Surgical robot master control hand transmission system and master control hand

Abstract

The application relates to a surgical robot master control hand transmission system and a master control hand. The surgical robot master control hand transmission system comprises a rotating shaft unit, a plurality of transmission shafts, a plurality of pre-tightening units and a plurality of transmission units. The plurality of transmission shafts are arranged in sequence and at intervals, and the transmission shaft at the first end is a driving shaft, and the rest of the transmission shafts are driven shafts. The pre-tightening units are arranged in one-to-one correspondence with the driven shafts in an adjustable manner. One transmission unit corresponds to two adjacent transmission shafts in one-to-one correspondence, and the transmission unit comprises transmission wires. The transmission wires are cross-wound on the adjacent two transmission shafts and the pre-tightening unit or the transmission wires are cross-wound on the adjacent two transmission shafts. The tension of the transmission wires in the same group is the same. The transmission wires in the same group do not contact each other. The pre-tightening unit is adjusted to adjust the tension of the transmission wires. The overall structure is compact, and the stability is good. The transmission wires realize the forward and reverse rotation of the transmission shafts, obtain a high speed reduction ratio, and the driving of the forward and reverse rotation is provided by the driving shaft. The reverse driving force is small, and the driving performance is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical robot master control hand transmission system and master control hand. BACKGROUND

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its small surgical trauma, short recovery time and less pain to patients. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high stability, high dexterity, high control accuracy and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas.

[0003] At present, the abdominal surgery robot as a representative of the minimally invasive surgery robot is composed of a doctor console, a patient surgery platform and an image platform. During surgery, the doctor operates the master control hand in front of the doctor console through the image of the image platform, and remotely controls the instruments installed on the surgical arm of the patient surgery platform to realize surgical operations on different parts. Since the master control hand is mostly large in size and not light enough, in order to make the doctor feel light, the following counterbalance structure is needed for gravity balance. One is to increase the counterweight, but this way not only increases the moment of inertia, but also increases the weight of the entire device. The second is to use a motor to provide power to balance the gravity of the master control hand. In order to make the structure compact, a small motor size is selected, but the output torque of the small motor is small, and a reduction box needs to be installed at the output end of the motor. The reverse driving torque of the gear box with large reduction ratio is large, which is not suitable for the master control hand. SUMMARY

[0004] Therefore, it is necessary to provide a surgical robot master control hand transmission system and master control hand for the problem of large reverse driving torque of the gear box with large reduction ratio.

[0005] The present application provides a surgical robot master control hand transmission system, comprising:

[0006] A rotating shaft unit comprising a plurality of transmission shafts, the plurality of transmission shafts are arranged in sequence and at intervals, and the transmission shaft at the first end is a driving shaft, and the remaining transmission shafts are driven shafts;

[0007] A plurality of pre-tightening units, the pre-tightening units are adjustably and one-to-one corresponding to the driven shafts;

[0008] A plurality of transmission units, one transmission unit corresponding to each of two adjacent transmission shafts, the transmission unit comprising a transmission wire, the transmission wire being cross-wound around the adjacent two transmission shafts and the pre-tightening unit or the transmission wire being cross-wound around the adjacent two transmission shafts, the tension of the transmission wire in the same group being the same; in the working process, the transmission wires in the same group do not contact each other.

[0009] In the above surgical robot main control hand transmission system, the tension of the transmission wire can be adjusted by adjusting the position of the pre-tightening unit relative to the driven shaft during assembly, so that the pre-tightening force is adjustable, the overall structure is compact, the volume is small, and the stability is good; when the driving shaft rotates clockwise, the transmission wire rotates with it to drive the adjacent driven shaft to rotate counterclockwise, correspondingly, when the driving shaft rotates counterclockwise, the transmission wire rotates with it to drive the adjacent driven shaft to rotate clockwise, so that the transmission shaft can be reversed by the transmission wire cross-wound around the transmission shaft and the pre-tightening unit, and high speed reduction ratio can be obtained through the transmission of multiple transmission units, and the driving of forward and reverse rotation is provided by the driving shaft, so that the reverse driving force is small, and the driving performance of forward and reverse rotation is good.

[0010] In one embodiment, the transmission unit between the driving shaft and the adjacent driven shaft further comprises a small pulley and a large pulley, and the small pulley and the large pulley are located on the same side of the rotating shaft unit; the small pulley and the large pulley are correspondingly installed on the adjacent two transmission shafts, and the large pulley is away from the driving shaft; the transmission wire cross-extends from the small pulley to the large pulley and the pre-tightening unit in sequence.

[0011] In one embodiment, the pre-tightening unit corresponding to the driven shaft adjacent to the driving shaft comprises a pre-tightening pulley, the pre-tightening pulley is rotatably installed on the region of the large pulley away from the shaft center, and is locked to the large pulley by a locking screw.

