inner end is connected to the second connecting outer end, such as Figure 4 As shown, the first connection inner end is arranged at the leftmost end of the rotating seat 2, the second connection inner end is arranged at the rightmost end of the rotating seat 2, the first connection outer end is arranged at the leftmost end of the base 1, and the second connection outer end is arranged at the rightmost end of the base 1, and when the rotating seat 2 is embedded in the cavity, the first connection outer end is located on the outside of the first connection inner end, and the second connection outer end is located on the outside of the second connection inner end, and the structure is compact.

[0028] like Figure 4 As shown, preferably, the first sensor is a coding sensor, and one end of the coding sensor is connected to the first connecting outer end through the bearing end cover 19, and the other end of the coding sensor is connected to the first connecting inner end, which can convert the angular displacement into an electrical signal for detecting the angle of the rotating seat 2 when it swings relative to the base 1.

[0029] Preferably, the encoding sensor includes an encoder static plate 17, an encoder movable plate 16, a rotating shaft 18 and a shaft ring 15, one end of the encoder static plate 17 is connected to the first connecting inner end, the other end of the encoder static plate 17, the encoder movable plate 16, the rotating shaft 18 and the shaft ring 15 are connected in sequence, and the shaft ring 15 is connected to the first connecting inner end.

[0030] In this embodiment, there is no specific restriction on the shape of the encoder static piece 17 and the connection method with the first connecting inner end. In some specific embodiments, the shape of the encoder static piece 17 is a ring with a through hole in the middle, and screw holes are arranged along the circumference of the circular through hole. The screws pass through the screw holes to fix the encoder static piece 17 to the first connecting inner end. The structure is simple and the connection is firm.

[0031] In this embodiment, the encoder movable plate 16 is connected to the rotating shaft 18, and there is no specific restriction on the shape of the encoder movable plate 16 and the connection method with the rotating shaft 18. In some specific embodiments, the encoder movable plate 16 includes an outer ring and an inner ring that are welded to each other and coaxially arranged, the radius of the outer ring is greater than the outer diameter of the inner ring, and the thickness of the outer ring is greater than the thickness of the inner ring. It should be noted here that the thickness direction of the outer ring is perpendicular to the radial direction of the outer ring, the thickness direction of the inner ring is perpendicular to the radial direction of the inner ring, and screw holes are arranged along the circumferential direction of the inner ring; the rotating shaft 18 includes a connecting platform and a protrusion structure arranged on the connecting platform, the protrusion structure is cylindrical, and the inner ring of the encoder movable plate 16 is sleeved on the outside of the protrusion structure, screw holes are arranged on the connecting platform, and the screws pass through the screw holes of the inner ring of the encoder movable plate 16 and the screw holes on the connecting platform to fix the encoder movable plate 16 on the rotating shaft 18. The structure is simple and the connection is firm.

[0032] In this embodiment, the shaft ring 15 is a roller shaft ring 15, including an inner ring and an outer ring, and the diameter of the outer ring is larger than the diameter of the inner ring. The present invention does not limit the connection method between the inner ring and the outer ring. In some specific embodiments, the inner ring and the outer ring are an integrated structure, and mounting holes are respectively provided on the inner ring and the outer ring. The outer ring of the shaft ring 15 is screwed to the rotating seat 2. In this embodiment, the shaft ring 15 does not require a flange and a support seat, is easy to install, and can obtain stable rotation accuracy and torque.

[0033] In some specific embodiments, the bearing end cover 19 includes an inner connection part and an outer connection part, and the inner connection part is fixed to the connection platform of the rotating shaft 18 through a connection block 20, and the inner connection part is fixed to the inner ring of the shaft ring 15, and the outer connection part is fixedly connected to the base 1. In some preferred embodiments, a first notch is provided on the connection platform, a second notch is provided on the inner connection part, and the connection block 20 includes a first connection part and a second connection part which are vertically fixedly connected, and the first notch is connected to the first connection part by screws, and the second notch is connected to the second connection part by a threaded pin 21, which has a simple structure and a firm connection.

