Surgical robot end opening and closing device and surgical robot end mechanism

Abstract

The application relates to the field of minimally invasive surgical instruments, in particular to a surgical robot end opening and closing device and a surgical robot end mechanism. The surgical robot end opening and closing device comprises an execution assembly, the execution assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, the first end of the movable finger is hingedly matched with the fixed end of the fixed finger, and the second end of the movable finger is configured to be a free end; an opening and closing driving assembly comprises an opening and closing push rod and an opening and closing linear driving module, and the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod. The technical problems of the prior art that the surgical robot end mechanism has many parts, is heavy, large in size and poor in stability are solved.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical instruments, and more particularly to an end effector opening and closing device and an end effector mechanism for a surgical robot. Background Technology

[0002] Minimally invasive surgery, due to its advantages of less trauma, less bleeding, and faster recovery, has been increasingly widely used in clinical surgery. Therefore, developing a simple, practical surgical instrument with high precision and low operational difficulty is of great significance for minimally invasive surgery. Current surgical instruments suffer from the following problems:

[0003] 1. The transmission and drive devices of the instrument are set together or the transmission device is set close to the execution end. This results in more parts, greater weight and size, and easy coupling. In addition, the accumulation of tolerances of many parts makes the instrument unable to be precisely controlled and has poor stability.

[0004] 2. The surgeon manually provides the force and controls the rotation, opening and closing, and pushing motion of the actuator. This results in a high workload for the surgeon and low precision in operation.

[0005] 3. The transmission device uses a wire rope traction method to realize the rotation and opening and closing of the instrument. The knife movement of the instrument is realized by a motor and gear control. This makes the transmission device complex and the rotation, opening and closing and knife pushing actions are coupled with each other. As a result, the instrument cannot be precisely controlled and has poor stability. Summary of the Invention

[0006] To address the technical problems of numerous components, large weight, large size, and poor stability in existing surgical robot end effectors, this invention provides a surgical robot end effector opening and closing device and a surgical robot end effector mechanism, thus solving the aforementioned technical problems. The technical solution of this invention is as follows:

[0007] An end effector for a surgical robot includes: an execution component comprising a fixed finger and a movable finger, the fixed finger being configured for fixed assembly, a first end of the movable finger being hinged to the fixed end of the fixed finger, and a second end of the movable finger being configured as a free end; and an opening / closing drive component comprising an opening / closing push rod and an opening / closing linear drive module, the opening / closing linear drive module driving the movable finger to deflect via the opening / closing push rod.

[0008] According to an embodiment of the present invention, the opening and closing linear drive module includes: an opening and closing transmission rod, the first end of which is configured as a power end, and the second end of which is threadedly connected to the first end of a first lead screw; a guide sleeve, which is fixedly assembled; and an anti-rotation member, the first end of which is fixedly connected to the second end of the first lead screw, the second end of which passes through the guide sleeve and is fixedly connected to the first end of the opening and closing push rod, and the anti-rotation member is limited in rotation by the guide sleeve.

[0009] According to one embodiment of the present invention, it further includes an opening and closing drive shaft, the first end of which is connected to an opening and closing connector, and the second end of which is connected to the first end of the opening and closing transmission rod by means of a plug-in linkage structure.

[0010] According to one embodiment of the present invention, the plug-in linkage structure includes a slot and a protrusion, the protrusion extending into the slot for linkage.

[0011] According to one embodiment of the present invention, the second end of the opening and closing push rod is provided with a pin, a guide opening is formed on the fixed finger, and a corresponding oblique opening is formed on the movable finger. The pin passes through the oblique opening and the guide opening in sequence so that the movable finger deflects around the hinge point under the action of the opening and closing push rod.

[0012] A surgical robot end effector, employing the aforementioned surgical robot end effector opening and closing device, further includes a pusher device. The pusher device comprises: a pusher, which slides in conjunction with the opening and closing push rod; and a pusher drive assembly, which includes a pusher drive rod and a pusher linear drive module, wherein the pusher linear drive module drives the pusher to perform linear reciprocating motion via the pusher drive rod.

[0013] According to one embodiment of the present invention, the opening and closing push rod is formed with a pusher groove for accommodating the pusher, and the pusher is slidably assembled in the pusher groove.

[0014] According to one embodiment of the present invention, the pusher linear drive module includes: a pusher transmission rod, the first end of which is configured as a force-bearing end, and the opening and closing transmission rod is built into the pusher transmission rod; a second lead screw, which is fixedly connected to the second end of the pusher transmission rod, and the first lead screw is built into the second lead screw; a nut seat, which is disposed on the second lead screw, the nut seat is rotationally limited, one side of the nut seat is connected to the pusher drive rod, and one end of the pusher drive rod passes through the guide sleeve and is connected to the pusher.