[0012] In one embodiment, the number of transmission shafts is at least three, the plurality of transmission shafts are arranged at intervals, all the transmission units have the same structure, all the pre-tightening units have the same structure, and the winding directions of the transmission wires on the adjacent two large pulleys are opposite.

[0013] In one embodiment, the transmission wire comprises two independent first traction wires, one end of each of the two first traction wires is fixed on the small pulley at intervals, and after winding around the small pulley for a certain number of turns in opposite directions, the other end of each of the two first traction wires is fixed on the large pulley and the pre-tightening pulley, respectively.

[0014] In one of the embodiments, the pre-tightening unit corresponding to the driven shaft adjacent to the driving shaft comprises at least one pre-tightening assembly, the pre-tightening assembly comprises a guide wheel and an adjusting seat, the adjusting seat is movably circumscribed on the big arm, the guide wheel is rotatably installed on the adjusting seat and located between the big pulley and the small pulley.

[0015] In one of the embodiments, the pre-tightening assembly further comprises an adjusting screw, a waist-shaped hole corresponding to the adjusting screw is formed on the adjusting seat, and the adjusting screw is locked with the big arm.

[0016] In one of the embodiments, the number of the pre-tightening assemblies is two, the transmission wire between the driving shaft and the driven shaft comprises two second traction wires, the second traction wires correspond to the guide wheels, one end of each of the second traction wires is fixed on the small pulley, after winding around the small pulley for a certain number of turns in the axial direction of the small pulley, the second traction wires are sequentially wound around the guide wheels and the big pulley, and the other end of each of the second traction wires is fixed on the big pulley.

[0017] In one of the embodiments, the number of the transmission shafts is three, the driven shaft away from the driving shaft comprises a lower shaft and an upper shaft with a stepped structure, a through hole is formed in the axial direction of the lower shaft, the small end of the upper shaft penetrates through the through hole and exposes the end of the lower shaft away from the upper shaft, and the pre-tightening unit is adjustably arranged opposite to the small end of the upper shaft, and the transmission wire is wound around the driven shaft close to the driving shaft, the upper shaft and the lower shaft.

[0018] In one of the embodiments, the pre-tightening unit corresponding to the driven shaft away from the driving shaft comprises a locking seat and at least one fastening bolt, the locking seat is clamped with the lower shaft and is sleeved on the small end of the upper shaft to expose the end of the lower shaft and is locked with the fastening bolt.

[0019] In one of the embodiments, the transmission wire comprises two first traction wires independent of each other, one end of each of the first traction wires is fixed on the small pulley at intervals, and after winding around the small pulley for a certain number of turns in the opposite directions, the first traction wires are extended and wound around the big pulley, and the other end of each of the first traction wires is fixed on the big pulley and the pre-tightening wheel, respectively.

[0020] In one of the embodiments, the transmission wire comprises one second traction wire, after winding around the small pulley for a certain number of turns in the axial direction of the small pulley, the two ends of the second traction wire crossingly extended are wound around the big pulley and the pre-tightening unit.

[0021] In addition, the application also provides a master control hand, which comprises a plurality of joints, and the joint comprises a transmission system for a surgical robot master control hand according to any one of the above technical solutions.

[0022] In the above master control hand, the surgical robot master control hand transmission system is assembled by adjusting the position of the pre-tightening unit relative to the driven shaft to adjust the tension of the transmission wire, so that the pre-tightening force is adjustable, the overall structure is compact, the volume is small, and the stability is good; when the driving shaft rotates clockwise, the transmission wire rotates with it to drive the adjacent driven shaft to rotate counterclockwise; correspondingly, when the driving shaft rotates counterclockwise, the transmission wire rotates with it to drive the adjacent driven shaft to rotate clockwise; thus, the transmission shaft can be reversed by the transmission wire wound on the transmission shaft and the pre-tightening unit, and high speed reduction ratio can be obtained through the transmission of multiple groups of transmission units, and the driving performance of the forward and reverse rotation is good. Therefore, the master control hand with the surgical robot master control hand transmission system has the advantages of compact structure, small volume, good stability, good driving performance of forward and reverse rotation, and balanced driving force of the master control hand by the driving force of the driving shaft, so that the doctor feels light when using the master control hand, and the user experience is good. Operation is convenient.

[0023] In one embodiment, the plurality of joints include a first joint, a second joint, and a third joint connected in sequence, and the first joint, the second joint, and the third joint each comprise the surgical robot master control hand transmission system according to the above technical solution.

[0024] In one embodiment, the plurality of joints further include a fourth joint connected to the third joint and the second joint, and the fourth joint comprises the surgical robot master control hand transmission system according to the above another technical solution.

