A da vinci robot analog docking device

Abstract

This invention relates to the field of da Vinci robot simulation training technology, and discloses a da Vinci robot simulation docking device, including a robotic arm 1, a robotic arm 2, and a robotic arm 3. The outer end of robotic arm 1 docks with robotic arm 2, and the outer end of robotic arm 2 docks with robotic arm 3. The rotation mode of robotic arms 1, 2, and 3 is consistent with the operating end of the da Vinci robot. It also includes a docking plate installed on the outer end of robotic arm 3. A docking cylinder is fixed to the outer end of the docking plate. An adjusting cylinder is installed inside the docking cylinder, and an adjusting rod is rotatably installed inside the adjusting cylinder. This invention simulates the existing da Vinci robot, based on its shape and operating movements, to simulate the actions required for normal operation, thereby improving realism. At the same time, through the pressure unit and the designed pressure components, it can increase the pressure and rotation force of the fingers, train the finger operating strength, and enable long-term operation during actual use.

Description

Technical Field

[0001] This invention relates to the field of da Vinci robot simulation training technology, specifically a da Vinci robot simulation docking device. Background Technology

[0002] The da Vinci Robot is a humanoid machine designed by Leonardo da Vinci around 1495. Used for medical surgery, the da Vinci Robot has three or four arms, one of which is equipped with an endoscope, and the others are equipped with scalpels.

[0003] The existing da Vinci robot consists of three parts: a surgeon's console, a bedside robotic arm system, and an imaging system. The surgeon operates the console, and the imaging system provides multi-magnification imaging of the affected area, allowing for more precise manipulation of the bedside robotic arm system to perform complex surgeries. However, existing equipment requires maintenance or repair after a certain number of uses to ensure operational precision, which is costly. Furthermore, surgeons need to master the machine through repeated operation, especially for finger strength training. There is a lack of equipment on the market that can provide finger training for da Vinci robot operation. Therefore, we propose a da Vinci robot simulation docking device. Summary of the Invention

[0004] The purpose of this invention is to provide a da Vinci robot simulation docking device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a da Vinci robot simulation docking device, comprising a first robotic arm, a second robotic arm, and a third robotic arm. The outer end of the first robotic arm docks with the second robotic arm, and the outer end of the second robotic arm docks with the third robotic arm. The rotation mode of the first, second, and third robotic arms is consistent with that of the operating end of the da Vinci robot. It also includes a docking plate installed at the outer end of the third robotic arm. A docking cylinder is fixed to the outer end of the docking plate. An adjusting cylinder is installed inside the docking cylinder, and an adjusting rod is rotatably installed inside the adjusting cylinder. An exercise unit for finger training is installed at the outer end of the adjusting rod. The exercise unit includes a pressure-applying component, which changes the pressure applied to the fingers. A pressure-applying unit is installed inside the docking cylinder, which increases the resistance encountered on the outer side when the adjusting rod rotates.

[0006] Preferably, the exercise unit further includes an end seat fixed to the outer end of the adjusting rod. Both ends of the end seat are fixed with end plates, and both ends of the end seat are equipped with pressing arms that rotatably engage with the end plates. The outer end of the pressing arm is fixed with a retaining ring for finger engagement, and a connecting rod is rotatably mounted on the inner side of the pressing arm. The outer ends of the two connecting rods are equipped with sleeve plates through a rotating shaft. The sleeve plates are slidably engaged with the adjusting rod and are aligned with the top of the pressure assembly. The exercise unit is used to exercise the pressing force and rotational force of the fingers.

[0007] Preferably, the docking cylinder consists of a cylinder body and a cylinder cover. The cylinder body is fixed to the docking plate, and the cylinder cover is rotatably docked with the cylinder body. The adjusting cylinder is fixed to the bottom of the cylinder body, and the cylinder cover has an opening for the adjusting rod to extend out. The design of the docking cylinder facilitates rotation and adjustment by personnel.