[0015] According to one embodiment of the present invention, it further includes a pusher drive shaft, the first end of which is connected to a pusher connector, and the second end of which is connected to the first end of the pusher transmission rod via the plug-in linkage structure.

[0016] According to one embodiment of the present invention, the first end of the opening and closing drive shaft passes through the first end of the pusher drive shaft.

[0017] According to one embodiment of the present invention, a slide is formed on the fixed finger, the pusher slides in the slide, and the movable finger is provided with an avoidance opening at a corresponding position.

[0018] According to one embodiment of the present invention, it further includes a rotation device, the rotation device comprising: a sleeve, the first end of the sleeve being fixedly connected to the fixed finger, the opening and closing push rod being built into the sleeve; and a sleeve driving assembly for driving the sleeve to rotate.

[0019] According to one embodiment of the present invention, the sleeve drive assembly includes: a connector, a first end of which is configured as a plug-in end, a pin extending from the first end of which extends radially, and a pusher drive rod built into the connector; and a rotating sleeve, a first end of which is fixedly connected to a second end of the connector, and the second end of which is fixedly connected to the guide sleeve.

[0020] According to one embodiment of the present invention, a self-rotating drive shaft is further included. The first end of the pusher drive shaft passes through the first end of the self-rotating drive shaft. The first end of the self-rotating drive shaft is connected to a self-rotating connector. The second end of the self-rotating drive shaft forms a socket that mates with the insertion end. The self-rotating drive shaft also forms a channel for the pin to slide in and a deflection space for the pin to deflect after sliding in. The self-rotating drive shaft is also equipped with a sliding limiting rod. The limiting rod is located on one side of the channel. After the pin enters the deflection space, the limiting rod enters the channel to limit the pin.

[0021] According to one embodiment of the present invention, the self-rotating drive shaft has a mounting groove for slidingly assembling the limiting rod, and the mounting groove is further provided with an elastic element for pressing the limiting rod. A sliding key is formed on the outer peripheral surface of the self-rotating drive shaft, and the sliding key is connected to the limiting rod through a connecting rod. The sliding key drives the limiting rod to move.

[0022] According to one embodiment of the present invention, the self-rotating sleeve is formed with at least one set of anti-rotation ports, and the nut seat is provided with anti-rotation protrusions along the radial direction that cooperate with the anti-rotation ports, so that the nut seat is restricted from rotation.

[0023] Based on the above technical solution, the technical effects that the present invention can achieve are as follows:

[0024] 1. In the opening and closing device of the present invention, the opening and closing drive component is built into the pusher drive component, and the pusher drive component is built into the sleeve drive component and the sleeve. Through the above-mentioned arrangement, the space occupied by the robot end mechanism is reduced, which is conducive to the lightweight and miniaturization of the robot end mechanism. In addition, compared with the use of gears and wire ropes to drive the actuator in the prior art, which results in many parts, complex structure and large space occupation of the robot end device, the drive shaft and drive rod used in this application can enable the robot end mechanism to perform rotation, opening and closing and pusher actions, which greatly simplifies the structure, reduces the number of parts, and reduces the size, thus truly achieving miniaturization. In addition, this application does not place the drive and transmission near the actuator or near the drive module to avoid excessive weight difference at both ends of the end structure, which would lead to poor stability of the robot end mechanism in use.

[0025] 2. The first end of the push drive shaft of the present invention passes through the self-rotation drive shaft to connect with the push drive connector, and the first end of the opening and closing drive shaft passes through the first end of the push drive shaft to connect with the opening and closing connector. By designing one end of the self-rotation drive shaft, the opening and closing drive shaft and the push drive shaft in a stepped manner, space can be fully utilized while they move with each other without interfering with each other, which is beneficial to the miniaturization and stability of the robot end effector.

[0026] 3. The first end of the anti-rotation component of the present invention is fixedly connected to the second end of the first lead screw, and the second end of the anti-rotation component passes through the guide sleeve and is fixedly connected to the first end of the opening and closing push rod. The anti-rotation component is limited by the guide sleeve so that the opening and closing linear drive module drives the moving finger to deflect through the opening and closing push rod. The rotating sleeve has at least one set of anti-rotation ports, and the nut seat is provided with anti-rotation protrusions in the radial direction. The anti-rotation protrusions extend into the anti-rotation ports, so that the nut seat is limited by the anti-rotation ports, thereby causing the push knife drive assembly to drive the push knife to perform linear reciprocating motion. This application does not require an additional limiting device to limit the nut seat, thereby simplifying the robot end mechanism and facilitating the miniaturization and lightness of the robot end mechanism.

