Surgical device

Abstract

This invention belongs to the field of medical device technology, and particularly relates to a surgical device. The surgical device includes a motor base, a fixing component, and a drive component. The motor base has a connection hole, and the robotic arm of the surgical robot is equipped with a hook that passes through the connection hole and hooks onto the motor base to fix the motor base to the robotic arm. The fixing component includes a fixing cylinder, which is rotatably mounted on the motor base. The laparoscope is fixed inside the fixing cylinder and can rotate with the fixing cylinder. The drive component is located on the motor base and is used to drive the rotation of the fixing cylinder. By connecting the hook to the motor base, the drive component drives the fixing cylinder to rotate, thereby causing the laparoscope to rotate, improving the reliability of robot-assisted laparoscopic surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more particularly to a surgical device. Background Technology

[0002] Laparoscopic surgery, as a minimally invasive surgical technique, allows procedures to be performed inside the body through small incisions, reducing patient recovery time and surgical risks. With the development of medical technology, robot-assisted surgery has become an important means of improving surgical precision and safety. In laparoscopic surgery, the use of surgical robots can further improve the accuracy and flexibility of the procedure.

[0003] However, existing surgical robot systems are typically designed for specific surgical instruments. For laparoscopy, they still rely on simple clamping methods such as deformation or friction to hold the laparoscope, which has low reliability, may loosen, and can significantly interfere with the surgeon's view, potentially endangering the patient. Furthermore, surgical robots cannot adjust the angle of the laparoscope, which is usually adjusted manually by the surgeon. However, manual adjustment of the laparoscope may cause unnecessary movement, and the adjusted angle is not precise. This lack of precision increases the difficulty and time of laparoscopic surgery. Summary of the Invention

[0004] The purpose of this invention is to provide a surgical device that solves the problems of low reliability in the prior art where the laparoscope is still simply clamped by deformation or friction fixation; and the possibility of unnecessary movement and inaccurate adjustment angle when manually adjusting the laparoscope. This invention improves the reliability of robot-assisted laparoscopic surgery.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Surgical apparatus, including:

[0007] The surgical robot comprises a motor base, a fixing component, and a drive component. The motor base has a connection hole, and the robotic arm of the surgical robot has a hook that passes through the connection hole and hooks onto the motor base to fix the motor base to the robotic arm. The fixing component includes a fixing cylinder that is rotatably mounted on the motor base. The laparoscope is fixed inside the fixing cylinder and can rotate with the fixing cylinder. The drive component is mounted on the motor base and is used to drive the fixing cylinder to rotate.

[0008] As an optional technical solution for the surgical device, the drive component includes a motor and a motor gear. The motor gear is mounted on the motor base and the motor can drive the motor gear to rotate. A toothed ring is sleeved on the fixed cylinder, and the motor gear can mesh with the toothed ring to drive the fixed cylinder to rotate.

[0009] As an optional technical solution for the surgical device, at least two motors and motor gears are provided.

[0010] As an optional technical solution for the surgical device, a first protruding block is provided on the inner side of the fixing cylinder, and a first threaded hole is provided on the first protruding block. A groove is provided on the laparoscope corresponding to the first protruding block, and a first through hole is provided in the groove. A first fixing screw is sequentially screwed into the first threaded hole and the first through hole to fix the laparoscope in the fixing cylinder.

[0011] As an optional technical solution for the surgical device, a second threaded hole is provided on the outer side of the fixation cylinder at a position coaxial with the first threaded hole, and a second through hole is provided on the laparoscope at a position coaxial with the first through hole. The second fixing screw is sequentially screwed into the second threaded hole and the second through hole to fix the laparoscope inside the fixation cylinder.

[0012] As an optional technical solution for the surgical device, the inner diameter of the fixing cylinder gradually decreases along the direction close to the motor base, and the diameter of the laparoscope gradually decreases along the direction close to the motor base.

[0013] As an optional technical solution for the surgical device, the motor base is provided with a first through hole, which is configured as a stepped hole with a diameter decreasing from the inside to the outside. The fixing cylinder can be inserted into the first through hole and abuts against the end face of the stepped hole. A ball bearing is provided between the fixing cylinder and the side wall of the first through hole so that the fixing cylinder is rotatably mounted on the motor base.

