Holding device and surgical robot

Abstract

The invention relates to the technical field of medical apparatus and instruments, and particularly discloses a holding device and a surgical robotic.The holding device comprises a mounting assembly, an elastic transmission assembly and a driving transmission assembly; the mounting assembly comprises a supporting frame, a fixing frame and a mounting sleeve, and the supporting frame is detachably connected to the mechanical arm; the fixing frame is arranged on the supporting frame, and the mounting sleeve is rotationally arranged between the supporting frame and the fixing frame; the laparoscope can penetrate through the fixing frame, the mounting sleeve and the supporting frame and is detachably connected to the mounting sleeve. A central gear is arranged outside the mounting sleeve; the elastic transmission assembly is arranged on the supporting frame. The driving end of the elastic transmission assembly is elastically connected with a torsion gear; the driving transmission assembly is arranged on the supporting frame. The driving end of the driving transmission assembly is connected with a driving gear. The workpiece holding device can eliminate a transmission gap and improve the transmission precision, so that the stability of a transmission system is improved, shaking or loosening of the laparoscope is avoided, and potential safety hazards caused by gear clamping are prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a holding device and a surgical robot. Background Art

[0002] Laparoscopic surgery refers to surgery performed using modern high-tech medical technology. It is performed in a closed abdominal cavity through a laparoscope, under the monitoring and guidance of a high-tech display screen, and the surgical instruments are operated outside the abdomen to complete the exploration, electrocoagulation, hemostasis, separation, incision, suturing and other operations of the diseased tissue. It is performed through a small incision into the human body, which reduces the patient's recovery time and surgical risks. In laparoscopic surgery, the use of surgical robots can further improve the accuracy and flexibility of the operation.

[0003] In the prior art, the surgical robot clamps the laparoscope through a clamping device and drives the rotating center wheel through two driving gears to drive the laparoscope to rotate. However, due to wear and deformation of the gears during processing or use, processing errors in the center distance, etc., the gears will have transmission clearance problems, which will lead to poor stability of the transmission system and cause the laparoscope to shake or loosen. In severe cases, the gears will get stuck, causing safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a holding device and a surgical robot to solve the problem of transmission clearance of gears in the prior art, which leads to poor stability of the transmission system and causes shaking or loosening of the laparoscope. In severe cases, the gears may become stuck, causing safety hazards.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides a holding device that can be arranged on a mechanical arm of a surgical robot for mounting a laparoscope, the holding device comprising:

[0007] The mounting assembly comprises a support frame, a fixing frame and a mounting sleeve, wherein the support frame is detachably connected to the mechanical arm; the fixing frame is arranged on the support frame, and the mounting sleeve is rotatably arranged between the support frame and the fixing frame; the laparoscope can pass through the fixing frame, the mounting sleeve and the support frame, and is detachably connected to the mounting sleeve; a central gear is arranged outside the mounting sleeve;

[0008] An elastic transmission assembly, the elastic transmission assembly is arranged on the support frame; a driving end of the elastic transmission assembly is elastically connected to a torsion gear, and the torsion gear is meshingly connected to the central gear;

[0009] An active transmission component is arranged on the support frame; a driving end of the active transmission component is connected with a driving gear, and the driving gear is meshingly connected to the central gear.

[0010] As an optional scheme for the above-mentioned holding device, the elastic transmission assembly includes a support seat, a torsion seat, a torsion elastic member and a first rotating shaft, the support seat is arranged on the support frame, the torsion seat is rotatably arranged on the support seat, and the torsion gear is rotatably arranged on the torsion seat; the torsion elastic member is arranged in the torsion seat, one end of the torsion elastic member is fixedly connected to the torsion seat, and the other end of the torsion elastic member is fixedly connected to the torsion gear; one end of the first rotating shaft is transmission-connected to the mechanical arm, and the other end of the first rotating shaft passes through the support frame, the support seat, the torsion seat, the torsion elastic member and the torsion gear in sequence, and the first rotating shaft is fixedly connected to the torsion seat.

[0011] As an optional scheme of the above-mentioned holding device, the torsion seat is provided with an installation groove and a first clamping groove connected to the installation groove, the torsion gear is provided with a second clamping groove, the torsion elastic member is arranged in the installation groove, one end of the torsion elastic member is clamped in the first clamping groove, and the other end of the torsion elastic member is clamped in the second clamping groove.