[0008] Preferably, the pressurizing assembly includes an adjusting screw and a pressurizing ring slidably sleeved on the outside of the adjusting screw. A return spring is sleeved on the outside of the adjusting screw, abutting against the pressurizing ring and the sleeve plate. An adjusting plate is fixed to the bottom of the pressurizing ring. A moving opening for the adjusting plate is provided on the outside of the adjusting cylinder. The adjusting plate is slidably sleeved with the adjusting rod, and one end extends out of the moving opening and is threadedly sleeved with the outside of the adjusting screw. Both ends of the adjusting screw are rotatably connected to the inner wall of the bottom of the cylinder and the top of the connecting cylinder through bearings, and pass through the bottom of the cylinder. A rotating cap is fixed to the outer end. The designed pressurizing assembly can increase the pressure required for finger pressing.

[0009] Preferably, the retaining ring includes an arc-shaped plate fixed to the bottom end of the pressing arm, and the outer end of the arc-shaped plate is fixed with Velcro. The Velcro design facilitates a tight fit for the fingers.

[0010] Preferably, the top of the cylinder cover is fixed with two stabilizing rods that slide and engage with the sleeve plate, and the top of the stabilizing rods is fixed with limit blocks. The designed stabilizing rods improve the stability of the sleeve plate movement.

[0011] Preferably, the pressure applying unit includes a pressure applying ring plate and an adjusting screw rod II. The two ends of the adjusting screw rod II are rotatably connected to the inner wall of the bottom of the cylinder and the top of the docking cylinder through bearings, and pass through the bottom of the cylinder. A rotating cap is fixed at the outer end, and the pressure applying ring plate is threadedly sleeved with the outer side of the adjusting screw rod II. Two track openings are opened on the outer side of the adjusting cylinder, and the pressure applying ring plate is sleeved on the outer side of the adjusting cylinder. Pressure applying blocks that slide and connect with the track openings are fixed at both ends. A pressure applying component adapted to the pressure applying blocks is installed inside the adjusting cylinder, and the pressure applying component increases the resistance to the rotation of the adjusting rod. The designed pressure applying unit can drive the adjusting screw rod II to rotate by rotating the rotating cap, thereby controlling the pressure applying component to pressurize the adjusting rod.

[0012] Preferably, the pressure application assembly includes two pressure plates, which are sleeved on the outside of the adjusting rod. A fixing rod is slidably inserted into the outside of the two pressure plates, and the fixing rod is fixed to the inner wall of the adjusting cylinder. A groove adapted to the pressure block is opened on the outside of the pressure plate, and an elastic element is installed between the two pressure rings. An abutting pad that fits against the adjusting rod is fixed on the inside of the pressure plate. The designed pressure application assembly satisfies the operation of applying pressure to the outside of the adjusting rod.

[0013] Preferably, both the outer side of the pressure block and the outer side of the groove are provided with matching chamfers, and the chamfer design makes the contact between the two smoother.

[0014] Preferably, there are two elastic elements, distributed at both ends of the two pressure plates. Each pressure plate has a notch at both ends. Each elastic element includes a connecting rod that slides through the pressure plate. Both ends of the connecting rod are fixed with end pieces that abut against the notches. A push-opening spring that abuts against the two pressure plates is sleeved on the outside of the connecting rod. The elastic element is designed so that the two pressure plates can be pushed open without external force, so that they do not contact the adjusting rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention simulates the existing Da Vinci robot, based on its shape and operation, to simulate the actions required when operating a normal device, thus improving realism. At the same time, through the pressure unit and the designed pressure components, it can increase the pressure and rotation of the fingers, thereby training the finger's operational strength and enabling it to meet the requirements of long-term operation in actual use.