[0014] As an optional technical solution for the surgical device, a bearing mounting base and a bearing are sleeved on the end of the fixed cylinder away from the motor base. The bearing is fixed on the bearing mounting base and can reduce the rotational friction of the fixed cylinder.

[0015] As an optional technical solution for the surgical device, the surgical device further includes an unlocking component, which includes an elastic element and an unlocking rod. The unlocking rod can move in a direction close to the hook to compress the elastic element and disengage the hook from the motor base. The release of the elastic element can drive the unlocking rod to move in a direction away from the hook.

[0016] As an optional technical solution for the surgical device, the connecting hole, the hook, and the unlocking component are all provided in at least two sets.

[0017] The beneficial effects of this invention are:

[0018] This invention provides a surgical device, including a motor base, a fixing component, and a drive component. The motor base has a connection hole, and the robotic arm of the surgical robot is equipped with a hook that passes through the connection hole and hooks onto the motor base to fix the motor base to the robotic arm. The fixing component includes a fixing cylinder rotatably mounted on the motor base, and a laparoscope is fixed inside the fixing cylinder and can rotate with the fixing cylinder. The drive component is located on the motor base and is used to drive the fixing cylinder to rotate. By connecting the hook to the motor base, the drive component drives the fixing cylinder to rotate, thereby driving the laparoscope to rotate, improving the reliability of robot-assisted laparoscopic surgery. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0020] Figure 1 This is a partial structural diagram of the surgical device provided in an embodiment of the present invention. Figure 1 ;

[0021] Figure 2 This is a partial structural diagram of the surgical device provided in an embodiment of the present invention. Figure 2 ;

[0022] Figure 3 This is a partial structural diagram of the surgical device provided in an embodiment of the present invention. Figure 3 ;

[0023] Figure 4 This is a partial structural diagram of the surgical device provided in an embodiment of the present invention. Figure 4 ;

[0024] Figure 5 This is an isometric view of the surgical device provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the laparoscopy provided in the embodiment of the present invention. Figure 1 ;

[0026] Figure 7 This is a schematic diagram of the structure of the laparoscopy provided in the embodiment of the present invention. Figure 2 .

[0027] In the picture:

[0028] 100. Laparoscope; 101. Groove; 102. First through-hole; 103. Second through-hole;

[0029] 10. Motor base; 11. Connecting hole; 12. First through hole; 13. Ball bearing;

[0030] 20. Fixing assembly; 21. Fixing cylinder; 211. Gear ring; 212. First protrusion; 213. First threaded hole; 214. Second threaded hole; 22. Bearing mounting seat; 23. Bearing;

[0031] 30. Drive components; 31. Motor gears;

[0032] 40. Unlocking component; 41. Elastic element; 42. Unlocking lever; 421. First end; 422. Second end;

[0033] 50. Upper shell. Detailed Implementation

[0034] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0035] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0036] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0037] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0038] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​not using relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0039] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0040] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0041] Existing surgical robot systems are typically designed for specific surgical instruments. For laparoscopes, they still rely on simple clamping methods such as deformation or friction to hold the laparoscope, which has low reliability, may loosen, and can significantly interfere with the surgeon's view, potentially endangering the patient. Furthermore, surgical robots cannot adjust the angle of the laparoscope, which is usually adjusted manually by the surgeon. However, manual adjustment of the laparoscope may cause unnecessary movement, and the adjusted angle is not precise. This lack of precision increases the difficulty and time of laparoscopic surgery.

[0042] To address the aforementioned problems, this embodiment provides a surgical device, see reference. Figures 1-4The surgical robot includes a motor base 10, a fixing component 20, and a drive component 30. The motor base 10 has a connection hole 11. A hook is provided on the robotic arm of the surgical robot, passing through the connection hole 11 and hooking onto the motor base 10 to fix the motor base 10 to the robotic arm. The fixing component 20 includes a fixing cylinder 21, which is rotatably mounted on the motor base 10. The laparoscope 100 is fixed inside the fixing cylinder 21 and can rotate with the fixing cylinder 21. The drive component 30 is located on the motor base 10 and is used to drive the fixing cylinder 21 to rotate. Through the hook connection with the motor base 10, the drive component 30 drives the fixing cylinder 21 to rotate, thereby causing the laparoscope 100 to rotate, improving the reliability of robot-assisted laparoscopic surgery.