[0027] 4. The self-rotating drive shaft and the connector of the present invention form a detachable connection. The second end of the opening and closing drive shaft is connected to the first end of the opening and closing transmission rod through a plug-in linkage structure. The second end of the pusher drive shaft is connected to the first end of the pusher transmission rod through a plug-in linkage structure. The plug-in linkage structure allows the opening and closing drive shaft and the opening and closing transmission rod, and the pusher drive shaft and the pusher transmission rod to be quickly installed and disassembled. This allows the actuator to be replaced after use, while the drive part can be reused. Attached Figure Description

[0028] Figure 1 This is a structural diagram of the execution component;

[0029] Figure 2This is a schematic diagram of the opening and closing drive component.

[0030] Figure 3 This is a schematic diagram of the opening and closing push rod.

[0031] Figure 4 This is a schematic diagram of the guide sleeve structure;

[0032] Figure 5 This is a schematic diagram of the opening and closing drive shaft;

[0033] Figure 6 This is a schematic diagram of the plug-in linkage structure;

[0034] Figure 7 This is a schematic diagram of the pusher device.

[0035] Figure 8 A schematic diagram of the pusher drive shaft;

[0036] Figure 9 An exploded view of the assembly of the pusher drive shaft and the pusher transmission rod;

[0037] Figure 10 This is a schematic diagram of the structure for the cooperation between the pusher and the actuation component;

[0038] Figure 11 This is a schematic diagram of the rotating device.

[0039] Figure 12 A schematic diagram showing the fit between the outer casing and the connector;

[0040] Figure 13 This is a cross-sectional view of the self-rotating drive shaft;

[0041] Figure 14 This is a structural diagram of the channel and deflection space;

[0042] Figure 15 An exploded view of the self-rotating drive shaft;

[0043] Figure 16 This is a partial structural diagram of the self-rotating drive shaft;

[0044] Figure 17 A schematic diagram showing the fit between the self-rotating drive shaft and the self-rotating connector;

[0045] Figure 18 A schematic diagram of the fit between the nut seat and the rotating sleeve;

[0046] Figure 19 A cross-sectional view showing the coordination of the opening / closing drive shaft, the pusher drive shaft, and the rotation drive shaft;

[0047] Figure 20This is a schematic diagram showing the structure of the base in conjunction with the opening and closing connector, the pusher connector, and the rotation connector.

[0048] Figure 21 This is a schematic diagram of the fit between the limiting seat and the limiting port;

[0049] Figure 22 This is a schematic diagram of the circuit principle;

[0050] Figure 23 This is a cross-sectional view of the robot's end effector.

[0051] In the diagram: 1-Actuating component; 11-Fixed finger; 111-Guide port; 112-Slide rail; 12-Moving finger; 121-Angled opening; 122-Allowing opening; 2-Opening / closing drive component; 21-Opening / closing push rod; 211-Push tool groove; 212-Pin shaft; 213-Rotation limiting protrusion; 22-Opening / closing linear drive module; 221-Opening / closing transmission rod; 222-Guide sleeve; 2221-Square hole; 223-Anti-rotation component; 224-First lead screw; 3-Opening / closing drive shaft; 3 1-Opening and closing connector; 4-Plug-in linkage structure; 41-Slot; 42-Protrusion; 5-Pushing device; 51-Pushing knife; 52-Pushing knife drive assembly; 521-Pushing knife drive rod; 522-Pushing knife linear drive module; 5221-Pushing knife transmission rod; 5222-Second lead screw; 5223-Nut seat; 52231-Anti-rotation protrusion; 53-Pushing knife drive shaft; 531-Pushing knife connector; 532-U-shaped notch I; 533-First gear set; 533 1-Driving gear I; 5332-First driven gear I; 5333-Second driven gear; 6-Rotation device; 61-Sleeve; 62-Sleeve drive assembly; 621-Connector; 6211-Pin; 6212-Limiting element; 622-Rotation sleeve; 6221-Anti-rotation port; 63-Outer shell; 631-Anti-rotation groove; 64-Rotation drive shaft; 641-U-shaped notch II; 642-Channel; 643-Limiting rod; 6431-Limiting protrusion; 6 44-Deflection space; 645-Sliding key; 6451-Connecting rod; 6452-First avoidance opening; 6453-Second avoidance opening; 646-Elastic element; 647-Limiting seat; 648-Mounting groove; 65-Rotation connector; 651-Second gear set; 6511-Driving gear II; 6512-First driven gear II; 7-Base; 71-Limiting opening; 81-First electrode; 82-Second electrode; 83-Third electrode; 84-Fourth electrode.

[0052] A / B-Electrical Circuit Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0054] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0055] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0056] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0057] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0058] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0059] like Figure 1-23 As shown, the surgical robot end effector opening and closing device of this embodiment includes an execution component 1 and an opening and closing drive component 2. The execution component 1 includes a fixed finger 11 and a movable finger 12. The fixed finger 11 is configured for fixed assembly, the first end of the movable finger 12 is hinged to the fixed end of the fixed finger 11, and the second end of the movable finger 12 is configured as a free end. The opening and closing drive component 2 includes an opening and closing push rod 21 and an opening and closing linear drive module 22. The opening and closing linear drive module 22 drives the movable finger 12 to deflect through the opening and closing push rod 21. In this way, the drive part and the transmission part of the opening and closing device can be arranged along the axial direction, so that the opening and closing device can be built into other parts to reduce the space occupation and enable the robot end effector to be miniaturized.

