Universal flushing and suction device for surgical robot

Abstract

The invention discloses a universal flushing and suction device for a surgical robot, and belongs to the technical field of medical instruments. The device comprises a connecting seat, one side of the connecting seat is connected with a catheter, and the other side of the connecting seat is provided with a suction connector and a flushing connector which are respectively connected with the catheter through connecting pipes; the side face of the connecting base is rotationally connected with four rotating wheels with connecting keys, and the rotating wheels can be connected with four motors of the surgical robot. The universal adjusting head at the tail end of the catheter comprises a Y-axis swing part and an X-axis swing part which are hinged to each other. Power of the rotating wheel is transmitted to the universal adjusting head through transmission parts such as a driving belt wheel, a transmission gear and a transmission rope in the connecting base, swing in the X-axis direction and the Y-axis direction is achieved, and meanwhile opening and closing of the flushing valve and the suction valve are controlled through meshing of the gear and the toothed bar. The device and the surgical robot are high in integration degree, universal flushing and suction operation can be accurately achieved, the transmission structure is reasonable, operation is flexible, and the device is suitable for complex surgical scenes.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to a universal flushing and suction device for a surgical robot. Background Art

[0002] Surgical robots are increasingly used in modern medical surgeries, especially complex minimally invasive procedures. During surgery, the surgical site often needs to be flushed to remove blood, tissue debris, and other debris. Flushing fluid and waste must also be removed promptly to maintain a clear surgical field of view and facilitate the procedure.

[0003] Currently, there are a variety of irrigation and suction devices on the market. For example, Chinese patent publication number CN107822675B discloses a universal aspirator for laparoscopic surgery. This device utilizes an outer sleeve, an inner sleeve, and a series of complex mechanical structures to achieve universal adjustment of the suction head. However, this device is primarily designed for laparoscopic surgery and has poor integration with surgical robots, failing to fully utilize the precise control advantages of surgical robots. Furthermore, its complex structure hinders rapid operation and maintenance during surgery.

[0004] For example, the Chinese patent with announcement number CN202410477806 discloses a suction connection device and a surgical robot. Although it takes into account the integration with the surgical robot to a certain extent, the flushing and suction functions of the suction connection device are not flexible enough to adjust, making it difficult to achieve multi-angle and precise flushing and suction operations, and unable to meet the flushing and suction needs of different positions of the surgical site in complex surgical scenarios.

[0005] Therefore, how to provide a universal irrigation and suction device for a surgical robot to solve the problems existing in the prior art is of great significance to its application. Summary of the Invention

[0006] In view of this, the purpose of this application is to provide a universal flushing and suction device for a surgical robot to solve the problems of poor integration between the existing device and the surgical robot and inflexible operation.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A universal irrigation and suction device for a surgical robot, comprising:

[0009] A connecting seat, one side of which is connected to a catheter, and the other side of which is installed with a suction connector and a flushing connector, the suction connector being connected to the catheter via a flushing connecting pipe, and the flushing connector being connected to the catheter via the flushing connecting pipe;

[0010] The side of the connecting seat is rotatably connected to the suction valve runner, the X-direction runner, the Y-direction runner and the flushing valve runner, and the end surfaces of the suction valve runner, the X-direction runner, the Y-direction runner and the flushing valve runner are all provided with connecting keys;

[0011] A universal adjustment head is installed at the end of the catheter. The universal adjustment head includes a Y-axis swing member and an X-axis swing member. The Y-axis swing member is hinged to the catheter, and the X-axis swing member is hinged to the Y-axis swing member.

[0012] Furthermore, the internal rotation of the connecting seat connects the drive pulley 1 and the drive pulley 2, the drive pulley 1 is connected to the X-axis swing member through the X-axis drive rope, and the drive pulley 2 is connected to the X-axis swing member through the Y-axis drive rope.