[0043] Furthermore, the drive assembly 30 includes a motor and a motor gear 31. The motor gear 31 is mounted on the motor base 10, and the motor can drive the motor gear 31 to rotate. A gear ring 211 is fitted on the fixed cylinder 21, and the motor gear 31 can mesh with the gear ring 211 to drive the fixed cylinder 21 to rotate. Specifically, at least two motors and motor gears 31 are provided. Both motor gears 31 are considered as driving gears, and the gear ring 211 is considered as driven gear. There is a gap between the gear transmission. When one motor (motor 1) is in the enabled state and remains in its original position, the other motor (motor 2) rotates clockwise with a current loop to a certain stall current, and then rotates counterclockwise to the same stall current. The difference in angle between the two rotations is recorded as the gear gap difference. Subsequently, motor 2 is used to drive the laparoscope 100 to rotate. Motor 1 and motor 2 rotate synchronously, but the gear gap difference is always subtracted from the angle. This ensures that there is no gap between the gear transmissions during the rotation of the gear ring 211 driven by the motor; the same applies to the rotation in the opposite direction.

[0044] Further, see Figure 6 and Figure 7 A first protruding block 212 is provided on the inner side of the fixing cylinder 21, and a first threaded hole 213 is provided on the first protruding block 212. A groove 101 is provided on the laparoscope 100 corresponding to the first protruding block 212, and a first through hole 102 is provided in the groove 101. A first fixing screw is screwed into the first threaded hole 213 and the first through hole 102 in sequence to fix the laparoscope 100 in the fixing cylinder 21. The laparoscope 100 is fixed in the fixing cylinder 21 by screws. The first protruding block 212 can increase the screw length on the fixing cylinder 21, thereby increasing the reliability and stability of the screwing. In addition, the contact surface between the first protruding block 212 and the groove 101 is larger, which can increase the friction.

[0045] Furthermore, a second threaded hole 214 is provided on the outer side of the fixing cylinder 21, coaxial with the first threaded hole 213. A second through hole 103 is provided on the laparoscope 100, coaxial with the first through hole 102. The second fixing screw is sequentially screwed into the second threaded hole 214 and the second through hole 103 to fix the laparoscope 100 inside the fixing cylinder 21. Screws are used to fix the laparoscope 100 on both sides to prevent the laparoscope 100 from shaking. Furthermore, a cylinder is provided on the fixing cylinder 21, and the second threaded hole 214 is located at the central axis of the cylinder to increase the screw length on the fixing cylinder 21, thereby increasing the reliability and stability of the screw connection.

[0046] Furthermore, to prevent the screw from breaking due to excessive force applied by the laparoscope 100 in the vertical direction, the inner diameter of the fixing cylinder 21 gradually decreases along the direction close to the motor base 10, and the diameter of the laparoscope 100 gradually decreases along the direction close to the motor base 10. The inclined peripheral wall of the laparoscope 100 abuts against the inclined peripheral wall of the fixing cylinder 21, and the fixing cylinder 21 bears part of the force of the laparoscope 100 in the vertical direction.

[0047] Furthermore, the motor base 10 is provided with a first through hole 12, which is a stepped hole with a diameter decreasing from the inside to the outside. The fixing cylinder 21 can be inserted into the first through hole 12 and abut against the end face of the stepped hole. A ball bearing 13 is provided between the fixing cylinder 21 and the side wall of the first through hole 12 to allow the fixing cylinder 21 to be rotatably mounted on the motor base 10. The ball bearing 13 reduces the rotational friction generated when the fixing cylinder 21 rotates on the motor base 10, making the adjustment of the laparoscope 100 angle more precise.

[0048] Furthermore, since the fixed cylinder 21 has a certain length, a bearing fixing seat 22 and a bearing 23 are fitted on the end of the fixed cylinder 21 away from the motor base 10. The bearing 23 is fixed on the bearing fixing seat 22, and the bearing 23 can reduce the rotational friction of the fixed cylinder 21.