[0025] In one embodiment, the master control hand further includes a housing, a large arm, and at least one balancing module, the balancing module includes an upper hook, a transition hook, a lower hook, and an elastic member, wherein:

[0026] The upper hook is arranged on the outside of the housing;

[0027] The lower hook is arranged in a spaced manner between the upper hook and the lower hook, and is fixed to the large arm, the rotation axis of the lower hook is dislocated and parallel to the rotation axis of the joint extension shaft passing through the large arm;

[0028] The two ends of the elastic member are respectively connected to the transition hook and the lower hook;

[0029] The transition hook is sleeved on the upper hook.

[0030] In one of the embodiments, the plurality of joints further comprises a fifth joint connected to the fourth joint, and the number of the balancing modules is three, and the three balancing modules are arranged correspondingly to the second joint, the third joint and the fifth joint. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 Structure schematic diagram of a transmission system of a surgical robot master control hand according to an embodiment of the present application;

[0032] Figure 2 Structure schematic diagram of a first-stage transmission of a transmission system of a surgical robot master control hand according to another embodiment of the present application;

[0033] Figure 3 Structure schematic diagram of a second-stage transmission of a transmission system of a surgical robot master control hand according to another embodiment of the present application;

[0034] Figure 4 Structure schematic diagram of a master control hand according to an embodiment of the present application;

[0035] Figure 5 Structure schematic diagram of a master control hand according to another embodiment of the present application; Figure 4 Structure schematic diagram of a master control hand according to another embodiment of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0037] 01, master control hand;

[0038] 10, transmission system of a surgical robot master control hand;

[0039] 100, rotating shaft unit; 110, transmission shaft; 120, driving shaft; 121, driving motor; 130, driven shaft; 131, upper shaft; 132, lower shaft;

[0040] 200, pre-tightening unit; 211, pre-tightening wheel; 212, locking screw; 220, pre-tightening assembly; 221, guide wheel; 222, adjusting seat; 2221, waist-shaped hole; 223, adjusting screw; 231, locking seat; 232, fastening bolt;

[0041] 300, transmission unit; 310, transmission wire; 311, first traction wire; 312, second traction wire; 320, small wire wheel; 330, large wire wheel;

[0042] 20, large arm;

[0043] 30, housing;

[0044] 40, balancing module; 41, upper hook; 42, transition hook; 43, lower hook; 44, elastic member. DETAILED DESCRIPTION

[0045] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described below in detail with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in many different manners without the specific details, and it is to be understood that the present application is not limited to the specific embodiments described below and that the specific embodiments are given for the purposes of exemplification only.

[0046] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0047] In addition, the terms "first", "second", "third" and the like 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 with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0048] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0050] It is to be understood that when an element as a preamble is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected to the other element or intervening elements can also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions as used herein are used for explanation only and are not intended to be limiting.

[0051] The technical solutions provided by the embodiments of the present application are described below with reference to the drawings.

[0052] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , the present application provides a surgical robot master control hand transmission system 10 applied to a master control hand 01, for realizing transmission control of the master control hand 01. The surgical robot master control hand transmission system 10 comprises a rotating shaft unit 100, a plurality of pre-tightening units 200 and a plurality of groups of transmission units 300, wherein:

[0053] The rotating shaft unit 100 comprises a plurality of transmission shafts 110, the plurality of transmission shafts 110 are arranged in sequence and at intervals, and the transmission shaft 110 at the first end among the plurality of transmission shafts 110 is a driving shaft 120, and the remaining transmission shafts 110 among the plurality of transmission shafts 110 are driven shafts 130; in specific arrangement, the number of transmission shafts 110 can be two, three, four or more than four, and the driving shaft 120 can be a rotating shaft in transmission connection with a driving motor 121, or the driving shaft 120 can be an output shaft of the driving motor 121.

[0054] The pre-tightening unit 200 is arranged in one-to-one correspondence with the driven shaft 130, and the pre-tightening unit 200 is adjustable relative to the driven shaft 130; in specific arrangement, one driven shaft 130 corresponds to one pre-tightening unit 200, and the number of pre-tightening units 200 is comparable to the number of driven shafts 130.

[0055] The transmission unit 300 in each group corresponds to two adjacent transmission shafts 110, and the transmission unit 300 comprises a transmission wire 310 which is cross-wound on the two adjacent transmission shafts 110 and the pre-tightening unit 200. In a specific arrangement, the two adjacent transmission shafts 110 correspond to one transmission unit 300, and the two ends of the transmission wire 310 which extend out after being wound on the transmission shaft 110 are cross-wound on the other transmission shaft 110 and the pre-tightening unit 200 in an up-and-down staggered manner along the axial direction of the transmission shaft 110. Alternatively, the two ends of the transmission wire 310 which extend out after being wound on the transmission shaft 110 are cross-wound on the other transmission shaft 110 in an up-and-down staggered manner along the axial direction of the transmission shaft 110. The tension of the transmission wire 310 in the same group is the same to ensure the reliability of the transmission; and in the working process, the transmission wires 310 in the same group do not contact each other to ensure the smooth transmission.