[0013] Furthermore, the driving pulley is coaxially connected to a transmission gear three, the internal rotation of the connecting seat is connected to a transmission gear two, the transmission gear two is coaxially connected to a transmission pulley two, the transmission gear three is meshed with the transmission gear two, and the transmission pulley two is connected to the X-direction rotating wheel through an X-axis transmission rope.

[0014] Furthermore, the driving pulley 2 is coaxially connected to the transmission gear 4, the internal rotation of the connecting seat is connected to the transmission gear 1, the transmission gear 1 is meshed with the transmission gear 4, the transmission gears are coaxially connected to the transmission pulley 1, and the transmission pulley 1 and the Y-direction rotating wheel are connected through the Y-axis transmission rope.

[0015] Furthermore, the transmission gear three, transmission gear two, transmission gear four and transmission gear one are all bevel gears.

[0016] Furthermore, the interior of the flushing valve includes a piston rod 1, the end of which is equipped with a flushing valve connecting gear rod, the end of the suction valve rotor is connected to a flushing valve transmission gear, and the flushing valve transmission gear is meshed with the flushing valve connecting gear rod.

[0017] Furthermore, the interior of the suction valve includes a second piston rod, the end of which is equipped with a suction valve connecting gear rod, the end of the flushing valve wheel is connected to the suction valve transmission gear, and the suction valve connecting gear rod is meshed with the suction valve transmission gear.

[0018] Furthermore, a hose chain is passed between the end of the conduit and the X-axis swinging member, and a cavity for sliding of the X-axis driving rope and the Y-axis driving rope is opened on the inner wall of the conduit.

[0019] Furthermore, the surfaces of the driving pulley 1, the driving pulley 2, the transmission pulley 2, the transmission pulley 1, the X-direction rotating wheel and the Y-direction rotating wheel are all provided with connecting rope fixing buckles.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Highly integrated with surgical robots: Through a specific connection key design, it can be tightly connected with the motor on the surgical robot to achieve precise control and improve the accuracy and efficiency of surgical operations.

[0022] 2. Universal adjustment function: The unique structural design of the universal adjustment head enables it to swing flexibly in the X-axis and Y-axis directions, making it convenient for flushing and suctioning different positions of the surgical site and adapting to complex surgical scenarios.

[0023] 3. Convenient flushing and suction control: The surgical robot controls the suction valve rotor and flushing valve rotor, enabling the flushing valve and suction valve to be opened and closed quickly and accurately, improving operational convenience during surgery.

[0024] 4. Reasonable transmission structure: It adopts a variety of transmission components inside, such as driving pulleys, transmission gears, transmission ropes, etc., with compact structure and high transmission efficiency, ensuring the stable operation of the device.

[0025] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application so that it can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following is a detailed description of the preferred embodiment of the present application in conjunction with the accompanying drawings.

[0026] Based on the detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 is a side view of the present invention;

[0030] Figure 3 It is a structural diagram of the universal adjustment head in the present invention;

[0031] Figure 4 for Figure 1 Enlarged view of point A.

[0032] In the figure: 1. Connecting seat; 2. Suction valve transmission gear; 3. X-axis transmission rope; 4. Y-axis transmission rope; 5. X-direction rotary wheel; 6. Suction valve rotary wheel; 7. Conduit; 8. Universal adjustment head; 9. Flushing connecting pipe; 10. Suction valve; 11. Flushing valve; 12. Suction connecting head; 13. Flushing connecting pipe; 14. Suction connecting head; 15. Flushing valve transmission gear; 16. Flushing valve connecting gear rod; 17. Suction valve connecting gear rod; 18. Y-direction rotary wheel; 19. Flushing valve rotary wheel; 20. X-axis driving rope; 21. Y-axis swinging member; 22. X-axis swinging member; 23. Y-axis driving rope; 24. Transmission gear 1; 25. Transmission belt 1; 26. Transmission gear 2; 27. Transmission pulley 2; 28. Transmission gear 3; 29. ​​Drive pulley 1; 30. Transmission gear 4; 31. Drive pulley 2. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted in the embodiments.

