Interventional surgical robot end effector transmission mechanism

Abstract

The application discloses an intervention operation robot slave end transmission mechanism, which comprises a shell connected with an external operation machine, wherein the shell comprises a slave end bottom shell, a slave end side shell movably connected to the front of the slave end bottom shell, a slave end top shell fixedly connected to the inside of the slave end side shell, quick-release structures movably connected to the two sides of the top of the slave end bottom shell, and a transmission module fixedly connected to the back of the inner wall of the slave end bottom shell; the quick-release structure is connected to the two sides of the top of the slave end bottom shell and comprises a main body connecting plate and a compression spring movably connected to the front of the main body connecting plate. The quick-release structure can quickly disassemble and assemble the shell, separate the slave end bottom shell and the slave end side shell in the shell, and make the transmission module leak out, so that the user can conveniently maintain the transmission module, and the user does not need more than one person to disassemble and maintain the inside when necessary.

Description

Interventional surgical robot drive mechanism Technical Field

[0001] This invention relates to the field of surgical robot technology, specifically to a drive mechanism for an interventional surgical robot. Background Technology

[0002] A surgical robot is a robot that operates through a surgical system. A robotic surgical system is a comprehensive system integrating multiple modern high-tech methods, with wide applications and numerous clinical surgical uses. Surgeons can operate the machine remotely from the operating table, performing surgery in a way completely different from traditional surgical concepts. It is undoubtedly a revolutionary surgical tool in the field of minimally invasive surgery worldwide. Currently, the slave-end drive mechanism of surgical robots is bulky and inconvenient to disassemble and assemble, requiring multiple people to disassemble and perform internal repairs. Therefore, we propose an interventional slave-end drive mechanism for surgical robots. Summary of the Invention

[0003] The purpose of this invention is to provide a slave-end transmission mechanism for interventional surgical robots, in order to solve the problem mentioned in the background art that the current slave-end transmission mechanism of surgical robots is large in size, inconvenient to disassemble and assemble, and requires multiple people to disassemble when users need to perform internal maintenance, which is inconvenient for users to perform internal maintenance.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a drive mechanism for an interventional surgical robot, comprising:

[0005] The outer shell is interconnected with external surgical machines. The outer shell includes a bottom shell, a side shell movably connected to the front of the bottom shell, a top shell fixedly connected inside the side shell, quick-release structures movably connected to both sides of the top of the bottom shell, and a transmission module fixedly connected to the back of the inner wall of the bottom shell.

[0006] A quick-release structure is connected to both sides of the top of the bottom shell of the slave end. The quick-release structure includes a main connecting plate. A compression spring is movably connected to the front of the main connecting plate. A pin is movably connected to the top of the surface of the main connecting plate. A latch is movably connected to the surface of the pin. Connecting blocks are fixedly connected to both sides of the top of the top of the slave end shell.

[0007] The transmission module is connected to the back side of the inner wall of the bottom shell of the slave end, and the transmission module includes a fixed end, a support end is provided on the left side of the fixed end, a lead screw is movably connected to the inner side of the support end, a threaded sleeve is threaded to the surface of the lead screw, and a fixing plate is fixedly connected to the top of the fixed end.

[0008] Preferably, the outer casing further includes:

[0009] A U-shaped plate is fixedly connected to the top of the bottom shell at the end, and protective sleeves are fixedly connected to both the front and back of the U-shaped plate.

[0010] Preferably, the fixed end further includes:

[0011] The motor is fixedly connected to the right side of the fixed end, and the output end of the motor is fixedly connected to the lead screw.

[0012] Preferably, the connecting block further includes:

[0013] The L-shaped fixing blocks are arranged on both sides of the top of the connecting block. The bottom of the L-shaped fixing blocks is fixedly connected to the top of the connecting block, and the back of the L-shaped fixing blocks is fixedly connected to the back of the inner wall of the end bottom shell.

[0014] Preferably, the connecting block further includes:

[0015] A guide rail is provided on the top of the connecting block, and a slider is slidably connected to the bottom of the guide rail. The inside of the slider is fixedly connected to a screw sleeve.

[0016] Preferably, the support end further includes:

[0017] A crash block is provided on the right side of the support end. The interior of the crash block is movably connected to the surface of the lead screw, and the left side of the crash block is fixedly connected to the support end.

[0018] Preferably, the protective sleeve further includes:

[0019] Chamfers are provided on both sides of the surface of the protective sleeve. The protective sleeve is a rubber rod, and a bending plate is fixedly connected to both sides of the protective sleeve. The bottom of the bending plate is fixedly connected to the top of the end shell.