[0034] Preferably, the second connection inner end is connected with a brake device, and the brake device includes an electromagnetic end 3 and a movable end 4, the electromagnetic end 3 is connected to the second connection inner end, and the movable end 4 is connected to the second connection outer end through a connecting plate 5. The structure is compact, the operation is simple, the response is sensitive, the service life is long, and the use is reliable. In this embodiment, there is no restriction on the shapes of the electromagnetic end 3, the movable end 4 and the connecting plate 5. In some specific embodiments, the electromagnetic end 3, the movable end 4 and the connecting plate 5 are all coaxially arranged and have a circular ring with a through hole, which has a simple structure and beautiful appearance.

[0035] Preferably, the braking device further comprises a bushing gland 13, a bushing 14 and a bearing 12. The bushing 14 is disposed in the through hole of the electromagnetic end 3, and is sequentially connected with the bushing 14, the bushing gland 13 and the bearing 12. In some specific embodiments, the bushing 14 is a cylindrical structure with a through hole in the middle. The bushing gland 13 comprises a first cylinder, a second cylinder and a protrusion disposed at the right end of the second cylinder which are sequentially connected. The diameter of the first cylinder is smaller than the diameter of the second cylinder, and the diameter of the first cylinder matches the diameter of the through hole of the bushing 14, so that the first cylinder is inserted into the through hole of the bushing 14, and the bushing gland 13 is positioned to realize the connection between the bushing 14 and the bushing gland 13. In some preferred embodiments, the bushing 14 and the bushing gland are connected by adhesive, which is convenient for connection. The bearing 12 is sleeved on the outside of the protrusion to realize the connection between the bushing gland 13 and the bearing 12.

[0036] Preferably, the second sensor is a potentiometer 9, which is connected to the bushing gland 13 through the shaft cover 7. In some specific embodiments, the potentiometer 9 is mounted on the shaft cover 7, and the shaft cover 7 includes an end cover, which is screwed to the raised structure of the bushing gland 13.

[0037] Preferably, a first gear 8 is provided on the rotating shaft of the potentiometer 9, and the first gear 8 is meshed with the ring gear 6 through the second gear 10. In this embodiment, there is no specific restriction on the size of the first gear 8 and the second gear 10, as long as the above-mentioned connection relationship is satisfied. In some preferred embodiments, the diameter of the first gear 8 is smaller than the diameter of the ring gear 6, and the second gear 10 is an idler gear.

[0038] Preferably, the second gear 10 and the gear ring 6 are connected to the second connecting outer end respectively. In some specific embodiments, an axial hole is provided in the middle of the second gear 10, and the threaded pin 11 passes through the axial hole to fix the second gear 10 to the second connecting outer end, and the connection is firm; the inner circumference of the gear ring 6 is provided with saw teeth that mesh with the second gear 10, and the gear ring 6 is provided with screw holes, and screws pass through the screw holes to fix the gear ring 6 to the second connecting outer end.

[0039] Therefore, a laparoscopic surgical robot elbow device provided by an embodiment of the present invention can realize the relative rotation of the base 1 and the rotating seat 2, and has a compact structure, which meets the degree of freedom requirement of the laparoscopic surgical robot during operation. At the same time, when the brake is energized, the rotating seat 2 is manually adjusted. When the rotating seat 2 swings relative to the base 1, the encoder movable plate 16 and the encoder static plate 17 will rotate relative to each other, generate signals, and record data; the rotating shaft of the potentiometer 9 will also rotate accordingly, and through the engagement between the gears, the potentiometer 9 will generate signals and record data; therefore, the current position of the rotating seat 2 can be detected simultaneously by the encoder and the potentiometer 9, and the brake is powered off to lock the current position, thereby ensuring the accurate and reliable swing position of the rotating seat 2, and making the laparoscopic surgical robot have higher stability and safety.

[0040] An embodiment of the present invention also provides a laparoscopic surgical robot, comprising a column, a robotic arm and the above-mentioned laparoscopic surgical robot elbow device, and a third connection outer end is provided on the base 1 of the laparoscopic surgical robot elbow device, and a third connection inner end is provided on the rotating seat 2 of the laparoscopic surgical robot elbow device, and the third connection outer end is used to connect to the column, and the third connection inner end is used to connect to the robotic arm.

