Power driving structure and laparoscopic robot end executing mechanism

Abstract

The invention relates to a power driving structure and a laparoscope robot end executing mechanism, the power driving structure comprises a shell and a flexible adjusting structure, the shell is in a rectangular box shape with an open front end, and a plurality of motors are arranged in the shell; the motor is mounted on the fixed plate; the fixed plate is mounted at the front end of the shell; the output shaft extends out of the shell; the flexible adjusting structure is mounted on the output shaft and can rotate along with the output shaft; meanwhile, the flexible adjusting structure can abut against a driving wheel of a surgical instrument of the laparoscopic robot, and the clamping groove in the flexible adjusting structure and the protruding block on the driving wheel are connected in place through relative rotation of the flexible adjusting structure and the driving wheel. The end executing mechanism of the laparoscopic robot comprises a supporting frame, a trocar connecting base, a trocar and the power driving structure, the driving structure and the surgical instrument can be rapidly and accurately connected, the operation efficiency is improved, and the surgical instrument can be prevented from being damaged.

Description

Technical Field

[0001] The present invention relates to an electromechanical structure, in particular to a power drive structure and a surgical robot using the structure, specifically to a power drive structure and a laparoscopic robot end actuator. Background Art

[0002] Most of the end effectors of laparoscopic robots are equipped with a power drive structure that can match the drive wheel on the surgical instrument. Then, the drive wheel is driven to rotate through the drive structure, so that the surgical instrument completes the relevant actions.

[0003] At present, the conventional power drive structure includes a driving motor, and a disc-shaped connecting block is provided on the output shaft of the driving motor. The connecting block is provided with two or more slots. The number and position of the slots correspond to the protrusions on the driving wheel of the surgical instrument, so that when the connecting block is connected to the driving wheel, the protrusions can be inserted into the slots, so that the connecting block can drive the driving wheel to rotate.

[0004] However, since the volume of the slot and the protrusion is very small, and when installing the surgical instrument, the slot and the protrusion are often not corresponding, it is necessary to laboriously splice the slot and the protrusion, which not only affects the efficiency of installing the surgical instrument, but also easily causes structural damage, affecting the application and promotion of surgical robots.

[0005] Therefore, it needs to be improved to better meet the market demand. Summary of the invention

[0006] The purpose of the present invention is to address the deficiencies of the prior art and to provide a power drive structure and a laparoscopic robot end effector mechanism. By providing a flexible adjustment structure, the drive structure can be quickly and accurately connected to the surgical instrument, thereby improving operating efficiency and avoiding damage to the surgical instrument, thereby providing favorable conditions for the application and promotion of surgical robots.

[0007] The technical solution of the present invention is: A power drive structure includes a shell and a flexible adjustment structure, wherein the shell is in the shape of a rectangular box with an open front end, and a plurality of motors are arranged inside the shell; the motor is mounted on a fixed plate; the fixed plate is mounted on the front end of the shell; the output shaft extends out of the shell; and also includes a flexible adjustment structure, which is mounted on the output shaft and can rotate with the output shaft; at the same time, the flexible adjustment structure can press against the driving wheel of the surgical instrument of the laparoscopic robot, and by rotating relative to the driving wheel, the slot on the flexible adjustment structure is connected to the protrusion on the driving wheel in place.

[0008] Furthermore, the elastic adjustment structure includes a driving sleeve, an adjusting spring and a spring seat; the driving sleeve is in the shape of a stepped frustum, hollow and bottomless; the adjusting spring is in a straight line, placed inside the driving sleeve, and movably sleeved on the end of the output shaft; the spring seat is in a cylindrical shape, with a polygonal outer circumference, and fixedly sleeved on the output shaft of the motor; the rear end of the adjusting spring abuts against the spring seat, and the front end of the adjusting spring is placed outside the end of the output shaft and abuts against the top surface of the driving sleeve; the inner hole of the driving sleeve is in the shape of a stepped hole, and has a step shape that is adapted to the spring seat, so that it can be snugly sleeved on the spring seat, rotate with the spring seat, and move axially along the spring seat; the slot is in the shape of a groove, and is arranged on the step surface in the middle of the driving sleeve.