[0020] Preferably, the end shell further includes:

[0021] Electrical components are fixedly connected to the back of the inner wall of the bottom shell, and the electrical components are evenly distributed on the top of the transmission module.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] This quick-release structure allows for rapid disassembly and assembly of the outer casing, separating the bottom and side shells to expose the transmission module. This facilitates user maintenance of the transmission module, and requires fewer than one person to disassemble the casing when internal repairs are needed. Attached Figure Description

[0024] Figure 1 is a schematic diagram of the structure of the present invention;

[0025] Figure 2 is a front view of the transmission module of the present invention.

[0026] Figure 3 is a schematic diagram of the left-side structure of the quick-release structure in Figure 1 of the present invention.

[0027] In the diagram: 1. Outer shell; 101. Bottom shell from the left end; 102. Side shell from the left end; 103. Top shell from the left end; 2. Quick-release structure; 21. Main connecting plate; 22. Compression spring; 23. Pin; 24. Lock; 25. Connecting block; 3. Transmission module; 31. Fixed end; 32. Support end; 33. Lead screw; 34. Screw sleeve; 35. Fixing plate; 4. U-shaped plate; 5. Protective sleeve; 6. Motor; 7. L-shaped fixing block; 8. Guide rail; 9. Guide rail; 10. Anti-collision block. Detailed Implementation

[0028] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please refer to Figures 1-3. This invention provides a technical solution: a drive mechanism for an interventional surgical robot, comprising: a housing 1, interconnected with an external surgical machine; the housing 1 includes a bottom housing 101; a side housing 102 is movably connected to the front of the bottom housing 101; a top housing 103 is fixedly connected inside the side housing 102; quick-release structures 2 are movably connected to both sides of the top of the bottom housing 101; and a drive module 3 is fixedly connected to the back of the inner wall of the bottom housing 101; the quick-release structures 2 are connected to both sides of the top of the bottom housing 101, and include a main connecting plate. 21. A compression spring 22 is movably connected to the front of the main connecting plate 21. A pin 23 is movably connected to the top of the surface of the main connecting plate 21. A latch 24 is movably connected to the surface of the pin 23. Connecting blocks 25 are fixedly connected to both sides of the top of the end side shell 102. The transmission module 3 is connected to the back of the inner wall of the end bottom shell 101. The transmission module 3 includes a fixed end 31. A support end 32 is provided on the left side of the fixed end 31. A lead screw 33 is movably connected to the inner side of the support end 32. A threaded sleeve 34 is threaded to the surface of the lead screw 33. A fixed plate 35 is fixedly connected to the top of the fixed end 31.

[0030] Please refer to Figures 1-2. The transmission mechanism of the interventional surgical robot includes the outer shell 1, which also includes a U-shaped plate 4, which is fixedly connected to the top of the bottom shell 101. Protective sleeves 5 are fixedly connected to both the front and back of the U-shaped plate 4. The U-shaped plate 4 can increase the contact area between the bottom shell 101 and the hand, thereby facilitating the user to move the bottom shell 101. The fixed end 31 also includes a motor 6, which is fixedly connected to the right side of the fixed end 31. The output end of the motor 6 is fixedly connected to the lead screw 33. The output end of the motor 6 will drive the lead screw 33 to rotate. The connecting block 25 also includes an L-shaped fixing block 7, which is set on both sides of the top of the connecting block 25. The bottom of the L-shaped fixing block 7 is fixedly connected to the top of the connecting block 25. The back of the L-shaped fixing block 7 is fixedly connected to the back of the inner wall of the bottom shell 101. The L-shaped fixing block 7 can increase the connection area between the connecting block 25 and the bottom shell 101, preventing the bottom shell 101 from separating from the connecting block 25.

[0031] 9. The connecting block 25 also includes a guide rail 8, which is located on the top of the connecting block 25. A slider 9 is slidably connected to the bottom of the guide rail 8. The inside of the slider 9 is fixedly connected to the threaded sleeve 34. The guide rail 8 and the slider 9 can fix the threaded sleeve 34 to prevent it from rotating. The support end 32 also includes an anti-collision block 10, which is located on the right side of the support end 32. The inside of the anti-collision block 10 is movably connected to the surface of the lead screw 33. The left side of the anti-collision block 10 is fixedly connected to the support end 32. The anti-collision block 10 can protect the support end 32 to prevent it from colliding with the threaded sleeve 34. The protective sleeve 5 also includes: chamfers, which are set on both sides of the surface of the protective sleeve 5. The protective sleeve 5 is a rubber rod. Both sides of the protective sleeve 5 are fixedly connected to bending plates. The bottom of the bending plates is fixedly connected to the top of the bottom shell 101. The chamfers process the edges of the surface of the protective sleeve 5 to prevent the edges of the protective sleeve 5 from scratching the user's hands. The bottom shell 101 also includes: electrical components, which are fixedly connected to the back of the inner wall of the bottom shell 101. The electrical components are evenly distributed on the top of the transmission module 3. The electrical components can control the motor 6, so that the user can drive the output end of the motor 6 to rotate forward or reverse.

