Holder device and surgical robot

Abstract

The application relates to the technical field of medical devices, and particularly discloses a holding piece device and a surgical robot, which comprises a mounting assembly, an elastic transmission assembly and a driving transmission assembly; the mounting assembly comprises a support frame, a fixing frame and a mounting sleeve, the support frame is detachably connected to a mechanical arm; the fixing frame is arranged on the support frame, and the mounting sleeve is rotationally arranged between the support frame and the fixing frame; a 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; the elastic transmission assembly is arranged on the support frame; a torsion gear is elastically connected to a driving end of the elastic transmission assembly; the driving transmission assembly is arranged on the support frame; and a driving gear is connected to a driving end of the driving transmission assembly. The holding piece device can eliminate transmission gaps, improve transmission precision, and further improve the stability of the transmission system, thereby avoiding the shaking or loosening of the laparoscope and preventing the safety hazards caused by the gear jamming.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a holding device and a surgical robot. Background Technology

[0002] Laparoscopic surgery refers to surgical procedures performed using modern high-tech medical technology. It involves operating surgical instruments outside the abdomen through a laparoscope, monitored and guided by a high-tech display screen, within a closed abdominal cavity. Procedures include exploring diseased tissues, electrocoagulation, hemostasis, dissection, incision, and suturing. By accessing the body through small incisions, it reduces patient recovery time and surgical risks. The use of surgical robots in laparoscopic surgery can further improve the precision and flexibility of the procedure.

[0003] In existing technologies, surgical robots use a clamping device to hold the laparoscope and drive a rotating center wheel via two drive gears to rotate the laparoscope. However, wear, deformation, and center distance errors during the manufacturing or use of the gears can lead to transmission backlash, resulting in poor stability of the transmission system and causing the laparoscope to vibrate or become loose. In severe cases, the gears may even jam, posing a safety hazard. Summary of the Invention

[0004] The purpose of this invention is to provide a holding device and a surgical robot to solve the problem of transmission backlash in the gears in the prior art, which leads to poor stability of the transmission system and causes the laparoscope to vibrate or loosen. In severe cases, it can even cause the gears to jam, creating a safety hazard.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] On one hand, the present invention provides a holding device that can be mounted on the robotic arm of a surgical robot for mounting a laparoscope, the holding device comprising:

[0007] The mounting assembly includes a support frame, a fixing frame, and a mounting sleeve. The support frame is detachably connected to the robotic arm. The fixing frame is mounted on the support frame, and the mounting sleeve is rotatably disposed 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 provided on the outside of the mounting sleeve.

[0008] An elastic transmission assembly is provided on the support frame; the drive end of the elastic transmission assembly is elastically connected to a torsion gear, and the torsion gear is meshed with the central gear.

[0009] An active transmission assembly is disposed on the support frame; the drive end of the active transmission assembly is connected to a drive gear, which meshes with the central gear.

[0010] As an optional embodiment of the aforementioned holding device, the elastic transmission assembly includes a support base, a torsion seat, a torsion elastic element, and a first rotating shaft. The support base is disposed on the support frame, the torsion seat is rotatably disposed on the support base, and the torsion gear is rotatably disposed on the torsion seat. The torsion elastic element is disposed within the torsion seat, one end of the torsion elastic element is fixedly connected to the torsion seat, and the other end of the torsion elastic element is fixedly connected to the torsion gear. One end of the first rotating shaft is drively connected to the robotic arm, and the other end of the first rotating shaft passes sequentially through the support frame, the support base, the torsion seat, the torsion elastic element, and the torsion gear, and the first rotating shaft is fixedly connected to the torsion seat.

[0011] As an optional embodiment of the aforementioned holding device, the torsion seat has an installation groove and a first slot communicating with the installation groove, the torsion gear has a second slot, the torsion elastic element is disposed in the installation groove, one end of the torsion elastic element is engaged in the first slot, and the other end of the torsion elastic element is engaged in the second slot.

[0012] As an alternative to the aforementioned holding device, the elastic transmission assembly further includes a first bearing and a second bearing, wherein 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 alternative to the aforementioned holding device, the active transmission assembly includes a second rotating shaft and a third bearing. One end of the second rotating shaft is connected to the robotic arm, and the other end of the second rotating shaft passes through the support frame and is fixedly connected to the drive gear. The third bearing is sleeved between the second rotating shaft and the support frame.