[0012] As an optional solution of the above-mentioned holding device, the elastic transmission assembly also includes a first bearing and a second bearing, the first bearing is sleeved between the first rotating shaft and the support seat, and the second bearing is sleeved between the first rotating shaft and the torsion gear.

[0013] As an optional solution of the above-mentioned holding device, the active transmission assembly includes a second rotating shaft and a third bearing, one end of the second rotating shaft is transmission-connected to the robotic arm, the other end of the second rotating shaft passes through the support frame and is fixedly connected to the driving gear, and the third bearing is sleeved between the second rotating shaft and the support frame.

[0014] As an optional solution of the above-mentioned holding device, a connecting hole is provided on the support frame, and an elastic hook is provided on the mechanical arm, and the elastic hook can pass through the connecting hole and be connected to the support frame.

[0015] As an optional solution of the above-mentioned holding device, the holding device also includes an unlocking component, which includes an unlocking rod and an elastic member, and the unlocking rod is arranged on the support frame; the unlocking rod can move toward the side close to the elastic hook to make the elastic hook detach from the support frame; the two ends of the elastic member are respectively abutted against the unlocking rod and the fixed frame, and are used to drive the unlocking rod to move toward the side away from the elastic hook.

[0016] As an optional solution of the above-mentioned holding device, the holding device also includes a protective shell, which is detachably connected to the supporting frame and covers the outside of the fixing frame.

[0017] As an optional solution of the above-mentioned holding device, a handle is provided on the protective shell.

[0018] On the other hand, the present invention provides a surgical robot, comprising the holding device as described above, the surgical robot further comprising a robotic arm and a laparoscope, the holding device being arranged on the robotic arm, and the laparoscope being arranged on the holding device.

[0019] The beneficial effects of the present invention are:

[0020] The holding device includes a mounting assembly, an elastic transmission assembly and an active transmission assembly. The mounting assembly includes a support frame, a fixed frame and a mounting sleeve, and the support frame is detachably connected to the mechanical arm, so as to realize the installation or removal of the holding device on the surgical robot. The fixed frame is arranged on the support frame, and the mounting sleeve is rotatably arranged between the support frame and the fixed frame. The laparoscope can pass through the fixed frame, the mounting sleeve and the support frame, and is detachably connected to the mounting sleeve, so that the laparoscope can be installed on the holding device and can rotate. Among them, a central gear is arranged outside the mounting sleeve, the elastic transmission assembly is arranged on the support frame, and the driving end of the elastic transmission assembly is elastically connected to the torsion gear, and the torsion gear is meshed and connected to the central gear. At the same time, the active transmission assembly is arranged on the support frame, and the driving end of the active transmission assembly is connected to the driving gear, and the driving gear is meshed and connected to the central gear, so that the torsion gear and the driving gear can jointly drive the central gear to realize the rotation of the laparoscope, and jointly bear the torque to reduce wear. The holding device is elastically connected between the elastic transmission component and the torsion gear, so that elastic torque can be stored between the two. Therefore, when the holding device is in use, if there is a transmission gap problem between the torsion gear and the center gear and / or between the driving gear and the center gear due to wear and deformation, processing errors in the center distance, etc., the elastic torque stored between the elastic transmission component and the torsion gear can be buffered and compensated, thereby eliminating the transmission gap, improving the transmission accuracy, and further improving the stability of the transmission system, avoiding shaking or loosening of the laparoscope, and preventing safety hazards caused by gear jamming. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of a holder device provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the first part of the structure of the holder device provided in an embodiment of the present invention;

[0023] Figure 3A schematic diagram of the second part of the structure of the holder device provided in an embodiment of the present invention;

[0024] Figure 4 An exploded view of the elastic transmission assembly provided in an embodiment of the present invention.