[0056] In the above surgical robot master control hand transmission system 10, the position of the pre-tightening unit 200 relative to the driven shaft 130 is adjusted during assembly to adjust the tension of the transmission wire 310, so that the pre-tightening force is adjustable, the overall structure is compact, the volume is small, and the stability is good; when the driving shaft 120 rotates clockwise, the transmission wire 310 rotates with it to drive the adjacent driven shaft 130 to rotate counterclockwise, correspondingly, when the driving shaft 120 rotates counterclockwise, the transmission wire 310 rotates with it to drive the adjacent driven shaft 130 to rotate clockwise, so that the transmission shaft 110 can be reversed by the transmission wire 310 which is cross-wound on the transmission shaft 110 and the pre-tightening unit 200, and a high reduction ratio can also be obtained through the transmission of multiple groups of transmission units 300, and the driving of the forward and reverse rotation is provided by the driving shaft 120, so that the reverse driving force is small, and the driving performance of the forward and reverse rotation is good.

[0057] The transmission unit 300 has various structural forms, and one preferred embodiment is as follows: Figure 1 and Figure 2As shown, the transmission unit 300 between the driving shaft 120 and the adjacent driven shaft 130 also comprises a small pulley 320 and a large pulley 330, both of which are located on the same side of the rotating shaft unit 100; the small pulley 320 and the large pulley 330 are correspondingly installed on the adjacent two transmission shafts 110, and the large pulley 330 is away from the driving shaft 120; the transmission wire 310 extending from the small pulley 320 is sequentially wound around the large pulley 330 and the pre-tightening unit 200 at both ends. In specific settings, the connection between the small pulley 320 and the transmission shaft 110 and the connection between the large pulley 330 and the transmission shaft 110 can be the same, such as being connected as a whole through key connection, threaded connection, buckle connection, etc., or they can be different, such as key connection between the small pulley 320 and the transmission shaft 110 and threaded connection between the large pulley 330 and the transmission shaft 110.

[0058] In the above surgical robot master control hand transmission system 10, by setting small pulleys 320 and large pulleys 330 of different sizes, and limiting the small pulley 320 to be installed on the driving shaft 120 or the transmission shaft 110 close to the driving shaft 120, and the large pulley 330 to be installed on the transmission shaft 110 away from the driving shaft 120, a relatively simple structure can achieve a higher reduction ratio. In specific settings, the transmission wire 310 extends from the small pulley 320 after winding a certain number of turns on the small pulley 320; the small pulley 320 and the large pulley 330 are both provided with spiral grooves, and the transmission wire 310 is wound in the spiral grooves to avoid disorder of the transmission wire 310, thereby ensuring smooth movement of the transmission wire 310 and stability and reliability of the transmission process.

[0059] The pre-tightening unit 200 has various structural forms, one preferred embodiment is as follows Figure 1 As shown, the pre-tightening unit 200 corresponding to the driven shaft 130 adjacent to the driving shaft 120 comprises a pre-tightening wheel 211, which is installed on the region of the large pulley 330 away from the shaft center, and the pre-tightening wheel 211 can rotate relative to the large pulley 330, and the pre-tightening wheel 211 is locked to the large pulley 330 by a locking screw 212. In specific settings, the pre-tightening wheel 211 can be installed on the large pulley 330 through a bearing, a pin shaft or other structural forms, and in order to ensure the smoothness of the movement of the transmission wire 310, the edge position of the large pulley 330 is provided with an opening, and the pre-tightening wheel 211 is installed in the opening; the connection between the pre-tightening wheel 211 and the large pulley 330 can be the locking screw 212, or other structural forms that can meet the requirements, such as a screw.

[0060] In the aforementioned surgical robot main control hand transmission system 10, when tension adjustment is required, first loosen the locking screw 212, rotate the pretension wheel 211 to adjust the length of the transmission wire 310 on the pretension wheel 211, and after adjusting to a suitable pretension force, tighten the locking screw 212 to complete the entire pretensioning function. In specific settings, the pretensioning unit 200 can be configured as the aforementioned pretension wheel 211, or other structural forms that meet the requirements.

[0061] To ensure the stability of the transmission process, specifically, such as Figure 1 In the first embodiment shown, the number of drive shafts 110 can be at least three, with multiple drive shafts 110 arranged at intervals. All drive units 300 have the same structure, all preload units 200 have the same structure, and the winding directions of the drive wires 310 on adjacent large lead wheels 330 are opposite. In a specific arrangement, multiple drive shafts 110 are arranged along a certain direction, and adjacent drive shafts 110 are spaced a certain distance apart to facilitate the arrangement of drive units 300 and preload units 200. The number of drive shafts 110 can be three, with the drive unit 300 driven in two stages: drive shaft 120-driven shaft 130 and driven shaft 130-driven shaft 130. The number of drive shafts 110 can be four, with the drive unit 300 driven in three stages: drive shaft 120-driven shaft 130, driven shaft 130-driven shaft 130 and driven shaft 130-driven shaft 130. The arrangement of more than four drive shafts 110 is similar.