[0016] 2. This invention strengthens the doctor's finger strength by increasing the force required for finger operation, thereby reducing finger weakness and trembling during subsequent operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another angle; Figure 3 This is a schematic diagram showing the positional relationship between the docking cylinder and the training unit in this invention; Figure 4 This is a schematic diagram of the docking cylinder and docking plate of the present invention. Figure 5 This is a partial cross-sectional view of the internal structure of the docking cylinder of the present invention; Figure 6 This is a partial cross-sectional view of the internal structure of the docking cylinder and the adjusting cylinder of the present invention; Figure 7This is a partial sectional side view of the docking cylinder and adjusting cylinder of the present invention; Figure 8 This is a schematic diagram of the pressure application component structure of the present invention.

[0018] In the diagram: 1. Robotic arm one; 2. Robotic arm two; 3. Robotic arm three; 4. Docking plate; 5. Docking cylinder; 6. Adjusting cylinder; 7. Adjusting rod; 8. Exercise unit; 9. Pressing component; 10. Pressing unit; 11. Push-opening spring; 12. End seat; 13. End plate; 14. Pressing arm; 15. Clamping ring; 16. Connecting rod; 17. Sleeve plate; 18. Cylinder body; 19. Cylinder cover; 20. Through port; 21. Adjusting screw one; 22. Pressing ring; 23. Return spring; 24. Adjusting plate; 25. Moving port; 26. Arc plate; 27. Stabilizing rod; 28. Pressing ring plate; 29. ​​Adjusting screw two; 30. Track port; 31. Pressing block; 32. Pressing component; 33. Pressing plate; 34. Fixing rod; 35. Groove; 36. Elastic component; 37. Abutting pad; 38. Docking rod. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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. Example 1

[0020] Please see Figures 1-4 The diagram shows a da Vinci robot simulation docking device, including robotic arm 1, robotic arm 2, and robotic arm 3. The outer end of robotic arm 1 docks with robotic arm 2, and the outer end of robotic arm 2 docks with robotic arm 3. The rotation mode of robotic arms 1, 2, and 3 is consistent with the operating end of the da Vinci robot. It also includes a docking plate 4 installed on the outer end of robotic arm 3. A docking cylinder 5 is fixed to the outer end of the docking plate 4. An adjusting cylinder 6 is installed inside the docking cylinder 5. An adjusting rod 7 is rotatably installed inside the adjusting cylinder 6. An exercise unit 8 for finger exercise is installed on the outer end of the adjusting rod 7. The exercise unit 8 includes a pressure component 9, which changes the pressure applied to the fingers. A pressure application unit 10 is installed inside the docking cylinder 5. The pressure application unit 10 is used to increase the resistance on the outer side when the adjusting rod 7 rotates.

[0021] In this solution, robotic arms 1, 2, and 3 are assembled together, with the same rotation method as the operating end of the existing da Vinci robot. At the same time, the designed training unit 8 enables medical staff to simulate operating actions during training, resulting in a better simulation effect. By having the added pressure component 9 work in conjunction with the pressure application unit 10, the pressure and rotation force of the fingers can be adjusted accordingly during the operation, allowing the operator to perform targeted exercises on the fingers. By increasing the force required for finger operation, the strength of the doctor's fingers can be improved, thus reducing finger weakness and tremors during subsequent operations.

[0022] For further details, please refer to [link / reference]. Figures 4-7 The exercise unit 8 also includes an end seat 12 fixed to the outer end of the adjusting rod 7. Both ends of the end seat 12 are fixed with end plates 13. Both ends of the end seat 12 are equipped with pressing arms 14 that are rotatably connected to the end plates 13. The outer end of the pressing arm 14 is fixed with a retaining ring 15 for finger connection. The inner side of the pressing arm 14 is rotatably mounted with a connecting rod 16. The outer ends of the two connecting rods 16 are mounted with sleeve plates 17 through a rotating shaft. The sleeve plates 17 are slidably connected to the adjusting rod 7 and are connected to the top of the pressure assembly 9.

[0023] It should be noted that the design of the pressing arm 14, the connecting rod 16, and the sleeve 17 allows for connection with the pressure assembly 9, enabling the user to adjust the pressure during finger pressing training.

