End effector mounting device and surgical robot

Abstract

The utility model discloses an end effector mounting device and a surgical robot. The end effector mounting device comprises a base, a mounting bracket and a mounting bracket, the driving wheel is mounted on the base; the driven wheel is installed on the base, the driving wheel is meshed with the driven wheel, the center of the driven wheel is provided with a cavity allowing a rod body of the end effector to be inserted, and one axial end of the driven wheel extends to be provided with a buckling part; the rod body is located between the buckling part and the clamping part, and the clamping part can be fastened on the buckling part of the driven wheel so as to clamp the rod body. According to the end effector installation device, the buckling part is arranged on the driven wheel, the clamping part is matched with the buckling part, the rod body is clamped and fixed, shaking of the rod body is effectively prevented, the buckling part serves as a part of the driven wheel, when the clamping part is installed, the position of the buckling part serves as a reference, and the clamping part can be clamped and fixed through the clamping part. The clamping component is convenient to position, the assembly is convenient, the positioning is accurate, the installation of the end effector is stable, and the anti-shake effect is good.

Description

Technical Field

[0001] The utility model relates to the field of medical equipment, in particular to an end effector mounting device and a surgical robot. Background Art

[0002] The surgical robot includes a main control console, a patient surgical platform, etc. The patient surgical platform includes one or more robotic arms. The operating end of the robotic arm is provided with an end effector, which is used to enter the stomach through the mouth or other natural channels to enter the body, perform corresponding surgical operations or provide doctors with corresponding fields of view. For example, an endoscope can be used to see lesions that cannot be displayed by X-rays. The main control console includes a display and an operating unit. Medical personnel operate the operating unit to manipulate the movement of the endoscope or surgical instruments under the field of view provided by the endoscope displayed on the display.

[0003] Taking the endoscope as an example, in the prior art, belt or gear transmission is generally used for the rotation control of the endoscope. However, due to the elasticity of the belt, the lens driven by the belt will shake, which may cause unclear images. The elasticity of the belt drive can be eliminated by gear transmission. However, the side clearance of the gear still cannot eliminate the possible shaking of the lens. There is also a scheme in the prior art, which supports the mirror rod of the endoscope by a bearing, and the mirror rod passes through the driven wheel, and then the bearing and the driven wheel are limited by two half rings of the retaining ring. However, in the prior art, the two half rings of the retaining ring and the driven wheel are both separately arranged. During installation, the two half rings need to be positioned, which has low installation efficiency and inconvenient operation.

[0004] Therefore, how to improve the positioning accuracy and assembly and disassembly efficiency of the end effector mounting device is a technical problem that technical personnel in this field currently need to solve. Utility Model Content

[0005] The utility model aims to provide an end effector mounting device and a surgical robot, which can effectively prevent the end effector from shaking, have high mounting efficiency and accurate positioning.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An end effector mounting device, comprising:

[0008] Base;

[0009] A driving wheel, mounted on the base;

[0010] A driven wheel is mounted on the base, the driving wheel is meshed with the driven wheel, a cavity is provided at the center of the driven wheel for inserting the rod body of the end effector, and a buckling portion is extended from one axial end of the driven wheel;

[0011] A clamping component, wherein the rod body is located between the buckling portion and the clamping component, and the clamping component can be fastened to the buckling portion of the driven wheel to clamp the rod body.

[0012] Preferably, the clamping component is detachably connected to the buckling portion.

[0013] Preferably, an elastic component is further included, and the base is provided with a through hole for the rod body to pass through, and the elastic component is installed in the through hole and can fit with the surface of the rod body.

[0014] Preferably, a first limiting portion is provided on one of the driving wheel or the driven wheel, and a second limiting portion is provided on the base, or a first limiting portion is provided on the driving wheel and a second limiting portion is provided on the driven wheel; when the first limiting portion contacts the second limiting portion, the driven wheel can limit the rotation.

[0015] Preferably, it also includes an identification component for identifying the instrument model and / or instrument type and / or status information, and the identification component is installed in the base.

[0016] Preferably, it further comprises a detection element for sending a signal when the end effector mounting device is installed in place, and the detection element is mounted on the base;

[0017] And / or, it also includes a detected element when the end effector mounting device is installed in place, and the detected element is installed on the base.