[0060] In this embodiment, the opening and closing linear drive module 22 pushes the moving finger 12 to perform opening and closing actions under the action of external force. Specifically, the opening and closing linear drive module 22 includes an opening and closing transmission rod 221, a guide sleeve 222, and an anti-rotation member 223. The first end of the opening and closing transmission rod 221 is set as the power end, and the second end of the opening and closing transmission rod 221 is threadedly connected to the first end of the first lead screw 224. The guide sleeve 222 is fixedly assembled. The first end of the anti-rotation member 223 is fixedly connected to the second end of the first lead screw 224, and the second end of the anti-rotation member 223 passes through the guide sleeve 222 and is fixedly connected to the first end of the opening and closing push rod 21. The anti-rotation member 223 is limited to rotation by the guide sleeve 222.

[0061] Furthermore, such as Figure 2 , 4As shown, in this embodiment, the guide sleeve 222 restricts the rotation of the anti-rotation member 223 so that the anti-rotation member 223 can only move back and forth in a straight line. Specifically, a through square hole 2221 is formed on the guide sleeve 222 along the axial direction. The anti-rotation member 223 is set as a square member corresponding to the square hole 2221. The square member passes through the square hole 2221 and is fixedly connected to the opening and closing push rod 21. In this way, by utilizing the rotation-limiting property of the square member and the square hole 2221, the anti-rotation member 223 cannot rotate, thereby preventing the opening and closing push rod 21 from rotating.

[0062] Preferably, in this embodiment, both the anti-rotation component 223 and the first end of the opening / closing push rod 21 are formed with process holes. When installing the anti-rotation component 223 and the first end of the opening / closing push rod 21, a pin is first inserted into the process hole to position the anti-rotation component 223 and the opening / closing push rod 21, and then the anti-rotation component 223 and the opening / closing push rod 21 are welded.

[0063] like Figure 2 , 3 As shown in Figure 10, in this embodiment, the moving finger 12 of the opening / closing push rod 21 deflects around the fixed end of the fixed finger 11. Specifically, the second end of the opening / closing push rod 21 is provided with a pin 212. A guide opening 111 is formed on the fixed finger 11, and a chamfer 121 corresponding to the guide opening 111 is formed on the moving finger 12. The pin 212 passes through the chamfer 121 and the guide opening 111 in sequence. Under the action of external force, the opening / closing push rod 21 is pushed to move linearly back and forth. The movement of the opening / closing push rod 21 drives the pin 212 to move as well. The movement of the pin 212 applies force to the chamfer 121, thereby causing the moving finger 12 to deflect around the hinge point.

[0064] Preferably, the opening and closing push rod 21 in this embodiment is configured with a U-shaped cross-section to form a pusher groove 211. Further, the opening and closing push rod 21 extends in the radial direction to form a rotation-limiting protrusion 213.

[0065] like Figure 5 , 6 As shown, the surgical robot end effector opening and closing device of this embodiment also includes an opening and closing drive shaft 3. The first end of the opening and closing drive shaft 3 is connected to an opening and closing connector 31. The opening and closing connector 31 drives the opening and closing transmission rod 221 to rotate through the opening and closing drive shaft 3. Specifically, the first end of the opening and closing drive shaft 3 has a through insertion hole I in the radial direction, and the driving end of the opening and closing connector 31 has an insertion hole II at the corresponding position. When a pin is inserted into the insertion hole I and the insertion hole II, the opening and closing drive shaft 3 rotates together with the driving end of the opening and closing connector 31. Since the second end of the opening and closing drive shaft 3 is connected to the first end of the opening and closing transmission rod 221, the opening and closing transmission rod 221 rotates together with the opening and closing drive shaft 3. The non-driving end of the opening and closing connector 31 can be connected to a power source such as a motor, which can drive the opening and closing transmission rod 221 to rotate.

[0066] Preferably, in this embodiment, the second end of the opening and closing drive shaft 3 is connected to the first end of the opening and closing transmission rod 221 via a plug-in linkage structure 4. Specifically, the plug-in linkage structure 4 includes a slot 41 located on the inner circumferential surface of the opening and closing drive shaft 3 and a protrusion 42 located on the outer circumferential surface of the opening and closing transmission rod 221. The protrusion 42 extends into the slot 41, so that the opening and closing transmission rod 221 can rotate with the opening and closing drive shaft 3 and can also be detachably connected to the opening and closing transmission rod 221.