[0009] Furthermore, the spring seat is in the shape of a hexagonal sleeve, which is sleeved on the output shaft of the motor and fixed by screws.

[0010] Furthermore, there are four motors which are evenly distributed.

[0011] Furthermore, there are two clamping slots, which are symmetrically arranged along the radial direction of the driving sleeve.

[0012] Furthermore, it also includes a limit plate, which is provided with a plurality of through holes; the number and position of the through holes correspond to the motor, and the aperture thereof is smaller than the bottom diameter of the drive sleeve; the limit plate is installed at the front end of the outer shell, so that the movable sleeve is connected to the drive sleeve, and the limit plate is pressed against the step at the bottom edge of the drive sleeve; at the same time, the front end of the inner hole of the drive sleeve is separated from the front end of the output shaft.

[0013] Furthermore, it also includes an in-position detection circuit, which is arranged in a protection box and electrically connected to the controller of the robot; the protection box is installed at the front end of the shell and is adapted to the surgical instrument; when the drive sleeve is connected to the drive wheel in position, the in-position detection circuit can sense and trigger an in-position signal.

[0014] A laparoscopic robot end effector mechanism comprises a support frame, a poking card connecting seat and a poking card, and the above-mentioned power drive structure; the support frame is in the shape of an elongated strip, on which a guide rail and a screw rod assembly are arranged, the front end of which is connected to the poking card connecting seat, and the rear end of which is provided with a drive motor; the guide rail is linear and arranged along the length direction of the support frame; the screw rod assembly comprises a linear screw rod and a nut screwed thereto; the length of the screw rod is adapted to the length of the guide rail and they are parallel to each other; the tail end of the screw rod is connected to the drive motor; a slider is provided on the guide rail; the slider is connected to the nut; the power drive structure is mounted on the slider; the poking card is detachably mounted on the poking card connecting seat.

[0015] Furthermore, the driving motor is a frameless torque motor and is connected to the screw rod via a bearing locking shaft.

[0016] Beneficial effects of the present invention: The present invention has a reasonable design, a simple structure and is easy to use. By setting a flexible adjustment structure, when the surgical instrument is installed, the relative movement between the flexible adjustment structure and the driving wheel on the surgical instrument can be used to complete the quick and accurate connection between the driving structure and the surgical instrument. This not only improves the operating efficiency, but also avoids damage to the surgical instrument, thereby providing favorable conditions for the application and promotion of surgical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the power drive structure of the present invention (a drive sleeve and a side plate of the housing are removed).

[0018] Figure 2 It is a bottom view of the drive sleeve.

[0019] Figure 3 yes Figure 2 Middle AA section view.

[0020] Figure 4 It is a schematic diagram of the end effector of the laparoscopic robot of the present invention.

[0021] Among them, 1-housing; 2-motor; 3-card slot; 4-limiting plate; 5-driving sleeve; 6-spring seat; 7-adjusting spring; 8-protection box; 9-poking card; 10-power driving structure; 11-surgical instrument; 12-poking card connecting seat; 13-support frame; 14-driving motor. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] like Figures 1 to 3 shown.

[0024] The present invention provides a power drive structure, which comprises a housing 1, a flexible adjustment structure, an in-position detection circuit and the like.

[0025] The housing 1 is a rectangular box with an open front end, and four motors 2 are arranged inside. The motors 2 are mounted on a fixed plate and are evenly distributed. The fixed plate is mounted on the front end of the housing 1 so that the output shafts of the motors 2 extend out of the housing 1.

[0026] The flexible adjustment structure includes a driving sleeve 5 , an adjustment spring 7 , a spring seat 6 and a limiting plate 4 .

[0027] The driving sleeve 5 is in the shape of a stepped truncated cone, made of a metal sheet, and is hollow and bottomless. At the same time, a groove-shaped clamping groove 3 is provided on the stepped surface in the middle of the driving sleeve 5. There are two clamping grooves 3, which are symmetrically arranged along the radial direction of the driving sleeve. Moreover, the shape and position of the clamping groove 3 correspond to the protrusion of the driving wheel on the surgical instrument, so that the two can be matched and docked with each other.