[0034] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0035] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0036] It should also be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include," "comprises," or any other variations thereof are intended to cover non-exclusive inclusion.

[0037] See also Figure 1-4 The present invention provides a technical solution for a universal irrigation and suction device for a surgical robot:

[0038] A universal flushing and suction device for a surgical robot comprises: a connecting base 1, one side of which is connected to a catheter 7, and the other side of which is mounted a suction connector 12 and a flushing connector 14, wherein the suction connector 12 is connected to the catheter 7 via a flushing connecting tube 9, and the flushing connector 14 is connected to the catheter 7 via a flushing connecting tube 13;

[0039] The side of the connecting seat 1 is rotatably connected to the suction valve runner 6, the X-direction runner 5, the Y-direction runner 18 and the flushing valve runner 19. The end surfaces of the suction valve runner 6, the X-direction runner 5, the Y-direction runner 18 and the flushing valve runner 19 are all provided with connecting keys;

[0040] A universal adjustment head 8 is installed at the end of the catheter 7. The universal adjustment head 8 includes a Y-axis swing member 21 and an X-axis swing member 22. The Y-axis swing member 21 is hinged to the catheter 7, and the X-axis swing member 22 is hinged to the Y-axis swing member 21.

[0041] The internal rotation of the connecting seat 1 connects the drive pulley 1 29 and the drive pulley 2 31. The drive pulley 1 29 is connected to the X-axis swing member 22 through the X-axis drive rope 20, and the drive pulley 2 31 is connected to the X-axis swing member 22 through the Y-axis drive rope 23.

[0042] The driving pulley 1 29 is coaxially connected to the transmission gear 3 28, the internal rotation of the connecting base 1 is connected to the transmission gear 2 26, the transmission gear 2 26 is coaxially connected to the transmission pulley 2 27, the transmission gear 3 28 is meshed with the transmission gear 2 26, and the transmission pulley 2 27 is connected to the X-direction rotating wheel 5 through the X-axis transmission rope 3.

[0043] The driving pulley 2 31 is coaxially connected to the transmission gear 4 30, the internal rotation of the connecting seat 1 is connected to the transmission gear 1 24, the transmission gear 1 24 is meshed with the transmission gear 4 30, the transmission gear 1 24 is coaxially connected to the transmission pulley 1 25, and the transmission pulley 1 25 and the Y-direction rotating wheel 18 are connected through the Y-axis transmission rope 4.

[0044] Transmission gear three 28, transmission gear two 26, transmission gear four 30 and transmission gear one 24 are all bevel gears.

[0045] The interior of the flushing valve 11 includes a piston rod 1, the end of which is installed with a flushing valve connecting gear rod 16, and the end of the suction valve runner 6 is connected to the flushing valve transmission gear 15, which is meshed with the flushing valve connecting gear rod 16.

[0046] The interior of the suction valve 10 includes a piston rod 2, the end of which is installed with a suction valve connecting gear rod 17, the end of the flushing valve wheel 19 is transmission-connected to the suction valve transmission gear 2, and the suction valve connecting gear rod 17 is meshed with the suction valve transmission gear 2.

[0047] A hose chain is passed between the end of the conduit 7 and the X-axis swing member 22 , and a cavity is provided on the inner wall of the conduit 7 for the X-axis drive rope 20 and the Y-axis drive rope 23 to slide.

[0048] The surfaces of the driving pulley 1 29, the driving pulley 2 31, the transmission pulley 2 27, the transmission pulley 1 25, the X-direction rotating wheel 5 and the Y-direction rotating wheel 18 are all provided with a connecting rope fixing buckle.

[0049] Install the connecting seat 1 on the corresponding part of the surgical robot by a suitable fixing method to ensure a firm connection.

