Clamping mechanical arm device for surgical robot

Abstract

The invention is applicable to the technical field of mechanical arms, and provides a clamping mechanical arm device for a surgical robot, which comprises a base, a mechanical arm body is arranged in the base, a support plate is fixedly connected to the outer surface of the base, a clamping mounting device is arranged on the support plate, and two symmetrical fixing blocks are fixedly connected to the mechanical arm body. A trapezoidal positioning groove is formed in the top of the fixing block, a trapezoidal positioning rod is slidably connected into the trapezoidal positioning groove, the section of the trapezoidal positioning groove and the section of the trapezoidal positioning rod are both trapezoidal, and a clamping jaw is fixedly connected to the side, away from the trapezoidal positioning groove, of the trapezoidal positioning rod through a pipe. The transmission frame drives the water conveying pipe and the water outlet pipe to reciprocate through the connecting plate, the clamping face of the clamping jaw can be disinfected more comprehensively through the spray head, disinfection of the clamping jaw is more thorough, and medical staff can use the device more conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more specifically, to a clamping robotic arm device for surgical robots. Background Art

[0002] At present, minimally invasive surgical robots have become a research hotspot in the field of medical robots. It combines traditional medical devices with information technology and robotic technology, making surgical diagnosis and treatment achieve minimally invasive, miniaturized, intelligent, and digital. Compared with traditional surgeries, minimally invasive surgical robots have significant advantages: minimally invasive robotic surgery can improve the working mode of doctors, making doctors more dexterous, convenient, and accurate during surgery, and even enabling two surgeons in different fields to perform two related surgeries simultaneously.

[0003] Currently, some existing robotic arms clamp surgical tools through mechanical claws. After the device is used, it is not easy for medical staff to clean and disinfect the mechanical claws, making the later maintenance of the device more troublesome. Manual cleaning by medical staff is required, which increases the labor intensity of medical staff to a certain extent. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a clamping robotic arm device for surgical robots.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A clamping robotic arm device for surgical robots, including a base. A robotic arm body is arranged inside the base. A support plate is fixedly connected to the outer surface of the base. A clamping installation device is arranged on the support plate. Two symmetric fixing blocks are fixedly connected to the robotic arm body. A trapezoidal positioning groove is opened at the top of the fixing block. A trapezoidal positioning rod is slidably connected inside the trapezoidal positioning groove. The cross-sections of the trapezoidal positioning groove and the trapezoidal positioning rod are both trapezoidal. A clamping claw is fixedly connected to the side of the trapezoidal positioning rod away from the trapezoidal positioning groove. A power groove is opened inside the fixing block. A power loading and unloading device is arranged inside the power groove. A box body is fixedly connected to one side of the robotic arm body. A pump body is fixedly connected to the bottom of the box body. The pump body is communicated with the inside of the box body through a pipeline. A connecting hose is fixedly connected to the water delivery end of the pump body. One end of the connecting hose away from the pump body is fixedly connected to a water delivery pipe. Two water outlet pipes are fixedly connected to the water delivery pipe. A spray head is arranged at one end of the water outlet pipe away from the water delivery pipe. A transmission reciprocating device is arranged on the box body.

[0006] The present invention is further configured such that: the clamping and mounting device includes a threaded rod, the surface of the threaded rod is threadedly connected to the inside of the support plate, the bottom end of the threaded rod is rotatably connected to a clamping plate, the top of the clamping plate is fixedly connected to a limiting round rod, the top end of the limiting round rod slidably penetrates the inside of the support plate and extends to the outside of the support plate, a groove is formed at the bottom of the base, and the surface of the clamping plate is slidably connected to the inside of the groove.

[0007] The present invention is further configured such that: the power loading and unloading device includes a fixed rod, the surface of the fixed rod is slidably connected to the inside of the power groove, a gear is rotatably connected to the inside of the power groove, a fixing groove is formed on one side of the trapezoidal positioning rod close to the fixed rod, and one side of the fixed rod close to the fixing groove is inserted into the inside of the fixing groove.

[0008] The present invention is further configured such that: teeth are provided on one side of the fixed rod close to the gear, and the fixed rod is meshed with the surface of the gear through the teeth.

[0009] The present invention is further configured such that: a rotating column is fixedly connected to the top of the gear, and the top end of the rotating column rotatably penetrates the inside of the fixed block and extends to the outside of the fixed block.