[0025] In the figure:

[0026] 1. Mounting assembly; 11. Support frame; 111. Connecting hole; 12. Fixing frame; 13. Mounting sleeve; 131. Center gear; 2. Elastic transmission assembly; 21. Support seat; 22. Torsion seat; 221. Mounting slot; 222. First card slot; 23. Torsion elastic member; 24. First rotating shaft; 3. Torsion gear; 31. Second card slot; 4. Active transmission assembly; 41. Second rotating shaft; 5. Active gear; 6. Unlocking assembly; 61. Unlocking lever; 7. Protective shell; 71. Handle; 8. Laparoscope. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] like Figure 1 to Figure 4 As shown, this embodiment provides a holding device that can be set on the mechanical arm of a surgical robot and is used to install a laparoscope 8.

[0032] The holding device includes a mounting assembly 1, an elastic transmission assembly 2 and an active transmission assembly 4. The mounting assembly 1 includes a support frame 11, a fixing frame 12 and a mounting sleeve 13. The support frame 11 is detachably connected to the robot arm, so as to realize the installation or removal of the holding device on the surgical robot. The fixing frame 12 is arranged on the support frame 11, and the mounting sleeve 13 is rotatably arranged between the support frame 11 and the fixing frame 12. The laparoscope 8 can pass through the fixing frame 12, the mounting sleeve 13 and the support frame 11, and can be detachably connected to the mounting sleeve 13, so that the laparoscope 8 can be installed on the holding device and can be rotated.

[0033] Among them, a center gear 131 is arranged outside the mounting sleeve 13, the elastic transmission component 2 is arranged on the support frame 11, and the driving end of the elastic transmission component 2 is elastically connected with the torsion gear 3, which is meshed and connected to the center gear 131. At the same time, the active transmission component 4 is arranged on the support frame 11, and the driving end of the active transmission component 4 is connected with the driving gear 5, which is meshed and connected to the center gear 131, so that the torsion gear 3 and the driving gear 5 can jointly drive the center gear 131 to realize the rotation of the laparoscope 8, and jointly bear the torque to reduce wear.

[0034] The holding device is elastically connected between the elastic transmission component 2 and the torsion gear 3, so that the elastic torque can be stored between the two. Therefore, when the holding device is in use, if there is a transmission gap problem between the torsion gear 3 and the center gear 131 and / or between the driving gear 5 and the center gear 131 due to wear deformation, processing error of the center distance, etc., the elastic torque stored between the elastic transmission component 2 and the torsion gear 3 can be buffered and compensated, thereby eliminating the transmission gap, improving the transmission accuracy, and further improving the stability of the transmission system, avoiding the laparoscope 8 from shaking or loosening, and preventing the safety hazard caused by the gears being stuck. Optionally, the rotation directions of the torsion gear 3 and the driving gear 5 can also be opposite, so as to adjust the positions of the torsion gear 3, the center gear 131 and the driving gear 5, so as to facilitate the subsequent elimination of the transmission gap.

[0035] like Figure 3 and Figure 4 As shown, the elastic transmission assembly 2 includes a support seat 21, a torsion seat 22, a torsion elastic member 23 and a first rotating shaft 24, the support seat 21 is arranged on the support frame 11, the torsion seat 22 is rotatably arranged on the support seat 21, and the torsion gear 3 is rotatably arranged on the torsion seat 22, so that the torsion seat 22 can rotate relative to the support seat 21, and the torsion gear 3 can rotate relative to the torsion seat 22, wherein the torsion elastic member 23 is arranged in the torsion seat 22, one end of the torsion elastic member 23 is fixedly connected to the torsion seat 22, and the other end of the torsion elastic member 23 is fixedly connected to the torsion gear 3, so that when the torsion seat 22 rotates, the torsion can be driven The torsion elastic member 23 rotates, and after storing a certain elastic torque, the torsion elastic member 23 can drive the torsion gear 3 and the torsion seat 22 to rotate synchronously. At the same time, one end of the first shaft 24 is connected to the mechanical arm through transmission, and the other end of the first shaft 24 passes through the support frame 11, the support seat 21, the torsion seat 22, the torsion elastic member 23 and the torsion gear 3 in sequence, and the first shaft 24 is fixedly connected to the torsion seat 22, so that the mechanical arm can drive the first shaft 24 to rotate through the motor, so that the first shaft 24 drives the torsion seat 22 to rotate, and finally realizes the rotation of the torsion gear 3, and stores a certain elastic torque in the process. Specifically, the cross section of part of the first shaft 24 is a cut circle shape, and the torsion seat 22 has a through hole matching the first shaft 24, so that the first shaft 24 can drive the torsion seat 22 to rotate after passing through the torsion seat 22.