[0062] In the aforementioned surgical robot main control hand transmission system 10, by limiting the number of transmission shafts 110, multi-stage transmission can be achieved, thereby obtaining a higher reduction ratio. Furthermore, by limiting all transmission units 300 and pre-tensioning units 200 to have the same structure, and by ensuring that the winding direction of the transmission wires 310 on adjacent large threaded wheels 330 is opposite, the smooth movement of the transmission wires 310 can be guaranteed through a simple structure and setting, thereby ensuring the stability and reliability of the transmission process.

[0063] The transmission wire 310 has various structural forms, one preferred embodiment is as follows: Figure 1 As shown, the transmission wire 310 includes two first traction wires 311. These two first traction wires 311 are independent of each other. One end of each first traction wire 311 is fixed at a distance on the small wire wheel 320. After the two first traction wires 311 have been wound around the small wire wheel 320 in opposite directions for a set number of turns, they extend out and are wound around the large wire wheel 330. The other ends of the two first traction wires 311 are respectively fixed on the large wire wheel 330 and the preload wheel 211.

[0064] In the above-mentioned surgical robot master control hand transmission system 10, the structure of the transmission wire 310 is defined as two relatively independent first traction wires 311, and the installation mode of the first traction wire 311 on the large pulley 330 and the small pulley 320 is defined, so that the two ends of the transmission wire 310 extending out of the small pulley 320 are wound around the large pulley 330 and the pre-tightening unit 200 in a simple and convenient manner. Of course, the structure of the transmission wire 310 is not limited to this, and can also be other forms that meet the requirements.

[0065] The structure of the pre-tightening unit 200 has various forms, and a preferred embodiment is as shown in Figure 2 The pre-tightening unit 200 corresponding to the driven shaft 130 adjacent to the driving shaft 120 includes at least one pre-tightening assembly 220, the pre-tightening assembly 220 includes a guide wheel 221 and an adjusting seat 222, the adjusting seat 222 is circumscribed on the large arm 20, and the adjusting seat 222 is movable relative to the large arm 20, the guide wheel 221 is installed on the adjusting seat 222, and the guide wheel 221 is rotatable relative to the adjusting seat 222, and the guide wheel 221 is located between the large pulley 330 and the small pulley 320. In specific arrangement, the number of pre-tightening assemblies 220 can be one, two, three or more than three; the adjusting seat 222 is provided with a guide column, and the guide wheel 221 is installed on the guide column.

[0066] In the above-mentioned surgical robot master control hand transmission system 10, the small pulley 320, the guide wheel 221 and the large pulley 330 are arranged in sequence, so that the transmission distance is longer, thereby reducing the inertia, and the position of the guide wheel 221 is adjusted by adjusting the position of the adjusting seat 222, so as to realize the pre-tightening of the transmission wire 310. In specific arrangement, the driving motor 121 is arranged on top, and the structure of the pre-tightening unit 200 is not limited to the above-mentioned structure, and can also be other structures that meet the requirements.

[0067] In order to facilitate the movement of the adjusting seat 222, specifically, as shown in Figure 3 The pre-tightening assembly 220 further includes an adjusting screw 223, the adjusting seat 222 is provided with a waist-shaped hole 2221, the waist-shaped hole 2221 cooperates with the adjusting screw 223, and the adjusting seat 222 is locked with the large arm 20 through the adjusting screw 223.

[0068] In the surgical robot master control hand transmission system 10, when the tension adjustment is needed, first loosen the adjusting screw 223, move the adjusting seat 222, and then move the guide wheel 221 to adjust the distance between the guide wheel 221 and the transmission shaft 110, so as to adjust the tension of the transmission wire 310. After adjusting to the appropriate pre-tightening force, then tighten the adjusting screw 223 to complete the entire pre-tightening function. In the specific setting, the structure of the pre-tightening assembly 220 can be the above-mentioned adjusting screw 223, or other structures that can meet the requirements.

[0069] The structure of the transmission wire 310 has many forms, one preferred embodiment is as shown in Figure 2 and Figure 3 The transmission wire 310 includes two second traction wires 312, one second traction wire 312 corresponds to one guide wheel 221. One end of each second traction wire 312 is fixed on the small pulley 320, and then the second traction wire 312 is wound around the guide wheel 221 and the large pulley 330 in the axial direction of the small pulley 320. The other end of the second traction wire 312 is fixed on the large pulley 330, and the two second traction wires 312 are crossed.

[0070] In the surgical robot master control hand transmission system 10, by limiting the structure of the transmission wire 310 to one second traction wire 312, and limiting the installation method of the second traction wire 312 on the large pulley 330, the guide wheel 221 and the small pulley 320, the installation of the transmission wire 310 is simple and convenient. Of course, the structure of the transmission wire 310 is not limited to this, but also can be other forms that can meet the requirements.