[0032] Working principle: For this type of surgical robot with a drive mechanism, the user first pulls the latch 24, which rotates around the pin 23, causing the latch 24 to separate from the connecting block 25. At the same time, the compression spring 22 is stretched, and then the end side shell 102 is separated from the main body connecting plate 21, exposing the transmission module 3. Then, the motor 6 is driven, which drives the lead screw 33 to move left and right. The lead screw 33 drives the screw sleeve 34 to move left and right, allowing the user to quickly check the transmission module 3. If the transmission module 3 malfunctions, it is convenient for the user to repair the transmission module 3.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drive mechanism for an interventional surgical robot, characterized in that, include: The outer casing (1) is interconnected with external surgical machines. The outer casing (1) includes a bottom shell (101) at the end of the machine. A side shell (102) at the end of the machine is movably connected to the front of the bottom shell (101). A top shell (103) at the end of the machine is fixedly connected to the inside of the side shell (102). A quick-release structure (2) is movably connected to both sides of the top of the bottom shell (101). A transmission module (3) is fixedly connected to the back of the inner wall of the bottom shell (101). The quick-release structure (2) is connected to both sides of the top of the bottom shell (101). The quick-release structure (2) includes a main connecting plate (21). A compression spring (22) is movably connected to the front of the main connecting plate (21). A pin (23) is movably connected to the top of the surface of the main connecting plate (21). A latch (24) is movably connected to the surface of the pin (23). A connecting block (25) is fixedly connected to both sides of the top of the side shell (102). The transmission module ( 3), connected to the back side of the inner wall of the slave end shell (101), and the transmission module (3) includes a fixed end (31), a support end (32) is provided on the left side of the fixed end (31), a lead screw (33) is movably connected to the inner side of the support end (32), a screw sleeve (34) is threadedly connected to the surface of the lead screw (33), and a fixed plate (35) is fixedly connected to the top of the fixed end (31); the connecting block (25) also includes: an L-shaped fixed block (7), which is provided on both sides of the top of the connecting block (25), the bottom of the L-shaped fixed block (7) is fixedly connected to the top of the connecting block (25), and the back side of the L-shaped fixed block (7) is fixedly connected to the back side of the inner wall of the slave end shell (101); the connecting block (25) also includes: a guide rail (8), which is opened on the top of the connecting block (25), a slider (9) is slidably connected to the bottom of the guide rail (8), and the inside of the slider (9) is fixedly connected to the screw sleeve (34).

2. The drive mechanism of the interventional surgical robot according to claim 1, characterized in that, The outer shell (1) also includes a U-shaped plate (4), which is fixedly connected to the top of the bottom shell (101) and a protective sleeve (5) is fixedly connected to both the front and back of the U-shaped plate (4).

3. The drive mechanism of the interventional surgical robot according to claim 2, characterized in that, The fixed end (31) also includes a motor (6), which is fixedly connected to the right side of the fixed end (31) and fixedly connected to the output end of the motor (6) and the lead screw (33).

4. The drive mechanism of the interventional surgical robot according to claim 1, characterized in that, The support end (32) further includes: a collision block (10), which is disposed on the right side of the support end (32), the interior of the collision block (10) is movably connected to the surface of the lead screw (33), and the left side of the collision block (10) is fixedly connected to the support end (32).

5. The drive mechanism of the interventional surgical robot according to claim 2, characterized in that, The protective sleeve (5) also includes: chamfers, which are provided on both sides of the surface of the protective sleeve (5), the protective sleeve (5) is a rubber rod, and both sides of the protective sleeve (5) are fixedly connected with bending plates, the bottom of the bending plates being fixedly connected to the top of the end shell (101).

6. The driven mechanism of the interventional surgical robot according to claim 1, characterized in that, The slave end bottom shell (101) also includes: electrical components, which are fixedly connected to the back side of the inner wall of the slave end bottom shell (101), and the electrical components are evenly distributed on the top of the transmission module (3).

Images