[0041] Therefore, a laparoscopic surgical robot provided by an embodiment of the present invention can realize the relative rotation of the robotic arm and the column, that is, the robotic arm can swing up and down relative to the column, with a compact structure, meeting the degree of freedom requirement of the laparoscopic surgical robot when working. At the same time, when the brake is energized, the robotic arm is manually adjusted. When the robotic arm swings relative to the column, the encoder movable plate 16 and the encoder static plate 17 will rotate relative to each other, generate signals, and record data; the rotating shaft of the potentiometer 9 will also rotate accordingly, and through the meshing of the gears, the potentiometer 9 will generate signals and record data; therefore, the current position of the robotic arm can be detected simultaneously by the encoder and the potentiometer 9, and the brake is powered off to lock the current position, thereby ensuring the accuracy and reliability of the swing position of the robotic arm, and making the laparoscopic surgical robot have higher stability and safety.

[0042] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A laparoscopic surgical robot elbow device, characterized in that: The invention comprises a base (1) and a rotating base (2) for rotationally connecting with the base (1), wherein the base (1) comprises a first connecting outer end and a second connecting outer end arranged opposite to each other, and a cavity is arranged between the first connecting outer end and the second connecting outer end, and the cavity is suitable for the rotating base (2) to be embedded and connected, and a first sensor is arranged at the connection between the rotating base (2) and the first connecting outer end, and a second sensor is arranged at the connection between the rotating base (2) and the second connecting outer end, and the rotating base (2) comprises a first connecting inner end and a second connecting inner end arranged opposite to each other, and the first connecting inner end is connected to the first connecting outer end, and the second connecting inner end is connected to the second connecting outer end, and the first sensor is a coding sensor; the second connecting inner end is connected to a braking device, and the braking device comprises an electromagnetic end (3) and an active end. The electromagnetic end (3) is connected to the second connection inner end, and the movable end (4) is connected to the second connection outer end through a connection plate (5); the braking device also includes a bushing cover (13), a bushing (14) and a bearing (12), the bushing (14) is arranged in the through hole of the electromagnetic end (3), and the bushing (14), the bushing cover (13) and the bearing (12) are connected in sequence; the second sensor is a potentiometer (9), and the potentiometer (9) is connected to the bushing cover (13) through a shaft cover (7); a first gear (8) is arranged on the rotating shaft (18) of the potentiometer (9), the first gear (8) is meshed with the ring gear (6) through a second gear (10), and the second gear (10) and the ring gear (6) are respectively connected to the second connection outer end.

2. The laparoscopic surgical robot elbow device according to claim 1, characterized in that: One end of the encoding sensor is connected to the first connecting outer end via a bearing end cover (19), and the other end of the encoding sensor is connected to the first connecting inner end.

3. The laparoscopic surgical robot elbow device according to claim 2, characterized in that: The encoding sensor comprises an encoder static plate (17), an encoder moving plate (16), a rotating shaft (18) and a shaft ring (15), one end of the encoder static plate (17) is connected to the first connecting inner end, the other end of the encoder static plate (17), the encoder moving plate (16), the rotating shaft (18) and the shaft ring (15) are connected in sequence, and the shaft ring (15) is connected to the first connecting inner end.

4. The laparoscopic surgical robot elbow device according to claim 3, characterized in that: The bearing end cover (19) is connected to the rotating shaft (18) and the shaft collar (15) respectively.

5. A laparoscopic surgical robot, characterized in that: It comprises a column, a robotic arm and a laparoscopic surgical robot elbow device as described in any one of claims 1 to 4, wherein a third connecting outer end is provided on a base (1) of the laparoscopic surgical robot elbow device, a third connecting inner end is provided on a rotating seat (2) of the laparoscopic surgical robot elbow device, the third connecting outer end is used to be connected to the column, and the third connecting inner end is used to be connected to the robotic arm.

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