[0071] In order to reduce the inertia, specifically, as shown in Figure 2 and Figure 3 The number of transmission shafts 110 can be three, the driven shaft 130 away from the driving shaft 120 includes a lower shaft 132 and a stepped upper shaft 131. The lower shaft 132 is provided with a through hole along its axial direction, and the small end of the upper shaft 131 penetrates the through hole and exposes the end of the lower shaft 132 away from the upper shaft 131. The small end of the upper shaft 131 is adjustably arranged relative to the pre-tightening unit 200, and the transmission wire 310 is wound around the driven shaft 130, the upper shaft 131 and the lower shaft 132 close to the driving shaft 120. In the specific setting, the driven shaft 130 close to the driving shaft 120 rotates, driving the transmission wire 310 to rotate with the upper shaft 131 and the lower shaft 132.

[0072] In the surgical robot master control hand transmission system 10, the driving shaft 120 and the driven shaft 130 are driven and pre-tightened through the small pulley 320, the large pulley 330, the pre-tightening assembly 220 and the transmission wire 310, the driven shaft 130 and another driven shaft 130 are driven and pre-tightened through the transmission wire 310, so as to realize two-stage transmission, and thus a higher reduction ratio can be obtained; and the structure of the driven shaft 130 away from the driving shaft 120 is limited, so that the transmission distance is long through simple structure and setting mode, and thus the inertia can be reduced.

[0073] The pre-tightening unit 200 has various structural forms, and more specifically, as shown in Figure 3 The pre-tightening unit 200 corresponding to the driven shaft 130 away from the driving shaft 120 comprises a locking seat 231 and at least one fastening bolt 232, the locking seat 231 is clamped with the lower shaft 132, the locking seat 231 is sleeved on the end of the small end of the upper shaft 131 exposed to the lower shaft 132, and the locking seat 231 is locked to the end of the small end of the upper shaft 131 exposed to the lower shaft 132 through the fastening bolt 232; specifically, the locking seat 231 is a locking cap with an opening in the side wall, the inner wall of the locking cap is sleeved on the end of the small end of the upper shaft 131 exposed to the lower shaft 132, and when the fastening bolt 232 locks the opening, the locking seat 231 and the upper shaft 131 can be fixed together. In specific setting, the number of fastening bolts 232 can be one, two or more than two; the structural form of the pre-tightening unit 200 is not limited to the above structure, and can also be other structures that can meet the requirements.

[0074] In the surgical robot master control hand transmission system 10, when tension adjustment is needed, the fastening bolt 232 is first loosened, the locking seat 231 is rotated, and the lower shaft 132 and the transmission wire 310 are moved to realize the tension adjustment of the transmission wire 310, and after the pre-tightening force is adjusted to be appropriate, the fastening bolt 232 is tightened to complete the entire pre-tightening function.

[0075] In addition, as shown in Figure 4 and Figure 5 The application also provides a master control hand 01, which comprises a plurality of joints, the joints comprise the surgical robot master control hand transmission system 10 according to any one of the above technical solutions, the surgical robot master control hand transmission system 10 corresponds to the joints, and the joints are driven through the surgical robot master control hand transmission system 10. In specific setting, the master control hand 01 also comprises other structural members, such as a large arm 20, an opening and closing joint and the like.

[0076] In the above-mentioned master control hand 01, since the surgical robot master control hand transmission system 10 is assembled by adjusting the position of the pre-tightening unit 200 relative to the driven shaft 130, the tension of the transmission wire 310 can be adjusted, the pre-tightening force is adjustable, the overall structure is compact, the volume is small, and the stability is good; when the driving shaft 120 rotates clockwise, the transmission wire 310 rotates with it to drive the adjacent driven shaft 130 to rotate counterclockwise, correspondingly, when the driving shaft 120 rotates counterclockwise, the transmission wire 310 rotates with it to drive the adjacent driven shaft 130 to rotate clockwise, so that the transmission shaft 110 can be reversed by the transmission wire 310 wound on the transmission shaft 110 and the pre-tightening unit 200, and a high speed reduction ratio can be obtained through the transmission of multiple transmission units 300, and the driving of the forward and reverse rotation is provided by the driving shaft 120, so that the reverse driving force is small, and the driving performance of the forward and reverse rotation is good. Therefore, the master control hand 01 with the surgical robot master control hand transmission system 10 has the advantages of compact structure, small volume, good stability, good driving performance of forward and reverse rotation, and balanced driving force of the master control hand 01 by the driving force of the driving shaft 120, so that the doctor feels light when using the master control hand 01, the user experience is good, and the operation is convenient.