[0067] like Figure 7 , 10 As shown, this embodiment also provides a surgical robot end effector mechanism, employing the aforementioned surgical robot end effector opening and closing device. Furthermore, the surgical robot end effector mechanism includes a pusher device 5, which comprises a pusher 51 and a pusher drive assembly 52. ​​The pusher 51 is slidably mounted within a pusher groove 211, allowing it to slide only within the groove. The groove 211 guides the pusher 51. The pusher drive assembly 52 includes a pusher drive rod 521 and a pusher linear drive module 522. The pusher linear drive module 522 drives the pusher 51 to perform linear reciprocating motion via the pusher drive rod 521, enabling the pusher 51 to perform cutting actions.

[0068] Furthermore, in this embodiment, the pusher 51 is guided to slide within the fixed finger 11. Specifically, a slide 112 is formed on the fixed finger 11, and the pusher drive rod 521 drives the pusher 51 to slide within the slide 112, thereby guiding the pusher 51. The moving finger 12 is provided with an avoidance opening 122 at a corresponding position to avoid interfering with the movement of the pusher 51.

[0069] like Figure 7 , 8As shown in Figure 9, the pusher linear drive module 522 of this embodiment pushes the pusher 51 to perform a cutting action under the action of external force. Specifically, the pusher linear drive module 522 includes a pusher transmission rod 5221, a second lead screw 5222, and a nut seat 5223. The first end of the pusher transmission rod 5221 is provided as a force-bearing end, and the second lead screw 5222 is fixedly connected to the second end of the pusher transmission rod 5221. Preferably, the first lead screw 224 is built into the second lead screw 5222. Under the action of external force, the pusher transmission rod 5221 rotates, and the second lead screw 5222 rotates accordingly. The nut seat 5223 is disposed on the second lead screw. On 5222, at the same time, the nut seat 5223 is limited to rotate. One side of the nut seat 5223 is connected to the first end of the pusher drive rod 521. In this embodiment, the nut seat 5223 and the pusher drive rod 521 adopt a snap-fit ​​engagement method. The second end of the pusher drive rod 521 passes through the guide sleeve 222 and is connected to the pusher 51. Preferably, the pusher drive rod 521 is set as a square piece. In this way, the guide sleeve 222 plays a guiding role for the pusher 51 and restricts the movement direction of the pusher 51. Thus, under the action of external force, the pusher 51 is driven by the pusher drive rod 521 to perform linear reciprocating motion, thereby performing the cutting action.

[0070] Furthermore, the surgical robot end effector in this embodiment also includes a pusher drive shaft 53. A pusher connector 531 is connected to the first end of the pusher drive shaft 53. The pusher connector 531 drives the pusher transmission rod 5221 to rotate via the pusher drive shaft 53. Specifically, the pusher drive shaft 53 is connected to the first end of the pusher connector 531, which drives the pusher drive shaft 53 via a first gear set 533. At least one set of U-shaped notches I 532 is formed at the first end of the pusher drive shaft 53 along the axial direction. The first gear set 533 includes a driving gear I 5331, a first driven gear I 5332, and a second driven gear 5333. The first driven gear I5331 and the second driven gear I5332 mesh with each other. The second driven gear I5332 and the second driven gear I5333 mesh with each other. The second driven gear I5333 has a limiting key I corresponding to the U-shaped notch I532. The limiting key I extends into the U-shaped notch I532. In this way, the pusher drive shaft 53 can rotate together with the first gear set 533. The second end of the pusher drive shaft 53 is connected to the first end of the pusher transmission rod 5221 through the plug-in linkage structure 4. The rotation of the pusher drive shaft 53 drives the pusher transmission rod 5221 to rotate. The free end of the pusher connector 531 can be connected to a power source such as a motor, which can drive the pusher drive shaft 53 to rotate.

[0071] like Figure 9 , 19As shown in Figure 23, in this embodiment, the second end of the pusher drive shaft 53 is inserted into the first end of the pusher transmission rod 5221. Specifically, a protrusion 42 is formed on the outer peripheral surface of the second end of the pusher drive shaft 53, and a slot 41 corresponding to the protrusion 42 is formed on the inner peripheral surface of the first end of the pusher transmission rod 5221. The protrusion 42 extends into the slot 41, so that the pusher transmission rod 5221 can rotate with the pusher drive shaft 53. At the same time, the pusher transmission rod 5221 and the pusher drive shaft 53 form a detachable connection.

[0072] Furthermore, in order to miniaturize and reduce the size of the surgical robot end effector, the opening and closing drive shaft 3 of this embodiment is built into the push knife drive shaft 53. The first end of the opening and closing drive shaft 3 passes through the first end of the push knife drive shaft 53 and is connected to the opening and closing connector 31. The opening and closing transmission rod 221 is built into the push knife transmission rod 5221.