[0014] As an alternative to the aforementioned holding device, the support frame is provided with a connecting hole, and the robotic arm is provided with an elastic hook, which can pass through the connecting hole and engage with the support frame.

[0015] As an optional embodiment of the aforementioned holding device, the holding device further includes an unlocking assembly, which includes an unlocking rod and an elastic element. The unlocking rod is disposed on the support frame. The unlocking rod is movable toward the side closer to the elastic hook to disengage the elastic hook from the support frame. The two ends of the elastic element abut against the unlocking rod and the fixing frame, respectively, for driving the unlocking rod to move away from the elastic hook.

[0016] As an alternative to the aforementioned holding device, the holding device further includes a protective housing, which is detachably connected to the support frame and covers the outside of the fixed frame.

[0017] As an alternative to the aforementioned holding device, the protective housing is provided with a handle.

[0018] On the other hand, the present invention provides a surgical robot including the holding device as described above. The surgical robot also includes a robotic arm and a laparoscope. The holding device is disposed on the robotic arm, and the laparoscope is disposed on the holding device.

[0019] The beneficial effects of this invention are as follows:

[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 fixing frame, and a mounting sleeve. The support frame is detachably connected to the robotic arm, enabling the holding device to be mounted or detached from the surgical robot. The fixing frame is mounted on the support frame, and the mounting sleeve is rotatably positioned 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, allowing the laparoscope to be mounted on the holding device and rotated. A central gear is located outside the mounting sleeve. The elastic transmission assembly is located on the support frame, and its drive end is elastically connected to a torsion gear, which meshes with the central gear. Simultaneously, the active transmission assembly is located on the support frame, and its drive end is connected to a drive gear, which meshes with the central gear. Thus, the torsion gear and the drive gear jointly drive the central gear, enabling the rotation of the laparoscope and sharing the torque, reducing wear. This holding device, through the elastic connection between the elastic transmission component and the torsion gear, can store elastic torque between the two. Thus, when the holding device is in use, if transmission gaps occur between the torsion gear and the center gear and / or between the driving gear and the center gear due to wear, deformation, machining errors in the center distance, etc., the elastic torque stored between the elastic transmission component and the torsion gear can buffer and compensate, thereby eliminating transmission gaps, improving transmission accuracy, and thus improving the stability of the transmission system. This prevents the laparoscope from shaking or loosening, and avoids safety hazards caused by gear jamming. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the holding device provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the first part of the holding device provided in an embodiment of the present invention;

[0023] Figure 3This is a schematic diagram of the second part of the holding device provided in an embodiment of the present invention;

[0024] Figure 4 This is an exploded view of the elastic transmission component provided in an embodiment of the present invention.

[0025] In the picture:

[0026] 1. Mounting assembly; 11. Support frame; 111. Connecting hole; 12. Fixing frame; 13. Mounting sleeve; 131. Central gear; 2. Elastic transmission assembly; 21. Support base; 22. Torsion base; 221. Mounting groove; 222. First slot; 23. Torsional elastic element; 24. First rotating shaft; 3. Torsional gear; 31. Second slot; 4. Active transmission assembly; 41. Second rotating shaft; 5. Active gear; 6. Unlocking assembly; 61. Unlocking rod; 7. Protective shell; 71. Handle; 8. Laparoscope. Detailed Implementation

[0027] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0028] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] like Figures 1-4 As shown, this embodiment provides a holding device that can be mounted on the robotic arm of a surgical robot for mounting 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 robotic arm, thereby enabling the holding device to be mounted or detached from the surgical robot. The fixing frame 12 is mounted on the support frame 11, and the mounting sleeve 13 is rotatably positioned 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 is detachably connected to the mounting sleeve 13, so that the laparoscope 8 can be mounted on the holding device and can be rotated.

[0033] The installation sleeve 13 is equipped with a central gear 131. The elastic transmission component 2 is located on the support frame 11. The drive end of the elastic transmission component 2 is elastically connected to a torsion gear 3, which meshes with the central gear 131. At the same time, the active transmission component 4 is located on the support frame 11. The drive end of the active transmission component 4 is connected to an active gear 5, which meshes with the central gear 131. Thus, the torsion gear 3 and the active gear 5 can jointly drive the central gear 131, realize the rotation of the laparoscopy 8, and share the torque, reducing wear.