[0028] The spring seat 6 is cylindrical, and its outer circumference is hexagonal. It is sleeved on the output shaft of the motor and fixed by screws.

[0029] The adjusting spring 7 is in a straight line shape, placed inside the driving sleeve, and movably sleeved on the end of the output shaft, so that its rear end abuts against the spring seat 6, and its front end is placed outside the end of the output shaft and abuts against the top surface of the driving sleeve, so that the driving sleeve can press the adjusting spring to contract it, and then, the driving sleeve can move along the axial direction of the output shaft of the motor.

[0030] The interior of the driving sleeve 5 is in the shape of a stepped hole, and the shape of the first step on the bottom edge of the driving sleeve is adapted to the spring seat 6, so that it can be snugly sleeved on the spring seat 6 and rotate with the spring seat 6. Moreover, the driving sleeve 5 can also move axially along the spring seat 6 to meet the requirements of flexible adjustment.

[0031] The limit plate 4 is in the shape of a thin plate, and its size is adapted to the size of the front end of the housing 1 so that it can be installed at the front end of the housing. The limit plate 4 is provided with four through holes. The positions of the through holes correspond to the motor 2, and the apertures thereof are slightly smaller than the bottom diameter of the drive sleeve 5, so that the through holes can be movably sleeved on the drive sleeve, and the limit plate can be pressed against the step at the bottom of the drive sleeve to limit the drive sleeve. At the same time, the front end of the inner hole of the drive sleeve is separated from the front end of the output shaft so as to meet the requirement of the drive sleeve to move downward.

[0032] The in-position detection circuit is arranged in the protection box 8 and is electrically connected to the controller of the robot. The protection box 8 is installed at the front end of the housing 1 and is adapted to the surgical instrument. When the drive sleeve is connected to the drive wheel in position, the in-position detection circuit can sense and trigger an in-position signal. Preferably, the in-position detection circuit is a Hall circuit.

[0033] The present invention provides a laparoscopic robot end effector, such as Figure 4As shown, it includes a support frame 13, a poking card connecting seat 12 and a poking card 9, and a power drive structure 10 of the present invention. The support frame 13 is in the shape of an elongated strip, on which a guide rail and a screw rod assembly are arranged, a poking card connecting seat 12 is arranged at the front end thereof, and a driving motor 14 is arranged at the rear end thereof. The guide rail is linear, arranged along the length direction of the support frame, and a slider that can move along it is arranged thereon. The screw rod assembly includes a linear screw rod and a nut screwed thereto. The length of the screw rod is adapted to the length of the guide rail, and they are parallel to each other. The front end of the screw rod is connected to the support frame through a bearing, and the tail end thereof is connected to the driving motor, so that the screw rod can rotate under the drive of the driving motor. Preferably, the driving motor is a frameless torque motor, and is connected to the screw rod through a bearing locking shaft, so that the structure can be more compact.

[0034] The slider is connected to the nut so that the slider can move linearly along the guide rail as the screw rod rotates. A poke card 9 is installed on the poke card connection seat 13. The power drive structure 10 of the present invention is installed on the slider and can move along the guide rail with the slider.

[0035] During use, the operating rod of the surgical instrument is installed on the poking card 9, and the driving wheel of the surgical instrument 11 is docked with the driving sleeve. However, since the position of the protrusion on the driving wheel of the surgical instrument is random, the position of the protrusion may not correspond to the card slot. At this time, the protrusion abuts against the step surface of the driving sleeve, and compresses the adjustment spring to contract and move the driving sleeve toward the motor. Then, start the motor, so that the driving sleeve rotates with the output shaft of the motor, and the driving sleeve and the driving wheel of the surgical instrument move relative to each other, and then the protrusion on the driving wheel moves along the step surface of the driving sleeve until it falls into the card slot, so that the driving sleeve and the driving wheel are connected in place. Subsequently, the in-place detection circuit triggers an in-place signal to the robot control system, and the subsequent surgical procedure begins.