[0073] like Figure 11 As shown, the surgical robot end effector in this embodiment also includes a rotation device 6. The rotation device 6 includes a sleeve 61 and a sleeve drive assembly 62. The first end of the sleeve 61 is fixedly connected to the fixed finger 11. Preferably, the opening and closing push rod 21 is built into the sleeve 61. The sleeve drive assembly 62 is used to drive the sleeve 61 to rotate, thereby causing the rotation of the sleeve 61 to drive the fixed finger 11 and the movable finger 12 to rotate.

[0074] In this embodiment, the sleeve drive assembly 62 drives the execution assembly 1 to rotate. Specifically, the sleeve drive assembly 62 includes a connector 621 and a rotating sleeve 622. The first end of the connector 621 is configured as a plug-in end. A pin 6211 extends from the first end of the connector 621 in the radial direction. The pusher transmission rod 5221 is built into the connector 621. The first end of the rotating sleeve 622 is fixedly connected to the second end of the connector 621. The second end of the rotating sleeve 622 is fixedly connected to the guide sleeve 222. The second end of the sleeve 61 is fixedly connected to the guide sleeve 222. Under the action of external force, the connector 621 drives the execution assembly 1 to rotate through the sleeve 61.

[0075] Priority, such as Figure 12 As shown, the first end of the connector 621 in this embodiment is configured as a plug-in end, and a pin 6211 is formed on the outer peripheral surface of the plug-in end. In addition, the connector 621 in this embodiment can move under the drive of the housing 63. The second end of the connector 621 has at least one set of limiting members 6212 formed along the radial direction. In this embodiment, the limiting members 6212 are configured as two sets of limiting keys, and the two sets of limiting keys are symmetrically arranged. The housing 63 has an anti-rotation groove 631 corresponding to the position of the limiting keys. In this way, the housing 63 can move with the connector 621.

[0076] like Figure 18As shown, the rotating sleeve 622 of this embodiment has at least one set of anti-rotation ports 6221. In this embodiment, there are two sets of anti-rotation ports 6221, which are symmetrically arranged. The nut seat 5223 is provided with anti-rotation protrusions 52231 in the radial direction. The anti-rotation protrusions 52231 extend into the anti-rotation ports 6221. In this way, the nut seat 5223 is restricted from rotating by the rotating sleeve 622 and cannot rotate with the second lead screw 5222. It can only move linearly relative to the second lead screw 5222.

[0077] like Figure 15 , 17 The surgical robot end effector in this embodiment also includes a self-rotating drive shaft 64. A self-rotating connector 65 is connected to the first end of the self-rotating drive shaft 64. The self-rotating connector 65 drives the connector head 621 to rotate through the self-rotating drive shaft 64. Specifically, the self-rotating connector 65 drives the self-rotating drive shaft 64 by means of a second gear set 651. At least one set of U-shaped notches II 641 is formed on the first end of the self-rotating drive shaft 64 in the axial direction. The second gear set 651 includes a driving gear II 6511 and a first driven gear II 6512. A limiting key II corresponding to the U-shaped notch II 641 is formed on the first driven gear II 6512. The limiting key II extends into the U-shaped notch II 641. In this way, through the meshing of the driving gear II 6511 and the first driven gear II 6512, the self-rotating drive shaft 64 can rotate together with the second gear set 651. Since the second end of the self-rotating drive shaft 64 is connected to the connector head 621, the rotation of the self-rotating drive shaft 64 causes the connector head 621 to rotate as well. The free end of the self-rotating connector 65 can be connected to a power source such as a motor, which can drive the self-rotating drive shaft 64 to rotate.

[0078] Preferably, in this embodiment, the self-rotating drive shaft 64 houses the pusher drive shaft 53, and the first end of the pusher drive shaft 53 passes through the self-rotating drive shaft 64 and is connected to the pusher connector 531.

[0079] Furthermore, such as Figure 13 , 14 As shown in Figures 15, 16, and 21, the second end of the self-rotating drive shaft 64 in this embodiment has a socket that mates with the insertion end. The second end of the self-rotating drive shaft 64 also has a channel 642 for the pin 6211 to slide into and a deflection space 644 for the pin 6211 to deflect after sliding in. The self-rotating drive shaft 64 is also equipped with a sliding limiting rod 643, which is located on one side of the channel 642. After the pin 6211 enters the deflection space 644, the limiting rod 643 enters the channel 642 to limit the pin 6211. Preferably, in this embodiment, the connector 621 is controlled to deflect and move within the self-rotating drive shaft 64 by the housing 63.

[0080] In this embodiment, a mounting groove 648 is formed on the self-rotating drive shaft 64. The sliding of the limiting rod 643 in the mounting groove 648 is limited. Specifically, the self-rotating drive shaft 64 is provided with a mounting groove 648 along the axial direction. The mounting groove 648 is connected to the channel 642. An annular boss is formed at one end of the mounting groove 648. A limiting protrusion 6431 is formed at the corresponding position of the limiting rod 643. The limiting protrusion 6431 abuts against the boss, thereby limiting the movement position of the limiting rod 643 in the mounting groove 648.