[0077] The driving structure of the joint has various forms. In a preferred embodiment, the plurality of joints includes a first joint, a second joint, and a third joint, the first joint, the second joint, and the third joint are connected in sequence, and the first joint, the second joint, and the third joint respectively comprise a surgical robot master control hand transmission system 10, such as Figure 1 The surgical robot master control hand transmission system 10 has the structure shown in Embodiment I, the number of transmission shafts 110 can be at least three, the plurality of transmission shafts 110 are arranged at intervals, all the transmission units 300 have the same structure, all the pre-tightening units 200 have the same structure, the winding directions of the transmission wires 310 on the adjacent two large wire wheels 330 are opposite, the transmission unit 300 further comprises a small wire wheel 320 and a large wire wheel 330, and the pre-tightening unit 200 comprises a pre-tightening wheel 211, so that a relatively simple structure can obtain a high forward and reverse speed reduction ratio, and the stability and reliability of the movement process can be ensured.

[0078] The driving structure of the joint has various forms. Specifically, the plurality of joints further comprises a fourth joint connected with the second joint and the third joint, and the fourth joint comprises a surgical robot master control hand transmission system 10, such as Figure 2 and Figure 3In the second embodiment shown, the structure of the master control hand transmission system 10 can have three transmission shafts 110, and the transmission units 300 corresponding to the driving shaft 120 and the driven shaft 130 further include a small pulley 320 and a large pulley 330, and the pre-tightening unit 200 includes at least one pre-tightening assembly 220; the transmission units 300 between the other two driven shafts 130 only include the transmission wire 310, and the driven shaft 130 away from the driving shaft 120 includes a lower shaft 132 and an upper shaft 131, and the pre-tightening unit 200 includes a locking seat 231 and at least one fastening bolt 232, so that a higher forward / reverse speed reduction ratio can be obtained through a relatively simple structure, the transmission distance is long, and the inertia is reduced.

[0079] In order to improve the balancing effect, a preferred embodiment is as follows: Figure 4 and Figure 5 As shown, the master control hand 01 further includes a housing 30, a large arm 20, and at least one balancing module 40, and the number of the balancing module 40 is one, two, three, or more. The balancing module 40 includes an upper hook 41, a transition hook 42, a lower hook 43, and an elastic member 44, wherein:

[0080] The upper hook 41 is arranged on the outside of the housing 30, and in a specific arrangement, the upper hook 41 is fixed to the outside of the housing 30 by thread connection, buckle connection, or the like.

[0081] The lower hook 43 is arranged in a spaced manner between the upper hook 41, and the lower hook 43 is fixed to the large arm 20 by thread connection, buckle connection, or the like. The length between the lower hook 43 and the upper hook 41 needs to consider the length and the stretching amount of the elastic member 44. In addition, the rotation axis of the lower hook 43 is dislocated with the rotation axis of the joint extension shaft passing through the large arm 20, and the rotation axis of the lower hook 43 is parallel to the rotation axis of the joint extension shaft passing through the large arm 20.

[0082] The two ends of the elastic member 44 are respectively connected to the transition hook 42 and the lower hook 43 by hanging buckle or the like. In a specific arrangement, the elastic member 44 can be a spring, and can also be other structures that can meet the requirements.

[0083] The transition hook 42 is sleeved on the upper hook 41. In a specific arrangement, the transition hook 42 and the upper hook 41 can be a split structure, which are sleeved together after being prepared and formed, or the transition hook 42 and the upper hook 41 can be an integral structure, which are prepared by casting or injection molding process.

[0084] In the main control hand 01, when the joint rotates, the forearm 20 moves, the lower hook 43 moves with the forearm 20, the elastic member 44 and the transition hook 42 move with the upper hook 41 as the rotation axis, the elastic member 44 deforms, so that the transition hook 42 and the elastic member 44 change with the change of the joint rotation angle, the tension generated by the elongation of the elastic member 44 can compensate the gravity balance, so as to realize the gravity balance, and can reduce the overall moment of inertia and weight.

[0085] In order to further improve the matching effect, a preferred embodiment, the plurality of joints further comprises a fifth joint connected with the fourth joint, the number of matching modules 40 is three, three matching modules 40 are arranged corresponding to the second joint, the third joint and the fifth joint.

[0086] In the main control hand 01, by arranging the matching module 40 corresponding to the second joint, the third joint and the fifth joint to further compensate the gravity balance, so as to realize the gravity balance, and can reduce the overall moment of inertia and weight.

[0087] The technical features of the above embodiments can be combined arbitrarily, in order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of these technical features does not exist contradictory, should be considered as the scope of the present application.