[0036] The present invention provides a flexible adjustment structure so that when the surgical instrument is installed, the drive structure can be quickly and accurately connected to the surgical instrument through the relative movement between the flexible adjustment structure and the drive wheel on the surgical instrument. This not only improves the operating efficiency, but also avoids damage to the surgical instrument, thereby providing favorable conditions for the application and promotion of surgical robots.

[0037] The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.

Claims

1. A power drive structure, comprising a housing and a flexible adjustment structure, Its characteristics are: The shell is in the shape of a rectangular box with an open front end, and a plurality of motors are arranged inside the shell; the motor is mounted on a fixed plate; the fixed plate is mounted on the front end of the shell; the output shaft extends out of the shell; and it also includes a flexible adjustment structure, which is mounted on the output shaft and can rotate with the output shaft; at the same time, the flexible adjustment structure can press against the driving wheel of the surgical instrument of the laparoscopic robot, and by rotating relative to it, the slot on the flexible adjustment structure is connected to the protrusion on the driving wheel in place.

2. The power drive structure according to claim 1, Its characteristics are: The elastic adjustment structure includes a driving sleeve, an adjustment spring and a spring seat; the driving sleeve is in the shape of a stepped truncated cone, hollow and bottomless; the adjustment spring is in the shape of a straight line, placed inside the driving sleeve, and movably sleeved on the end of the output shaft; the spring seat is in the shape of a cylinder, with a polygonal outer circumference, and fixedly sleeved on the output shaft of the motor; the rear end of the adjustment spring abuts against the spring seat, and the front end of the adjustment spring is placed outside the end of the output shaft and abuts against the top surface of the driving sleeve; the inner hole of the driving sleeve is in the shape of a stepped hole, and has a step shape that is adapted to the spring seat, so that it can be snugly sleeved on the spring seat, rotate with the spring seat, and can move axially along the spring seat; the slot is in the shape of a groove, and is arranged on the step surface in the middle of the driving sleeve.

3. The power drive structure according to claim 2, Its characteristics are: The spring seat is in the shape of a hexagonal sleeve, which is sleeved on the output shaft of the motor and fixed by screws.

4. The power drive structure according to claim 1, Its characteristics are: There are four motors, which are evenly distributed.

5. The power drive structure according to claim 2, Its characteristics are: There are two clamping grooves, which are symmetrically arranged along the radial direction of the driving sleeve.

6. The power drive structure according to claim 1, Its characteristics are: It also includes a limit plate, which is provided with a plurality of through holes; the number and positions of the through holes correspond to the motor, and the aperture is smaller than the bottom diameter of the drive sleeve; the limit plate is installed at the front end of the shell, so that the through holes are movably sleeved on the drive sleeve, and the limit plate is pressed against the step at the bottom of the drive sleeve; at the same time, the front end of the inner hole of the drive sleeve is separated from the front end of the output shaft.

7. The power drive structure according to claim 1, Its characteristics are: It also includes a position detection circuit, which is arranged in the protection box and is electrically connected to the controller of the robot; the protection box is installed at the front end of the shell and is adapted to the surgical instrument; When the driving sleeve is connected to the driving wheel in position, the position detection circuit can sense and trigger a position signal.

8. A laparoscopic robot end effector mechanism, comprising a support frame, a poking card connection seat and a poking card, Its characteristics are: It also includes the power drive structure described in claims 1-7; the support frame is in the shape of an elongated strip, on which a guide rail and a screw rod assembly are provided, the front end of which is connected to the poking card connecting seat, and the rear end of which is provided with a driving motor; the guide rail is linear and arranged along the length direction of the support frame; the screw rod assembly includes a linear screw rod and a nut screwed thereto; the length of the screw rod is adapted to the length of the guide rail and they are parallel to each other; the tail end of the screw rod is connected to the driving motor; a slider is provided on the guide rail; the slider is connected to the nut; the power drive structure is mounted on the slider; the poking card is detachably mounted on the poking card connecting seat.

9. The laparoscopic robot end effector according to claim 8, Its characteristics are: The driving motor is a frameless torque motor and is connected to the lead screw via a bearing locking shaft.

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