[0081] Furthermore, in this embodiment, a limiting seat 647 is provided at one end of the mounting groove 648. The limiting seat 647 is fixedly connected to the mounting groove 648. An elastic element 646 is also provided in the mounting groove 648 to press the limiting rod 643. In this embodiment, the elastic element 646 is set as a spring. One end of the spring abuts against the limiting seat 647, and the other end of the spring abuts against the limiting protrusion 6431. This can prevent the limiting rod 643 from moving arbitrarily in the mounting groove 648.

[0082] Preferably, in order to facilitate the movement of the limiting rod 643 in the mounting groove 648, a sliding key 645 is formed on the outer peripheral surface of the self-rotating drive shaft 64 in this embodiment. The limiting rod 643 is moved by pushing the sliding key 645. Specifically, a first avoidance opening 6431 is formed on the outer peripheral surface of the self-rotating drive shaft 64. The first avoidance opening 6431 is connected to the channel 642. A connecting rod 6451 is provided on one side of the sliding key 645. The other end of the connecting rod 6451 extends into the first avoidance opening 6431 and is fixedly connected to the free end of the limiting rod 643. In addition, at least one second avoidance opening 6453 is also formed on the self-rotating drive shaft 64. A buckle is formed on the sliding key 645 at the corresponding position. The buckle extends into the second avoidance opening 6453 and abuts against the side wall of the second avoidance opening 6453. This can prevent the sliding key 645 from disengaging from the self-rotating drive shaft 64.

[0083] like Figure 20 , 22 As shown, in this embodiment, the self-rotating connector 65, the opening and closing connector 31, and the pusher connector 531 are integrated and installed on the base 7. This reduces the space occupied and is conducive to the miniaturization of the robot end effector. Preferably, in this embodiment, a limiting port 71 is formed on the base 7. One end of the limiting seat 647 extends into the limiting port 71. The self-rotating drive shaft 64 carries the limiting seat 647 to rotate along the limiting port 71 until it is limited to the limit position and then stops rotating.

[0084] Furthermore, in this embodiment, the base 7 is provided with two sets of first electrodes 81, the second end of the self-rotating drive shaft 64 is provided with two sets of second electrodes 82, the outer shell 63 is provided with a third electrode 83, and the fixed finger 11 and the movable finger 12 are provided with a fourth electrode 84. Thus, a line A can be formed from the fourth electrode 84 on the fixed finger 11 to the third electrode 83, then to the second electrode 82, and finally to the first electrode 81; a line B can be formed from the fourth electrode 84 on the movable finger 12 to the third electrode 83, then to the second electrode 82, and finally to the first electrode 81. The lines actually run inside the shaft; the illustration is only for clarity of the start and end points. When the self-rotating drive shaft 64 is connected to the connector 621, lines A and B are connected, and the two lines do not interfere with each other. Finally, the two first electrodes 81 are connected to the robot to complete the electrocoagulation signal and energy transmission.

[0085] Based on the above structure, in this embodiment, the surgical robot end effector uses a structure consisting of an opening / closing connector 31, an opening / closing linear drive module 22, and an opening / closing push rod 21 to drive the movable finger 12 to perform opening and closing actions. A structure consisting of a pusher connector 531, a pusher linear drive module 522, and a pusher drive rod 521 drives the pusher to perform cutting or pushing actions, and the two drive structures do not interfere with each other. In this embodiment, a structure consisting of a self-rotating connector 65, a sleeve 61, and a sleeve drive assembly 62 drives the fixed finger 11 and the movable finger 12 to rotate. Simultaneously, the opening / closing connector 31 drives the opening / closing push rod 21 to perform linear motion, and the pusher connector 531 drives the pusher to perform linear motion. Through the above methods, the robot end effector mechanism achieves self-rotation, opening / closing, and pushing actions.