[0050] The suction connector 12 is connected to an external suction device through a corresponding pipeline, and the flushing connector 14 is connected to an external flushing liquid supply device through a pipeline.

[0051] The four motors on the surgical robot are tightly connected to the suction valve rotor 6, the X-direction rotor 5, the Y-direction rotor 18 and the flushing valve rotor 19 through connecting keys.

[0052] When the surgical site needs to be flushed during surgery, the surgical robot controls the flushing valve wheel 19 to rotate, and the flushing valve wheel 19 drives the flushing valve transmission gear 15 to rotate. The flushing valve transmission gear 15 engages with the flushing valve connecting gear rod 16, pushing the piston rod of the flushing valve 11 to move, opening the flushing valve 11, and the flushing fluid is sprayed from the flushing connector 14 through the flushing connecting pipe 13 and the catheter 7, and from the universal adjustment head 8 to flush the surgical site.

[0053] When the surgical site needs to be suctioned, the surgical robot controls the suction valve wheel 6 to rotate, and the suction valve wheel 6 drives the suction valve transmission gear 2 to rotate. The suction valve transmission gear 2 engages with the suction valve connecting gear rod 17, pushing the piston rod 2 of the suction valve 10 to move, opening the suction valve 10, and the flushing fluid and waste in the surgical site are sucked out from the universal adjustment head 8 through the catheter 7 and the flushing connecting pipe 9, and discharged from the suction connecting head 12.

[0054] When the position of the universal adjustment head 8 needs to be adjusted, if swinging in the X-axis direction is required, the surgical robot controls the rotation of the X-direction wheel 5. The X-direction wheel 5 drives the rotation of the drive pulley 2 27 via the X-axis transmission rope 3. The coaxial drive gear 2 26 of the drive pulley 2 27 meshes with the drive gear 3 28, driving the rotation of the drive pulley 1 29. The drive pulley 1 29 pulls the X-axis swing member 22 via the X-axis drive rope 20, achieving the swinging of the universal adjustment head 8 in the X-axis direction. Similarly, if swinging in the Y-axis direction is required, the surgical robot controls the rotation of the Y-direction wheel 18. Through the transmission of the Y-axis transmission rope 4, the drive pulley 1 25, the drive gear 1 24, the drive gear 4 30, the drive pulley 2 31, and the Y-axis drive rope 23, the universal adjustment head 8 is able to swing in the Y-axis direction.

[0055] The working principle of the present invention is as follows: the four motors on the surgical robot are respectively connected to the suction valve rotor 6, the X-direction rotor 5, the Y-direction rotor 18, and the flushing valve rotor 19 via connecting keys. When the position of the universal adjustment head 8 needs to be adjusted, the surgical robot controls the X-direction rotor 5 and the Y-direction rotor 18 to rotate, and through a series of transmission structures, drives the X-axis drive rope 20 and the Y-axis drive rope 23 to move, thereby causing the X-axis swing member 22 and the Y-axis swing member 21 to rotate relative to each other, realizing the swing of the universal adjustment head 8 in the X-axis and Y-axis directions, and accurately positioning the surgical site. When the flushing valve 11 and the suction valve 10 need to be opened or closed, the surgical robot controls the suction valve rotor 6 and the flushing valve rotor 19 to rotate, and through the corresponding gear transmission structure, drives the flushing valve connecting gear rod 16 and the suction valve connecting gear rod 17 to move, realizing the opening and closing of the flushing valve 11 and the suction valve 10, completing the flushing and suction operations.

[0056] The foregoing description is merely a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any variation, modification, replacement, integration, or parameter change to these embodiments, which is within the spirit and principles of the present invention and which achieves the same functionality through conventional substitutions, without departing from the principles and spirit of the present invention, falls within the scope of protection of the present invention.