[0049] Furthermore, the surgical device also includes an unlocking assembly 40, which includes an elastic element 41 and an unlocking rod 42. The unlocking rod 42 can move in a direction close to the hook to compress the elastic element 41 and disengage the hook from the motor base 10. The release of the elastic element 41 can drive the unlocking rod 42 to move in a direction away from the hook. Specifically, the unlocking rod 42 includes a body and a first end 421 and a second end 422 located at both ends of the body. The first end 421 and the second end 422 are set at an angle to the body. The elastic element 41 is perpendicular to the first end 421. One end of the elastic element 41 abuts against the first end 421, and the other end abuts against the bearing fixing seat 22. The unlocking rod 42 is located on the periphery of the bearing 23, so the rod body of the unlocking rod 42 is set as an arc-shaped rod to make way for the bearing 23. The second end 422 corresponds to the position of the hook. When the second end 422 moves in a direction close to the hook, it can squeeze the hook and deform the hook itself, thereby disengaging it from the motor base 10. Furthermore, at least two sets of connecting holes 11, hooks, and unlocking components 40 are arranged opposite each other. In this embodiment, the elastic element 41 is set as a spring.

[0050] Further, see Figure 5 The surgical device also includes an upper housing 50, which can be fastened to the motor base 10 to house the fixing component 20 and the drive component 30.

[0051] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. Surgical device, characterized in that The utility model relates to a laparoscope fixing device for surgical robot, which comprises an electric machine seat (10) provided with a connecting hole (11), a mechanical arm of a surgical robot provided with a draw hook, the draw hook is hooked to the electric machine seat (10) through the connecting hole (11) to fix the electric machine seat (10) to the mechanical arm, a fixing assembly (20) comprising a fixing cylinder (21) rotationally arranged on the electric machine seat (10), a laparoscope (100) fixed in the fixing cylinder (21) and rotatable with the fixing cylinder (21), and a driving assembly (30) arranged on the electric machine seat (10) for driving the fixing cylinder (21) to rotate. The driving assembly (30) comprises a motor and a motor gear (31) arranged on the electric machine seat (10), the motor can drive the motor gear (31) to rotate, the fixing cylinder (21) is sleeved with a gear ring (211), and the motor gear (31) can mesh with the gear ring (211) to drive the fixing cylinder (21) to rotate. The motor and the motor gear (31) are provided with at least two. The fixing cylinder (21) is provided with a first protruding block (212) on the inner side, the first protruding block (212) is provided with a first threaded hole (213), the laparoscope (100) is provided with a groove (101) corresponding to the first protruding block (212), the groove (101) is provided with a first through hole (102), and a first fixing screw is screwed with the first threaded hole (213) and the first through hole (102) in sequence to fix the laparoscope (100) in the fixing cylinder (21).

2. The surgical device of claim 1, wherein, The fixing cylinder (21) is provided with a second threaded hole (214) at a position coaxial with the first threaded hole (213) on the outer side, the laparoscope (100) is provided with a second through hole (103) at a position coaxial with the first through hole (102), and a second fixing screw is screwed with the second threaded hole (214) and the second through hole (103) in sequence to fix the laparoscope (100) in the fixing cylinder (21).

3. The surgical device of claim 2, wherein, The fixing cylinder (21) gradually reduces in inner diameter along the direction close to the electric machine seat (10), and the laparoscope (100) gradually reduces in diameter along the direction close to the electric machine seat (10).

4. The surgical device of claim 1, wherein, The electric machine seat (10) is provided with a first through hole (12) arranged as a stepped hole with a diameter decreasing from inside to outside, the fixing cylinder (21) can be placed into the first through hole (12) and abut against the end face of the step, and a ball bearing (13) is arranged between the fixing cylinder (21) and the side wall of the first through hole (12) to enable the fixing cylinder (21) to be rotationally arranged on the electric machine seat (10).

5. The surgical device of claim 4, wherein, The fixing cylinder (21) is sleeved with a bearing fixing seat (22) and a bearing (23) at the end away from the electric machine seat (10), and the bearing (23) is fixed on the bearing fixing seat (22).

6. The surgical device of any of claims 1-5, wherein, ​ 7. The surgical device of any of claims 1-5, wherein, ​ 8. The surgical device of any of claims 1-5, wherein, ​ 9. The surgical device of any of claims 1-5, wherein, The surgical device further comprises an unlocking assembly (40), the unlocking assembly (40) comprising an elastic member (41) and an unlocking rod (42), the unlocking rod (42) being movable in a direction close to the drag hook to compress the elastic member (41) and make the drag hook disengage from the motor base (10), the elastic member (41) releasing the unlocking rod (42) to move in a direction away from the drag hook.

10. The surgical device of claim 9, wherein, The connecting hole (11), the drag hook and the unlocking assembly (40) are all oppositely provided with at least two groups.

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