[0086] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A surgical robot end effector, employing a surgical robot end effector opening and closing device, characterized in that, The surgical robot end effector includes: An execution component (1) includes a fixed finger (11) and a movable finger (12). The fixed finger (11) is configured to be fixedly assembled. The first end of the movable finger (12) is hinged to the fixed end of the fixed finger (11). The second end of the movable finger (12) is configured as a free end. The opening and closing drive assembly (2) includes an opening and closing push rod (21) and an opening and closing linear drive module (22). The opening and closing linear drive module (22) drives the moving finger (12) to deflect through the opening and closing push rod (21). The opening and closing linear drive module (22) includes: The opening and closing transmission rod (221) has its first end set as the power end, and its second end is threadedly connected to the first end of the first lead screw (224). Guide sleeve (222), said guide sleeve (222) is fixedly assembled; An anti-rotation component (223) is provided. The first end of the anti-rotation component (223) is fixedly connected to the second end of the first lead screw (224). The second end of the anti-rotation component (223) passes through the guide sleeve (222) and is fixedly connected to the first end of the opening and closing push rod (21). The anti-rotation component (223) is limited to rotate by the guide sleeve (222). The surgical robot end-effector opening and closing device further includes an opening and closing drive shaft (3), the first end of which is connected to an opening and closing connector (31), and the second end of which is connected to the first end of the opening and closing transmission rod (221) via a plug-in linkage structure (4). The plug-in linkage structure (4) includes a slot (41) and a protrusion (42), the protrusion (42) extending into the slot (41) for linkage; The second end of the opening and closing push rod (21) is provided with a pin (212), the fixed finger (11) is provided with a guide opening (111), and the movable finger (12) is provided with a corresponding oblique opening (121). The pin (212) passes through the oblique opening (121) and the guide opening (111) in sequence so that the movable finger (12) deflects around the hinge point under the action of the opening and closing push rod (21). The surgical robot's end effector also includes a pusher device (5), which comprises: Push knife (51), the push knife (51) is slidably engaged with the opening and closing push rod (21); The pusher drive assembly (52) includes a pusher drive rod (521) and a pusher linear drive module (522). The pusher linear drive module (522) drives the pusher (51) to perform linear reciprocating motion through the pusher drive rod (521). The opening and closing push rod (21) is formed with a pusher groove (211) for accommodating the pusher (51), and the pusher (51) is slidably assembled in the pusher groove (211); The pusher linear drive module (522) includes: The pusher transmission rod (5221) has its first end set as the force-bearing end, and the opening and closing transmission rod (221) is built into the pusher transmission rod (5221). The second lead screw (5222) is fixedly connected to the second end of the pusher transmission rod (5221), and the first lead screw (224) is built into the second lead screw (5222). Nut seat (5223), the nut seat (5223) is disposed on the second lead screw (5222), the nut seat (5223) is limited to rotation, one side of the nut seat (5223) is connected to the first end of the pusher drive rod (521), and the second end of the pusher drive rod (521) passes through the guide sleeve (222) and is connected to the pusher (51); It also includes a pusher drive shaft (53), the first end of which is connected to a pusher connector (531), and the second end of which is connected to the first end of the pusher transmission rod (5221) via the plug-in linkage structure (4). The first end of the opening and closing drive shaft (3) passes through the first end of the pusher drive shaft (53); A slide (112) is formed on the fixed finger (11), the pusher (51) slides in the slide (112), and the moving finger (12) is provided with a clearance opening (122) at the corresponding position.

2. The surgical robot end effector according to claim 1, characterized in that, It also includes a rotation device (6), which comprises: Sleeve (61), the first end of which is fixedly connected to the fixed finger (11), and the opening and closing push rod (21) is built into the sleeve (61). A sleeve drive assembly (62) is used to drive the sleeve (61) to rotate.

3. The surgical robot end effector according to claim 2, characterized in that, The sleeve drive assembly (62) includes: Connector (621), the first end of the connector (621) is configured as a plug end, the first end of the connector (621) extends a pin (6211) in the radial direction, and the pusher drive rod (5221) is built into the connector (621). The first end of the self-rotating sleeve (622) is fixedly connected to the second end of the connector (621), and the second end of the self-rotating sleeve (622) is fixedly connected to the guide sleeve (222).

4. The surgical robot end effector according to claim 3, characterized in that, It also includes a self-rotating drive shaft (64), the first end of the pusher drive shaft (53) passes through the first end of the self-rotating drive shaft (64), the first end of the self-rotating drive shaft (64) is connected to a self-rotating connector (65), the second end of the self-rotating drive shaft (64) forms a socket that mates with the insertion end, the self-rotating drive shaft (64) also forms a channel (642) for the pin (6211) to slide in and a deflection space (644) for the pin (6211) to deflect after sliding in, the self-rotating drive shaft (64) is also equipped with a sliding limit rod (643), the limit rod (643) is located on one side of the channel (642), after the pin (6211) enters the deflection space (644), the limit rod (643) enters the channel (642) to limit the pin (6211).

5. The surgical robot end effector according to claim 4, characterized in that, The self-rotating drive shaft (64) has a mounting groove (648) for slidingly assembling the limiting rod (643). The mounting groove (648) is also provided with an elastic element (646) for pressing against the limiting rod (643). A sliding key (645) is formed on the outer peripheral surface of the self-rotating drive shaft (64). The sliding key (645) is connected to the limiting rod (643) through a connecting rod (6451). The sliding key (645) drives the limiting rod (643) to move.

6. The surgical robot end effector according to claim 5, characterized in that, The self-rotating sleeve (622) has at least one set of anti-rotation ports (6221), and the nut seat (5223) is provided with anti-rotation protrusions (52231) along the radial direction to cooperate with the anti-rotation ports (6221) so that the nut seat (5223) is limited to rotate.

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