Claims

1. A universal irrigation and suction device for a surgical robot, characterized in that: include: A connecting seat (1), one side of the connecting seat (1) is connected to a conduit (7), and the other side of the connecting seat (1) is equipped with a suction connecting head (12) and a flushing connecting head (14), the suction connecting head (12) is connected to the conduit (7) via a flushing connecting pipe (9), and the flushing connecting head (14) is connected to the conduit (7) via a flushing connecting pipe (13); The side surface of the connecting seat (1) is rotatably connected to a suction valve rotor (6), an X-direction rotor (5), a Y-direction rotor (18) and a flushing valve rotor (19), and the end surfaces of the suction valve rotor (6), the X-direction rotor (5), the Y-direction rotor (18) and the flushing valve rotor (19) are all provided with connecting keys; A universal adjustment head (8) is installed at the end of the catheter (7), and the universal adjustment head (8) includes a Y-axis swing member (21) and an X-axis swing member (22). The Y-axis swing member (21) is hinged to the catheter (7), and the X-axis swing member (22) is hinged to the Y-axis swing member (21).

2. A universal irrigation and suction device for a surgical robot according to claim 1, characterized in that: The connecting seat (1) is internally rotatably connected to a driving pulley 1 (29) and a driving pulley 2 (31); the driving pulley 1 (29) is connected to the X-axis swing member (22) through an X-axis driving rope (20); and the driving pulley 2 (31) is connected to the X-axis swing member (22) through a Y-axis driving rope (23).

3. The universal irrigation and suction device for a surgical robot according to claim 1, characterized in that: The driving pulley 1 (29) is coaxially connected to the transmission gear 3 (28), the internal rotation of the connecting seat (1) is connected to the transmission gear 2 (26), the transmission gear 2 (26) is coaxially connected to the transmission pulley 2 (27), the transmission gear 3 (28) is meshed with the transmission gear 2 (26), and the transmission pulley 2 (27) is connected to the X-direction rotating wheel (5) through the X-axis transmission rope (3).

4. The universal irrigation and suction device for a surgical robot according to claim 1, characterized in that: The driving pulley 2 (31) is coaxially connected to the transmission gear 4 (30), the internal rotation of the connecting seat (1) is connected to the transmission gear 1 (24), the transmission gear 1 (24) is meshed with the transmission gear 4 (30), the transmission gear 1 (24) is coaxially connected to the transmission pulley 1 (25), and the transmission pulley 1 (25) and the Y-direction rotating wheel (18) are connected through the Y-axis transmission rope (4).

5. The universal irrigation and suction device for a surgical robot according to claim 1, characterized in that: The transmission gear three (28), transmission gear two (26), transmission gear four (30) and transmission gear one (24) are all bevel gears.

6. The universal irrigation and suction device for a surgical robot according to claim 1, characterized in that: The interior of the flushing valve (11) includes a piston rod 1, the end of which is mounted with a flushing valve connecting gear rod (16), the end of the suction valve runner (6) is connected to a flushing valve transmission gear (15), and the flushing valve transmission gear (15) is meshedly connected with the flushing valve connecting gear rod (16).

7. The universal irrigation and suction device for a surgical robot according to claim 1, characterized in that: The interior of the suction valve (10) includes a second piston rod, the end of which is provided with a suction valve connecting gear rod (17), the end of the flushing valve rotor (19) is connected to a suction valve transmission gear (2), and the suction valve connecting gear rod (17) is meshed with the suction valve transmission gear (2).

8. According to the universal flushing and suction device for a surgical robot according to claim 1, a hose chain is passed between the end of the catheter (7) and the X-axis swing member (22), and the inner wall of the catheter (7) is provided with a cavity for the sliding of the X-axis drive rope (20) and the Y-axis drive rope (23).

9. According to the universal flushing and suction device for a surgical robot according to claim 1, the surfaces of the driving pulley 1 (29), the driving pulley 2 (31), the transmission pulley 2 (27), the transmission pulley 1 (25), the X-direction rotating wheel (5) and the Y-direction rotating wheel (18) are all provided with connecting rope fixing buckles.

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