[0010] The present invention is further configured such that: a spring is fixedly connected to one side of the fixed rod away from the fixing groove, and one end of the spring away from the fixed rod is fixedly connected to the inner wall of the power groove.

[0011] The present invention is further configured such that: the transmission reciprocating device includes a support frame, one side of the support frame close to the box body is fixedly connected to the surface of the box body, a motor is fixedly connected to one side of the support frame, an output end of the motor is fixedly connected to a rotating disk, a connecting plate is fixedly connected to the outer surface of the water delivery pipe, a transmission frame is fixedly connected to one side of the connecting plate, the cross section of the transmission frame is T-shaped, an activity groove is formed inside the transmission frame, an activity column is fixedly connected to one side of the rotating disk close to the transmission frame, and the surface of the activity column is movably connected to the inside of the activity groove.

[0012] The present invention is further configured such that: the activity column is located at a position away from the center of the rotating disk, a support connecting plate is fixedly connected to the surface of the support frame, a limiting rod is fixedly connected to one side of the support connecting plate close to the transmission frame, and the surface of the limiting rod is slidably connected to the inside of the transmission frame.

[0013] The advantages of the present invention are: 1. For the clamping manipulator device for the surgical robot of the present invention, the transmission frame drives the water delivery pipe and the water outlet pipe to move reciprocally through the connecting plate, and enables the nozzle to disinfect the clamping surface of the clamping claw more comprehensively, making the disinfection of the clamping claw more thorough, and enabling medical staff to use the device more conveniently.

[0014] 2. The clamping robotic arm device for the surgical robot of the present invention enables the threaded rod to rotate through a medical staff, so that the clamping plate can move up and down under the restriction of the limiting round rod, and enables the device to be clamped and installed on the plate body through the clamping plate and the base, so that the device can be fixed in different ways, diversifying the fixed installation methods of the device. The robotic arm body can clamp and fix surgical tools through the clamping claws.

[0015] 3. The clamping robotic arm device for the surgical robot of the present invention enables the fixing rod to slide into and out of the inside of the fixing groove, and realizes the position fixing and fixing release of the trapezoidal positioning rod, making the installation and disassembly of the clamping claws more convenient, enabling the medical staff to disassemble and replace the clamping claws according to the shape of the surgical tool, making the later maintenance of the clamping claws more convenient, enabling the device to clamp different surgical tools at the same time, and improving the scope of use of the device to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the clamping robotic arm device for the surgical robot of the present invention; Figure 2 is a schematic structural diagram of the robotic arm body of the present invention; Figure 3 is a schematic structural diagram of the support frame of the present invention; Figure 4 is a schematic structural diagram of the clamping claw of the present invention; Figure 5 is a schematic structural diagram of the fixing block of the present invention; Figure 6 is a schematic structural diagram of the box body of the present invention; Figure 7 is a schematic structural diagram of the transmission frame of the present invention.

[0017] In the figure: 1. Base; 2. Robotic arm body; 3. Support plate; 4. Threaded rod; 5. Clamping plate; 6. Limiting round rod; 7. Groove; 8. Clamping claw; 9. Fixing block; 10. Trapezoidal positioning rod; 11. Trapezoidal positioning groove; 12. Rotating column; 13. Power groove; 14. Fixing rod; 15. Fixing groove; 16. Gear; 17. Spring; 18. Box body; 19. Support connecting plate; 20. Support frame; 21. Motor; 22. Rotating disc; 23. Limiting rod; 24. Transmission frame; 25. Activity groove; 26. Activity column; 27. Connecting plate; 28. Pump body; 29. Water delivery pipe; 30. Connecting hose; 31. Water outlet pipe. DETAILED DESCRIPTION OF THE INVENTION