[0034] The holding device, through the elastic connection between the elastic transmission component 2 and the torsion gear 3, allows for the storage of elastic torque between them. Therefore, during use, if transmission backlash occurs between the torsion gear 3 and the central gear 131, or between the driving gear 5 and the central gear 131, due to wear, deformation, or machining errors in the center distance, the elastic torque stored between the elastic transmission component 2 and the torsion gear 3 can buffer and compensate, thereby eliminating transmission backlash, improving transmission accuracy, and ultimately enhancing the stability of the transmission system. This prevents the laparoscope 8 from vibrating or becoming loose, and avoids safety hazards caused by gear jamming. Optionally, the rotation directions of the torsion gear 3 and the driving gear 5 can be opposite, thereby adjusting the positions of the torsion gear 3, the central gear 131, and the driving gear 5 to facilitate subsequent elimination of transmission backlash.

[0035] like Figure 3 and Figure 4 As shown, the elastic transmission assembly 2 includes a support base 21, a torsion seat 22, a torsion elastic element 23, and a first rotating shaft 24. The support base 21 is mounted on the support frame 11, the torsion seat 22 is rotatably mounted on the support base 21, and the torsion gear 3 is rotatably mounted on the torsion seat 22. Thus, the torsion seat 22 can rotate relative to the support base 21, and the torsion gear 3 can rotate relative to the torsion seat 22. The torsion elastic element 23 is disposed within the torsion seat 22, with one end fixedly connected to the torsion seat 22 and the other end fixedly connected to the torsion gear 3. Therefore, when the torsion seat 22 rotates, it can drive the torsion gear 24. The rotating elastic element 23, after storing a certain elastic torque, can drive the torsion gear 3 and the torsion seat 22 to rotate synchronously. Simultaneously, one end of the first rotating shaft 24 is connected to the robotic arm, and the other end of the first rotating shaft 24 passes sequentially through the support frame 11, support base 21, torsion seat 22, torsion elastic element 23, and torsion gear 3. The first rotating shaft 24 is fixedly connected to the torsion seat 22, allowing the robotic arm to drive the first rotating shaft 24 to rotate via a motor. This causes the first rotating shaft 24 to drive the torsion seat 22 to rotate, ultimately rotating the torsion gear 3 and storing a certain elastic torque during this process. Specifically, part of the first rotating shaft 24 has a circular cross-section, and the torsion seat 22 has a through hole that matches the first rotating shaft 24, allowing the first rotating shaft 24 to drive the torsion seat 22 to rotate after passing through it.

[0036] The torsion seat 22 has a mounting groove 221 and a first slot 222 communicating with the mounting groove 221. The torsion gear 3 has a second slot 31. The torsion elastic element 23 is disposed in the mounting groove 221, with one end of the torsion elastic element 23 locked in the first slot 222 and the other end locked in the second slot 31. The mounting groove 221 limits the torsion elastic element 23, preventing it from disengaging. The first slot 222 and the second slot 31 limit the two free ends of the torsion elastic element 23, thereby enabling the torsion seat 22 to drive the rotation of the torsion gear 3. Simultaneously, the elastic transmission assembly 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. The arrangement of the first and second bearings improves the stability of the first rotating shaft 24 during rotation, preventing misalignment and gear jamming.

[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 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. Thus, 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. The third bearing is sleeved between the second rotating shaft 41 and the support frame 11, which can improve the stability of the second rotating shaft 41 during rotation and avoid misalignment that could cause the gear to jam.

[0038] like Figure 1 and Figure 2 As shown, the support frame 11 is provided with a connection hole 111, and the robotic arm is provided with an elastic hook. The elastic hook can pass through the connection hole 111 and engage with the support frame 11, thereby enabling the holding device to be quickly installed on the robotic arm. Simultaneously, the holding device also includes an unlocking component 6, which includes an unlocking rod 61 and an elastic element. The unlocking rod 61 is located on the support frame 11 and can move towards the side closer to the elastic hook, causing the elastic hook to disengage from the support frame 11. The two ends of the elastic element abut against the unlocking rod 61 and the fixing frame 12, respectively, to drive the unlocking rod 61 away from the elastic hook. Thus, by pressing the unlocking rod 61, it can move to engage with the elastic hook, causing the elastic hook to deform and disengage from the support frame 11, thereby achieving quick disassembly between the holding device and the robotic arm. Furthermore, 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 element, facilitating subsequent installation between the holding device and the robotic arm.