[0088] The above embodiments only express several embodiments of the present application, the description is more specific and detailed, but it can not be understood as the limitation of the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, can make a number of deformation and improvement, these belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A surgical robotic master control hand transmission system, characterized by, The utility model relates to a kind of transmission mechanism of rotating shaft, including: Rotating shaft unit, including multiple transmission shafts, multiple the transmission shafts are sequentially spaced arrangement, and the transmission shaft located in first end is driving shaft, the rest transmission shaft is driven shaft; Multiple pre-tightening units, the pre-tightening unit is adjustably set one by one with the driven shaft; Multiple transmission units, a transmission unit is corresponding with adjacent two transmission shafts one by one, the transmission unit includes transmission wire, the transmission wire is crossed and is arranged adjacent two transmission shafts and the pre-tightening unit, the tension of the transmission wire in the same group is same;During operation, the transmission wire in the same group does not contact each other; The transmission unit between the driving shaft and the adjacent driven shaft further includes small pulley and large pulley;The small pulley and the large pulley are correspondingly installed on the adjacent two transmission shafts, and the large pulley is away from the driving shaft, and the transmission wire crossed from the small pulley is sequentially arranged on the large pulley and the pre-tightening unit;The small pulley and the large pulley are located on the same side of the rotating shaft unit; The pre-tightening unit corresponding to the adjacent driven shaft of the driving shaft includes pre-tightening wheel, the pre-tightening wheel is rotatably installed on the region of the large pulley and is eccentric to the shaft center, and is locked on the large pulley by locking screw;Or, the pre-tightening unit corresponding to the adjacent driven shaft of the driving shaft includes at least one pre-tightening assembly, the pre-tightening assembly includes guide wheel and adjusting seat, the adjusting seat is movably circumscribed on the large arm of main control hand, the guide wheel is rotatably installed on the adjusting seat, and is located between the large pulley and the small pulley.

2. The surgical robotic master control hand transmission system of claim 1, wherein, The number of transmission shafts is at least three, multiple transmission shafts are spaced arrangement, all the transmission unit structure is same, all the pre-tightening unit structure is same, and the winding direction of the transmission wire on the adjacent two large pulleys is opposite.

3. The surgical robotic master control hand transmission system of claim 2, wherein, The transmission wire includes two independent first traction wires, one end of the two first traction wires is fixed on the small pulley, and after winding the small pulley in opposite directions for a certain number of turns, it is wound around the large pulley, and the other end of the two first traction wires is fixed on the large pulley and the pre-tightening wheel respectively.

4. The surgical robotic master control hand transmission system of claim 1, wherein, The pre-tightening assembly further includes adjusting screw, the adjusting seat is provided with a waist-shaped hole matched with the adjusting screw, and the adjusting screw is locked with the large arm.

5. The surgical robotic master control hand transmission system of claim 1, wherein, The number of pre-tightening assemblies is two, the transmission wire between the driving shaft and the driven shaft includes two second traction wires, the second traction wire corresponds to the guide wheel, one end of each second traction wire is fixed on the small pulley, and after winding the small pulley for a certain number of turns in the axial direction, it is sequentially wound around the guide wheel and the large pulley, and the other end is fixed on the large pulley.

6. The surgical robotic master control hand transmission system of claim 1, wherein, The number of the transmission shafts is three, the driven shafts away from the driving shafts include a lower shaft and an upper shaft with a stepped structure, the lower shaft is provided with a through hole along its axial direction, the small end of the upper shaft penetrates through the through hole and exposes one end of the lower shaft away from the upper shaft, and is adjustably arranged opposite to the pre-tightening unit, and the transmission wire is arranged on the driven shafts close to the driving shafts, the upper shaft and the lower shaft.

7. The surgical robotic master control hand transmission system of claim 6, wherein, The pre-tightening unit corresponding to the driven shaft away from the driving shaft includes a locking seat and at least one fastening bolt, the locking seat is clamped with the lower shaft, and is sleeved on the small end of the upper shaft exposing the end of the lower shaft and is locked by the fastening bolt.

8. A master control hand, characterized by The plurality of joints comprise the surgical robot master control hand transmission system according to any one of claims 1-7.

9. The master control handle of claim 8, wherein, The plurality of joints comprise a first joint, a second joint and a third joint connected in sequence, and the first joint, the second joint and the third joint comprise the surgical robot master control hand transmission system according to claim 2.

10. The master control handle of claim 9, wherein, The plurality of joints further comprise a fourth joint connected with the third joint and the second joint, and the fourth joint comprises the surgical robot master control hand transmission system according to claim 6.

11. The master control handle of claim 10, wherein, Further comprising a housing, a large arm and at least one trim module, the trim module comprises an upper hook, a transition hook, a lower hook and an elastic member, wherein: The upper hook is arranged on the outside of the housing; The lower hook is arranged in a spaced manner with the upper hook and is fixed to the large arm, the rotation axis of the lower hook is dislocated and parallel with the rotation axis of the joint extension shaft penetrating through the large arm; Two ends of the elastic member are connected with the transition hook and the lower hook respectively; The transition hook is sleeved on the upper hook.

12. The master control handle of claim 11, wherein, The plurality of joints further comprise a fifth joint connected with the fourth joint, the number of the trim modules is three, and the three trim modules are arranged corresponding to the second joint, the third joint and the fifth joint.

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