[0018] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0019] Please refer to Figure 1-7 , the present invention provides the following technical solution: a clamping robotic arm device for a surgical robot, including a base 1. Inside the base 1, there is a robotic arm body 2, and the robotic arm body 2 is a conventional structure and will not be elaborated here. On the outer surface of the base 1, there is a fixed connection with a support plate 3. A clamping installation device is provided on the support plate 3. Two symmetrical fixing blocks 9 are fixedly connected to the robotic arm body 2. At the top of the fixing block 9, a trapezoidal positioning groove 11 is opened. Inside the trapezoidal positioning groove 11, a trapezoidal positioning rod 10 is slidably connected. The cross-sections of the trapezoidal positioning groove 11 and the trapezoidal positioning rod 10 are both trapezoidal. On the side of the trapezoidal positioning rod 10 away from the trapezoidal positioning groove 11, there is a fixed pipe connection with a clamping jaw 8. Through the clamping jaw 8, surgical tools can be clamped and fixed, enabling medical staff to use the device more conveniently. Inside the fixing block 9, a power groove 13 is opened, and a power loading and unloading device is provided inside the power groove 13. On one side of the robotic arm body 2, there is a fixed connection with a box body 18. Inside the box body 18, there is a disinfectant solution. At the bottom of the box body 18, there is a fixed connection with a pump body 28. The pump body 28 is a conventional structure and will not be elaborated here. The pump body 28 is connected to the inside of the box body 18 through a pipeline. The water output end of the pump body 28 is fixedly connected with a connecting hose 30. The end of the connecting hose 30 away from the pump body 28 is fixedly connected with a water delivery pipe 29. Two water outlet pipes 31 are fixedly connected to the water delivery pipe 29. At the end of the water outlet pipe 31 away from the water delivery pipe 29, there is a spray head. A transmission reciprocating device is provided on the box body 18. By medical staff starting the pump body 28, the pump body 28 passes the disinfectant solution inside the box body 18 through the pipeline, through the connecting hose 30, the water delivery pipe 29, and the water outlet pipes 31, and then sprays it out through the spray head, enabling the disinfectant solution to disinfect the surface of the clamping jaw 8, enabling medical staff to disinfect the clamping jaw 8 more conveniently after use, keeping the clamping jaw 8 clean to a certain extent, and enabling medical staff to use the device more conveniently.

[0020] Specifically, the clamping and mounting device includes a threaded rod 4. The surface of the threaded rod 4 is threadedly connected to the inside of the support plate 3. The bottom end of the threaded rod 4 is rotatably connected to a clamping plate 5. The top of the clamping plate 5 is fixedly connected to a limiting round rod 6. The top end of the limiting round rod 6 slidably penetrates the inside of the support plate 3 and extends to the outside of the support plate 3. A groove 7 is formed at the bottom of the base 1. The surface of the clamping plate 5 is slidably connected to the inside of the groove 7. The clamping plate 5 can slide into the inside of the groove 7 for storage, enabling the device to be fixedly installed by bolts. At the same time, the medical staff rotates the threaded rod 4, so that the clamping plate 5 can move up and down under the restriction of the limiting round rod 6, and the device can be clamped and installed on the plate body through the clamping plate 5 and the base 1. Thus, the device can be fixed in different ways, making the fixed installation method of the device diversified and enabling the medical staff to use the device more conveniently.

[0021] The power loading and unloading device includes a fixed rod 14. The surface of the fixed rod 14 is slidably connected to the inside of the power groove 13. A gear 16 is rotatably connected to the inside of the power groove 13. Teeth are provided on one side of the fixed rod 14 close to the gear 16. The fixed rod 14 is meshed with the surface of the gear 16 through the teeth. A fixing groove 15 is formed on one side of the trapezoidal positioning rod 10 close to the fixed rod 14. One side of the fixed rod 14 close to the fixing groove 15 is inserted into the inside of the fixing groove 15. The fixed rod 14 can slide into and out of the inside of the fixing groove 15, and the position of the trapezoidal positioning rod 10 can be fixed and the fixation can be released, making the installation and disassembly of the clamping claw 8 more convenient. The medical staff can disassemble and replace the clamping claw 8 according to the shape of the surgical tool, making the later maintenance of the clamping claw 8 more convenient. At the same time, the device can clamp different surgical tools, and the scope of use of the device is improved to a certain extent.

[0022] A rotating column 12 is fixedly connected to the top of the gear 16. The top end of the rotating column 12 rotatably penetrates the inside of the fixed block 9 and extends to the outside of the fixed block 9. A spring 17 is fixedly connected to one side of the fixed rod 14 away from the fixing groove 15. One end of the spring 17 away from the fixed rod 14 is fixedly connected to the inner wall of the power groove 13. The movement of the fixed rod 14 can compress and reset the spring 17.