[0039] Furthermore, the holding device also includes a protective housing 7, which is detachably connected to the support frame 11 and covers the outside of the fixing frame 12. The protective housing 7 can protect the fixing frame 12 and the components between the fixing frame 12 and the support frame 11, thereby extending the service life of the holding device. Optionally, the protective housing 7 is provided with a handle 71, which allows the holding device to be held by hand, thereby facilitating the movement of the laparoscope 8.

[0040] This embodiment also provides a surgical robot, including the holding device as described above. The surgical robot also includes a robotic arm and a laparoscope 8. The holding device is mounted on the robotic arm, and the laparoscope 8 is mounted on the holding device. By using the holding device as described above, the surgical robot can easily drag the holding device to move the laparoscope 8 and simultaneously rotate the laparoscope 8. It also solves the problem of transmission gap caused by wear and deformation, machining errors in center distance, etc. The elastic torque stored between the elastic transmission component 2 and the torsion gear 3 can buffer and compensate, thereby eliminating transmission gap, improving transmission accuracy, and thus improving the stability of the transmission system. This prevents the laparoscope 8 from shaking or becoming loose, and prevents 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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. 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. A holder device, which can be provided to a mechanical arm of a surgical robot, for mounting a laparoscope (8), characterized in that, The holder device comprises: An installation assembly (1) comprising a support frame (11), a fixing frame (12) and an installation 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 installation sleeve (13) being rotatably arranged between the support frame (11) and the fixing frame (12); the laparoscope (8) being capable of passing through the fixing frame (12), the installation sleeve (13) and the support frame (11) and being detachably connected to the installation sleeve (13); a central gear (131) being arranged outside the installation sleeve (13); An elastic transmission assembly (2) arranged on the support frame (11); a torsion gear (3) being elastically connected to the driving end of the elastic transmission assembly (2), the torsion gear (3) being meshingly connected to the central gear (131); An active transmission assembly (4) arranged on the support frame (11); an active gear (5) being connected to the driving end of the active transmission assembly (4), the active gear (5) being meshingly connected to the central gear (131).

2. The holder device according to claim 1, characterized in that The elastic transmission assembly (2) comprises a support seat (21), a torsion seat (22), a torsion elastic member (23) and a first rotating shaft (24), the support seat (21) being arranged on the support frame (11), the torsion seat (22) being rotatably arranged on the support seat (21), the torsion gear (3) being rotatably arranged on the torsion seat (22); the torsion elastic member (23) being arranged in the torsion seat (22), one end of the torsion elastic member (23) being fixedly connected to the torsion seat (22), the other end of the torsion elastic member (23) being fixedly connected to the torsion gear (3); one end of the first rotating shaft (24) being drivingly connected to the mechanical arm, the other end of the first rotating shaft (24) sequentially passing through the support frame (11), the support seat (21), the torsion seat (22), the torsion elastic member (23) and the torsion gear (3), and the first rotating shaft (24) being fixedly connected to the torsion seat (22).

3. The holder device according to claim 2, characterized in that The torsion seat (22) is provided with an installation groove (221) and a first clamping groove (222) communicated with the installation groove (221), the torsion gear (3) is provided with a second clamping groove (31), the torsion elastic member (23) is arranged in the installation 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, the first bearing being sleeved between the first rotating shaft (24) and the support seat (21), and the second bearing being sleeved between the first rotating shaft (24) and the torsion gear (3).

5. The holder device according to claim 1, characterized in that, The main drive 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) is fixedly connected to the driving gear (5) through the support frame (11), 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, wherein The support frame (11) is provided with a connecting hole (111), and the mechanical arm is provided with an elastic hook which can be clamped to the support frame (11) through the connecting hole (111).

7. The holder device according to claim 6, characterized in that The holding device further comprises an unlocking assembly (6), the unlocking assembly (6) comprises an unlocking rod (61) and an elastic member, the unlocking rod (61) is arranged on the support frame (11); the unlocking rod (61) can move towards the 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 fixed frame (12), and the elastic member is used for driving the unlocking rod (61) to move 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), the protective shell (7) is detachably connected to the support frame (11), and a cover is arranged outside the fixed 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 by The surgical robot comprises the holding device, a mechanical arm and a laparoscope (8), the holding device is arranged on the mechanical arm, and the laparoscope (8) is arranged on the holding device.

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