[0036] The torsion seat 22 is provided with a mounting groove 221 and a first clamping groove 222 connected to the mounting groove 221, the torsion gear 3 is provided with a second clamping groove 31, the torsion elastic member 23 is provided in the mounting groove 221, one end of the torsion elastic member 23 is clamped in the first clamping groove 222, and the other end of the torsion elastic member 23 is clamped in the second clamping groove 31, so that the torsion elastic member 23 can be limited by the mounting groove 221 to prevent the torsion elastic member 23 from being disengaged, and the two free ends of the torsion elastic member 23 are limited by the first clamping groove 222 and the second clamping groove 31, so that the torsion seat 22 drives the torsion gear 3 to rotate. At the same time, the elastic transmission component 2 also includes a first bearing and a second bearing, the first bearing is sleeved between the first rotating shaft 24 and the support seat 21, and the second bearing is sleeved between the first rotating shaft 24 and the torsion gear 3, so that the stability of the first rotating shaft 24 during the rotation process can be improved by the arrangement of the first bearing and the second bearing, and the gear is prevented from being stuck due to displacement.

[0037] Furthermore, the active transmission assembly 4 includes a second rotating shaft 41 and a third bearing, one end of the second rotating shaft 41 is transmission-connected to the robotic arm, and the other end of the second rotating shaft 41 passes through the support frame 11 and is fixedly connected to the active gear 5, so that the robotic arm can drive the second rotating shaft 41 to rotate through another motor, so that the second rotating shaft 41 directly drives the active gear 5 to rotate, wherein the third bearing sleeve is arranged between the second rotating shaft 41 and the support frame 11, thereby improving the stability of the second rotating shaft 41 during rotation and avoiding misalignment and gear jamming.

[0038] like Figure 1 and Figure 2 As shown, a connection hole 111 is provided on the support frame 11, and an elastic hook is provided on the mechanical arm. The elastic hook can pass through the connection hole 111 and be connected to the support frame 11, so that the holding device can be quickly installed on the mechanical arm. At the same time, the holding device also includes an unlocking component 6, which includes an unlocking rod 61 and an elastic member. The unlocking rod 61 is provided on the support frame 11, and the unlocking rod 61 can move toward the side close to the elastic hook to make the elastic hook detach from the support frame 11. The two ends of the elastic member are respectively abutted against the unlocking rod 61 and the fixing frame 12, which are used to drive the unlocking rod 61 to move toward the side away from the elastic hook, so that by pressing the unlocking rod 61, the unlocking rod 61 can be moved to contact the elastic hook, so that the elastic hook is deformed and detached from the support frame 11, thereby realizing the rapid disassembly between the holding device and the mechanical arm, and after the force applied to the unlocking rod 61 is removed, the unlocking rod 61 can return to its original position under the drive of the elastic member, so as to facilitate the subsequent installation between the holding device and the mechanical arm.

[0039] Furthermore, the holding device further includes a protective shell 7, which is detachably connected to the support frame 11 and covers the outside of the fixing frame 12. The fixing frame 12 and the components between the fixing frame 12 and the support frame 11 can be protected by the protective shell 7, thereby extending the service life of the holding device. Optionally, a handle 71 is provided on the protective shell 7, and the holding device can be handheld by the handle 71, thereby facilitating the movement of the laparoscope 8.

[0040] The present embodiment also provides a surgical robot, comprising a holding device as described above, the surgical robot also comprising a robotic arm and a laparoscope 8, the holding device being arranged on the robotic arm, and the laparoscope 8 being arranged on the holding device, the surgical robot can conveniently drag the holding device to move the laparoscope 8 and realize the rotation of the laparoscope 8 by using the holding device as described above, and solve the transmission gap problem caused by wear and deformation, processing error of center distance, etc., wherein the elastic torque stored between the elastic transmission component 2 and the torsion gear 3 can be buffered and compensated, thereby eliminating the transmission gap, improving the transmission accuracy, and further improving the stability of the transmission system, avoiding shaking or loosening of the laparoscope 8, and preventing safety hazards caused by gear jamming.