[0023] The transmission reciprocating device includes a support frame 20. One side of the support frame 20 close to the box body 18 is fixedly connected to the surface of the box body 18. One side of the support frame 20 is fixedly connected with a motor 21. The motor 21 is a conventional structure and will not be elaborated here. The output end of the motor 21 is fixedly connected with a rotating disk 22. A connecting plate 27 is fixedly connected to the outer surface of the water delivery pipe 29. One side of the connecting plate 27 is fixedly connected with a transmission frame 24. The cross-section of the transmission frame 24 is T-shaped. An activity groove 25 is opened inside the transmission frame 24. One side of the rotating disk 22 close to the transmission frame 24 is fixedly connected with an activity column 26. The surface of the activity column 26 is movably connected to the inside of the activity groove 25. The activity column 26 can rotate and move inside the activity groove 25.

[0024] The activity column 26 is located away from the center of the rotating disk 22. By the rotation of the rotating disk 22, the activity column 26 can perform eccentric rotation. A support connecting plate 19 is fixedly connected to the surface of the support frame 20. One side of the support connecting plate 19 close to the transmission frame 24 is fixedly connected with a limiting rod 23. The surface of the limiting rod 23 is slidably connected to the inside of the transmission frame 24. Through the limiting rod 23, the moving direction of the transmission frame 24 can be restricted.

[0025] By the medical staff starting the motor 21, the motor 21 drives the rotating disk 22 and the activity column 26 to rotate. The activity column 26 can drive the transmission frame 24 to perform reciprocating movement through the activity groove 25, and the transmission frame 24 drives the water delivery pipe 29 and the water outlet pipe 31 to perform reciprocating movement through the connecting plate 27, and enables the nozzle to disinfect the clamping surface of the clamping claw 8 more comprehensively, making the disinfection of the clamping claw 8 more thorough and enabling the medical staff to use the device more conveniently.

[0026] Working principle: For the clamping robotic arm device of the surgical robot, when in use, the clamping plate 5 can slide into the inside of the groove 7 for storage, enabling the device to be fixedly installed by bolts. At the same time, by the medical staff rotating the threaded rod 4, the clamping plate 5 can move up and down under the restriction of the limiting round rod 6, and the device can be clamped and installed on the plate body through the clamping plate 5 and the base 1, so that the device can be fixed in different ways, making the fixed installation method of the device diversified. The robotic arm body 2 can clamp and fix surgical tools through the clamping claw 8; By the medical staff rotating the rotating column 12, the rotating column 12 drives the gear 16 to rotate. The gear 16 drives the fixed rod 14 to move, enabling the fixed rod 14 to slide into and out of the inside of the fixed groove 15, and realizing the position fixing and release of the trapezoidal positioning rod 10, making the installation and disassembly of the clamping claw 8 more convenient, enabling the medical staff to disassemble and replace the clamping claw 8 according to the shape of the surgical tool, making the later maintenance of the clamping claw 8 more convenient. At the same time, the device can clamp different surgical tools, and the use range of the device is improved to a certain extent; The pump body 28 is started by medical staff. The pump body 28 sends the disinfectant liquid inside the box body 18 through the pipeline, via the connecting hose 30, the water delivery pipe 29 and the water outlet pipe 31, and sprays it through the nozzle, so that the disinfectant liquid can disinfect the surface of the clamping jaw 8, enabling the medical staff to more conveniently disinfect the clamping jaw 8 after use and keeping the clamping jaw 8 clean to a certain extent; The motor 21 is started by medical staff. The motor 21 drives the rotating disk 22 and the movable column 26 to rotate. The movable column 26 can drive the transmission frame 24 to reciprocate through the movable groove 25, and the transmission frame 24 drives the water delivery pipe 29 and the water outlet pipe 31 to reciprocate through the connecting plate 27, so that the nozzle can more comprehensively disinfect the clamping surface of the clamping jaw 8, making the disinfection of the clamping jaw 8 more thorough and enabling the medical staff to more conveniently use the device.