[0024] Furthermore, the docking cylinder 5 is composed of a cylinder body 18 and a cylinder cover 19. The cylinder body 18 is fixed to the docking plate 4, and the cylinder cover 19 is rotatably docked with the cylinder body 18. The adjusting cylinder 6 is fixed to the bottom of the cylinder body 18, and the cylinder cover 19 has an opening 20 for the adjusting rod 7 to extend out. The inner cylinder 18 of the docking cylinder 5 is fixed to the docking plate 4, while the cylinder cover 19 can rotate accordingly, making it convenient for personnel to rotate the adjusting rod 7.

[0025] For further details, please refer to Figures 5-7 The pressurizing assembly 9 shown in the figure includes an adjusting screw 21 and a pressurizing ring 22 that is slidably sleeved on the outside of the adjusting rod 7. A return spring 23 is sleeved on the outside of the adjusting rod 7 and abuts against the pressurizing ring 22 and the sleeve plate 17. An adjusting plate 24 is fixed at the bottom of the pressurizing ring 22. A moving port 25 for moving the adjusting plate 24 is opened on the outside of the adjusting cylinder 6. The adjusting plate 24 is slidably sleeved with the adjusting rod 7, one end of which extends out of the moving port 25 and is threadedly sleeved on the outside of the adjusting screw 21. The two ends of the adjusting screw 21 are rotatably connected to the bottom inner wall of the cylinder 18 and the top of the docking cylinder 5 through bearings and penetrate through the bottom of the cylinder 18. A rotating cap is fixed at the outer end. The principle of the pressure component 9 for adjusting the pressure applied by the user's fingers is as follows: By rotating the cap, the user can rotate the adjusting screw 21, thereby controlling the adjustment plate 24 to rise and fall, which in turn moves the pressure ring 22, thus squeezing the return spring 23. The squeezed return spring 23 increases the pressure required by the user, allowing the user to perform a weighted pressing operation. This simulates pressing, increases the pressure applied, and improves finger exercise.

[0026] In this design, in order to improve the stability of the movement of the sleeve 17, two stabilizing rods 27 are fixed on the top of the cylinder cover 19 and slide to engage with the sleeve 17. A limit block is fixed on the top of the stabilizing rods 27. Example 2

[0027] Please see Figures 5-8 This embodiment further explains Example 1, the difference being the disclosure of one specific embodiment of the pressure unit 10.

[0028] Specifically, the pressure unit 10 includes a pressure ring plate 28 and an adjusting screw 29. The two ends of the adjusting screw 29 are rotatably connected to the inner wall of the bottom of the cylinder 18 and the top of the docking cylinder 5 through bearings, and pass through the bottom of the cylinder 18. A rotating cap is fixed at the outer end. The pressure ring plate 28 is threadedly connected to the outer side of the adjusting screw 29. Two track openings 30 are opened on the outer side of the adjusting cylinder 6. The pressure ring plate 28 is sleeved on the outer side of the adjusting cylinder 6. Pressure blocks 31 that slide and connect with the track openings 30 are fixed at both ends. A pressure assembly 32 that is compatible with the pressure blocks 31 is installed inside the adjusting cylinder 6, and the resistance to the rotation of the adjusting rod 7 is increased by the pressure assembly 32. The pressure application component 32 includes two pressure plates 33, which are sleeved on the outside of the adjusting rod 7. A fixing rod 34 is slidably inserted into the outside of the two pressure plates 33, and the fixing rod 34 is fixed to the inner wall of the adjusting cylinder 6. A groove 35 adapted to the pressure block 31 is opened on the outside of the pressure plate 33. An elastic element 36 is installed between the two pressure rings. An abutting pad 37 that fits against the adjusting rod 7 is fixed on the inside of the pressure plate 33. In order to increase the stability of the connection between the pressure block 31 and the groove 35, chamfers adapted to each other are opened on the outside of the pressure block 31 and the outside of the groove 35.