[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A holding device, which can be arranged on a mechanical arm of a surgical robot and is used for mounting a laparoscope (8), characterized in that: The holding device comprises: A mounting assembly (1), the mounting assembly (1) comprising a support frame (11), a fixing frame (12) and a mounting sleeve (13), the support frame (11) being detachably connected to the mechanical arm; the fixing frame (12) being arranged on the support frame (11), the mounting sleeve (13) being rotatably arranged between the support frame (11) and the fixing frame (12); the laparoscope (8) being able to pass through the fixing frame (12), the mounting sleeve (13) and the support frame (11), and being detachably connected to the mounting sleeve (13); a central gear (131) being arranged outside the mounting sleeve (13); An elastic transmission component (2), the elastic transmission component (2) being arranged on the support frame (11); a driving end of the elastic transmission component (2) being elastically connected to a torsion gear (3), and the torsion gear (3) being meshingly connected to the central gear (131); An active transmission component (4), the active transmission component (4) being arranged on the support frame (11); a driving end of the active transmission component (4) being connected to a driving gear (5), the driving gear (5) being meshingly connected to the central gear (131).

2. The holder device according to claim 1, characterized in that: The elastic transmission component (2) comprises a support seat (21), a twisting seat (22), a twisting elastic member (23) and a first rotating shaft (24); the support seat (21) is arranged on the support frame (11); the twisting seat (22) is rotatably arranged on the support seat (21); and the twisting gear (3) is rotatably arranged on the twisting seat (22); the twisting elastic member (23) is arranged in the twisting seat (22); one end of the twisting elastic member (23) is fixedly connected to the twisting seat (22); and the other end of the twisting elastic member (23) is fixedly connected to the twisting gear (3); one end of the first rotating shaft (24) is transmission-connected to the mechanical arm; the other end of the first rotating shaft (24) passes through the support frame (11), the support seat (21), the twisting seat (22), the twisting elastic member (23) and the twisting gear (3) in sequence; and the first rotating shaft (24) is fixedly connected to the twisting seat (22).

3. The holder device according to claim 2, characterized in that: The torsion seat (22) is provided with a mounting groove (221) and a first clamping groove (222) connected to the mounting groove (221); the torsion gear (3) is provided with a second clamping groove (31); the torsion elastic member (23) is arranged in the mounting groove (221); one end of the torsion elastic member (23) is clamped in the first clamping groove (222); and the other end of the torsion elastic member (23) is clamped in the second clamping groove (31).

4. The holder device according to claim 2, characterized in that: The elastic transmission assembly (2) further comprises a first bearing and a second bearing, wherein the first bearing is sleeved between the first rotating shaft (24) and the support seat (21), and the second bearing is sleeved between the first rotating shaft (24) and the torsion gear (3).

5. The holder device according to claim 1, characterized in that: The active transmission assembly (4) comprises a second rotating shaft (41) and a third bearing, one end of the second rotating shaft (41) is drivingly connected to the mechanical arm, the other end of the second rotating shaft (41) passes through the support frame (11) and is fixedly connected to the active gear (5), and the third bearing is sleeved between the second rotating shaft (41) and the support frame (11).

6. The holder device according to claim 1, characterized in that: The support frame (11) is provided with a connection hole (111), and the mechanical arm is provided with an elastic hook, and the elastic hook can pass through the connection hole (111) and be connected to the support frame (11).

7. The holder device according to claim 6, characterized in that: The holding device also includes an unlocking component (6), which includes an unlocking rod (61) and an elastic member, wherein the unlocking rod (61) is arranged on the support frame (11); the unlocking rod (61) can move toward a side close to the elastic hook so that the elastic hook is separated from the support frame (11); the two ends of the elastic member are respectively abutted against the unlocking rod (61) and the fixing frame (12), so as to drive the unlocking rod (61) to move toward a side away from the elastic hook.

8. The holder device according to claim 1, characterized in that: The holding device further comprises a protective shell (7), wherein the protective shell (7) is detachably connected to the support frame (11) and is covered outside the fixing frame (12).

9. The holder device according to claim 8, characterized in that: The protective shell (7) is provided with a handle (71).

10. A surgical robot, characterized in that: The surgical robot comprises a holding device as claimed in any one of claims 1 to 9, wherein the holding device is arranged on the robotic arm and the laparoscope (8) is arranged on the holding device.

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