[0027] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A clamping mechanical arm device for a surgical robot, comprising a base (1), wherein a mechanical arm body (2) is arranged inside the base (1), and characterized in that: The outer surface of the base (1) is fixedly connected to a support plate (3), and a clamping and mounting device is arranged on the support plate (3). Two symmetrical fixing blocks (9) are fixedly connected to the mechanical arm body (2). A trapezoidal positioning groove (11) is provided on the top of the fixing block (9), and a trapezoidal positioning rod (10) is slidably connected inside the trapezoidal positioning groove (11). The cross-sections of the trapezoidal positioning groove (11) and the trapezoidal positioning rod (10) are both trapezoidal. A fixing tube on a side of the trapezoidal positioning rod (10) away from the trapezoidal positioning groove (11) is connected to a clamping claw (8). A power groove (13) is provided inside the fixing block (9), and the power groove (1 3) is provided with a power loading and unloading device inside, one side of the mechanical arm body (2) is fixedly connected to a box body (18), the bottom of the box body (18) is fixedly connected to a pump body (28), the pump body (28) is communicated with the inside of the box body (18) through a pipeline, a water delivery end of the pump body (28) is fixedly connected to a connecting hose (30), an end of the connecting hose (30) away from the pump body (28) is fixedly connected to a water delivery pipe (29), two water outlet pipes (31) are fixedly connected to the water delivery pipe (29), and a nozzle is provided at one end of the water outlet pipe (31) away from the water delivery pipe (29), and a transmission reciprocating device is provided on the box body (18).

2. The surgical robot gripping mechanical arm device according to claim 1, characterized in that: The clamping and mounting device comprises a threaded rod (4), the surface of the threaded rod (4) being threadedly connected to the inside of the support plate (3), the bottom end of the threaded rod (4) being rotatably connected to a clamping plate (5), the top of the clamping plate (5) being fixedly connected to a limiting round rod (6), the top end of the limiting round rod (6) slidingly passing through the inside of the support plate (3) and extending to the outside of the support plate (3), the bottom of the base (1) being provided with a groove (7), the surface of the clamping plate (5) being slidably connected to the inside of the groove (7).

3. The surgical robot gripping mechanical arm device according to claim 1, characterized in that: The power loading and unloading device comprises a fixing rod (14), the surface of the fixing rod (14) is slidably connected to the inside of a power slot (13), the inside of the power slot (13) is rotatably connected to a gear (16), a fixing slot (15) is formed on a side of the trapezoidal positioning rod (10) close to the fixing rod (14), and a side of the fixing rod (14) close to the fixing slot (15) is plugged into the inside of the fixing slot (15).

4. The surgical robot gripping mechanical arm device according to claim 3, characterized in that: The fixing rod (14) is provided with teeth on a side close to the gear (16), and the fixing rod (14) is meshedly connected with the surface of the gear (16) via the teeth.

5. The surgical robot gripping mechanical arm device according to claim 3, characterized in that: The top of the gear (16) is fixedly connected to a rotating column (12), and the top of the rotating column (12) rotates through the interior of the fixed block (9) and extends to the outside of the fixed block (9).

6. The surgical robot gripping mechanical arm device according to claim 5, characterized in that: A spring (17) is fixedly connected to one side of the fixing rod (14) away from the fixing groove (15); and one end of the spring (17) away from the fixing rod (14) is fixedly connected to the inner wall of the power groove (13).

7. The clamping mechanical arm device for a surgical robot according to claim 6, characterized in that: The transmission reciprocating device comprises a support frame (20), a side of the support frame (20) close to the box body (18) is fixedly connected to the surface of the box body (18), a motor (21) is fixedly connected to one side of the support frame (20), an output end of the motor (21) is fixedly connected to a rotating disk (22), an outer surface of the water delivery pipe (29) is fixedly connected to a connecting plate (27), one side of the connecting plate (27) is fixedly connected to a transmission frame (24), the cross section of the transmission frame (24) is T-shaped, a movable groove (25) is provided inside the transmission frame (24), and a movable column (26) is fixedly connected to the side of the rotating disk (22) close to the transmission frame (24), and the surface of the movable column (26) is movably connected to the inside of the movable groove (25).

8. The surgical robot gripping mechanical arm device according to claim 7, characterized in that: The movable column (26) is located at a point away from the center of the rotating disk (22); a support connecting plate (19) is fixedly connected to the surface of the support frame (20); a side of the support connecting plate (19) close to the transmission frame (24) is fixedly connected to a limit rod (23); and a surface of the limit rod (23) is slidably connected to the inside of the transmission frame (24).

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