[0029] In summary, when adjusting the rotation force, the operator first needs to rotate the rotating cap to drive the adjustment screw 29 to rotate, thereby causing the pressure ring plate 28 to drive the pressure block 31 to move upward and contact the groove 35 to move upward, so that the two pressure plates 33 can move towards the adjustment rod 7 accordingly, and press the adjustment rod 7 through the abutment pad 37 to increase the resistance of the adjustment rod 7, thereby adjusting the rotation force. It should be noted that the abutting pad 37 is made of rubber and has a certain degree of elasticity. This means that the greater the compressive force, the greater the resistance that the adjusting rod 7 experiences when it abuts against the adjusting rod 7.

[0030] Meanwhile, there are two elastic members 36, which are distributed at both ends of the two pressure plates 33. Both ends of the pressure plates 33 are provided with notches. The elastic member 36 includes a connecting rod 38 that slides through the pressure plate 33. Both ends of the connecting rod 38 are fixed with end pieces that abut against the notches. The outer side of the connecting rod 38 is fitted with a push-opening spring 11 that abuts against the two pressure plates 33.

[0031] It should also be noted that after the personnel adjust the pressure ring plate 28 to move down, the pressure block 31 disengages from the groove 35. Under the action of the push spring 11, the two pressure plates 33 can drive the abutment pad 37 to disengage from the adjusting rod 7, thereby reducing the resistance when the adjusting rod 7 rotates, and realizing the adjustment of its resistance. Example 3

[0032] Please see Figures 4-6 This embodiment further illustrates other embodiments, with the difference being the optimization and improvement of the retaining ring 15.

[0033] Specifically, the retaining ring 15 includes an arc-shaped plate 26 fixed to the bottom end of the pressing arm 14, and the outer end of the arc-shaped plate 26 is fixed with Velcro.

[0034] It should be noted that the Velcro straps can also be interlocked to form a circle, which not only allows for finger contact but also ensures a tighter fit. Compared to existing fixed rings, this provides a more secure connection with the fingers and makes long-term, high-intensity simulated exercise more comfortable.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A da Vinci robot simulation docking device, comprising: Robotic arm 1 (1), robotic arm 2 (2) and robotic arm 3 (3), the outer end of robotic arm 1 (1) is connected to robotic arm 2 (2), and the outer end of robotic arm 2 (2) is connected to robotic arm 3 (3). The rotation mode of robotic arm 1 (1), robotic arm 2 (2) and robotic arm 3 (3) is consistent with that of the operating end of the Da Vinci robot. Its characteristic is that it also includes: A docking plate (4) is installed at the outer end of the robotic arm (3). A docking cylinder (5) is fixed at the outer end of the docking plate (4). An adjusting cylinder (6) is installed inside the docking cylinder (5). An adjusting rod (7) is rotatably installed inside the adjusting cylinder (6). An exercise unit (8) for finger exercise is installed at the outer end of the adjusting rod (7). The exercise unit (8) includes a pressure component (9). The pressure component (9) changes the force applied to the finger pressing. The pressure unit (10) installed inside the docking cylinder (5) is used to increase the resistance on the outside when the adjusting rod (7) rotates.

2. A da Vinci robotic simulation docking device according to claim 1, wherein: The exercise unit (8) also includes an end seat (12) fixed to the outer end of the adjusting rod (7). Both ends of the end seat (12) are fixed with end plates (13), and both ends of the end seat (12) are equipped with pressing arms (14) that rotate and connect with the end plates (13). The outer end of the pressing arm (14) is fixed with a retaining ring (15) for finger connection, and the inner side of the pressing arm (14) is rotatably equipped with a connecting rod (16). The outer ends of the two connecting rods (16) are equipped with sleeve plates (17) through a rotating shaft. The sleeve plates (17) are slidably connected with the adjusting rod (7) and are connected to the top of the pressure assembly (9).

3. A da Vinci robotic simulation docking device according to claim 1, wherein: The docking cylinder (5) is composed of a cylinder body (18) and a cylinder cover (19). The cylinder body (18) is fixed to the docking plate (4), and the cylinder cover (19) is rotatably docked with the cylinder body (18). The adjusting cylinder (6) is fixed to the bottom of the cylinder body (18), and the cylinder cover (19) has an opening (20) for the adjusting rod (7) to extend.

4. A da Vinci robotic simulation docking device according to claim 1, wherein: The pressurizing assembly (9) includes an adjusting screw (21) and a pressurizing ring (22) that is slidably sleeved on the outside of the adjusting rod (7). The outside of the adjusting rod (7) is fitted with a return spring (23) that abuts against the pressurizing ring (22) and the sleeve plate (17). An adjusting plate (24) is fixed at the bottom of the pressurizing ring (22). A moving port (25) for moving the adjusting plate (24) is opened on the outside of the adjusting cylinder (6). The adjusting plate (24) is slidably sleeved with the adjusting rod (7), and one end extends out of the moving port (25) and is threadedly sleeved with the outside of the adjusting screw (21). The two ends of the adjusting screw (21) are rotatably connected to the bottom inner wall of the cylinder (18) and the top of the docking cylinder (5) through bearings, and penetrate the bottom of the cylinder (18). A rotating cap is fixed at the outer end.

5. The da Vinci robot simulation docking device according to claim 2, characterized in that: The retaining ring (15) includes an arc-shaped plate (26) fixed to the bottom end of the pressing arm (14), and the outer end of the arc-shaped plate (26) is fixed with Velcro.

6. The da Vinci robot simulation docking device according to claim 3, characterized in that: The top of the cylinder cover (19) is fixed with two stabilizing rods (27) that slide and engage with the sleeve plate (17), and the top of the stabilizing rods (27) is fixed with a limit block.

7. The da Vinci robot simulation docking device according to claim 3, characterized in that: The pressure unit (10) includes a pressure ring plate (28) and an adjusting screw (29). The two ends of the adjusting screw (29) are rotatably connected to the inner wall of the bottom of the cylinder (18) and the top of the docking cylinder (5) through bearings and penetrate the bottom of the cylinder (18). A rotating cap is fixed at the outer end. The pressure ring plate (28) is threadedly connected to the outer side of the adjusting screw (29). Two track openings (30) are opened on the outer side of the adjusting cylinder (6). The pressure ring plate (28) is sleeved on the outer side of the adjusting cylinder (6). Pressure blocks (31) that slide and connect with the track openings (30) are fixed at both ends. A pressure assembly (32) that is compatible with the pressure block (31) is installed inside the adjusting cylinder (6). The pressure assembly (32) increases the resistance to the rotation of the adjusting rod (7).

8. The da Vinci robot simulation docking device according to claim 7, characterized in that: The pressure application assembly (32) includes two pressure plates (33), which are sleeved on the outside of the adjusting rod (7). A fixing rod (34) is slidably inserted into the outside of the two pressure plates (33). The fixing rod (34) is fixed to the inner wall of the adjusting cylinder (6). A groove (35) adapted to the pressure block (31) is opened on the outside of the pressure plate (33). An elastic element (36) is installed between the two pressure rings. A mating pad (37) that fits against the adjusting rod (7) is fixed on the inside of the pressure plate (33).

9. The da Vinci robot simulation docking device according to claim 7, characterized in that: Both the outer side of the pressure block (31) and the outer side of the groove (35) are provided with mutually compatible chamfers.

10. The da Vinci robot simulation docking device according to claim 8, characterized in that: Two elastic members (36) are provided and distributed at both ends of the two pressure plates (33). Both ends of the pressure plates (33) are provided with notches. The elastic member (36) includes a connecting rod (38) that slides through the pressure plate (33). Both ends of the connecting rod (38) are fixed with end pieces that abut against the notches. The outer side of the connecting rod (38) is fitted with a push-opening spring (11) that abuts against the two pressure plates (33).

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