[0018] Preferably, it also includes a button assembly, which is mounted on the base and has a clamping portion. The button assembly can drive the clamping portion to move so as to be clamped with or separated from the mechanical arm of the surgical robot.

[0019] Preferably, the button assembly includes a first button and a second button arranged symmetrically, the first button includes a first pressing portion, a first guide rail portion and a first clamping portion arranged on the first pressing portion, the second button includes a second pressing portion, a second guide rail portion and a second clamping portion arranged on the second pressing portion, the first guide rail portion and the second guide rail portion are both fixed on the base; and the first guide rail portion is provided with a guide groove for the second pressing portion to slide, and the second guide rail portion is provided with a guide groove for the first pressing portion to slide; the base is also provided with an avoidance groove, the first clamping portion and the second clamping portion can extend into the avoidance groove or extend out of the avoidance groove to connect with the robotic arm.

[0020] Preferably, a resetting elastic component is provided between the first guide rail portion and the first pressing portion, and between the second guide rail portion and the second pressing portion.

[0021] The utility model also provides a surgical robot, comprising a mechanical arm and any one of the above-mentioned end effector mounting devices.

[0022] The end effector mounting device provided by the utility model comprises: a base; a driving wheel mounted on the base; a driven wheel mounted on the base, the driving wheel meshing with the driven wheel, the center of the driven wheel is provided with a chamber for inserting the rod body of the end effector, and a buckling portion is extended from one axial end of the driven wheel; a clamping component, the rod body is located between the buckling portion and the clamping component, and the clamping component can be fastened to the buckling portion of the driven wheel to clamp the rod body. The end effector mounting device provided by the utility model is provided with the buckling portion on the driven wheel, and the clamping component cooperates with the buckling portion to clamp and fix the rod body, so as to effectively prevent the rod body from shaking. Moreover, since the buckling portion is a part of the driven wheel, when installing the clamping component, the position of the buckling portion is used as a reference, so as to facilitate the positioning of the clamping component, facilitate assembly, accurately position, and stabilize the installation of the end effector, with good anti-shake effect.

[0023] The surgical robot provided by the utility model is provided with the above-mentioned end effector mounting device. Since the end effector mounting device has the above-mentioned technical effects, the surgical robot provided with the end effector mounting device should also have corresponding technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the internal structure of a specific implementation of the end effector mounting device provided by the utility model;

[0026] Figure 2 for Figure 1 A schematic diagram of the assembly of the driven wheel and the clamping component in the end effector mounting device shown;

[0027] Figure 3 for Figure 1 A schematic diagram of the structure of the driven wheel in the end effector mounting device shown;

[0028] Figure 4 for Figure 1 A top view of the end effector mounting device shown;

[0029] Figure 5 for Figure 4 AA cross-sectional view of the end effector mounting device shown;

[0030] Figure 6 A schematic diagram of the installation structure of the end effector installation device and the end effector provided by the utility model;

[0031] Figure 7 for Figure 6 A schematic cross-sectional view of the end effector mounting device shown;

[0032] Among them: the end effector mounting device 1; the base 11; the driving wheel 12; the first limiting portion 121; the driven wheel 13; the buckling portion 131; the fastener 132; the clamping component 14; the elastic component 15; the button assembly 16; the first button 161; the first pressing portion 1611; the first guide rail portion 1612; the second button 162; the second pressing portion 1621; the second guide rail portion 1622; the reset elastic component 163; the mounting groove 164; the clamping portion 165; the first clamping portion 1651; the second clamping portion 1652; the guide surface 166; the clamping surface 167; the bearing 17; the identification component 18; the detection element arrangement groove 19; the end effector 2; the rod body 21. DETAILED DESCRIPTION

[0033] The core of the utility model is to provide an end effector mounting device and a surgical robot, which are convenient for positioning, easy to install, and have a good anti-shake effect.

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] Please refer to Figures 1 to 7 , Figure 1 A schematic diagram of the internal structure of a specific implementation of the end effector mounting device provided by the utility model; Figure 2 for Figure 1 A schematic diagram of the assembly of the driven wheel and the clamping component in the end effector mounting device shown; Figure 3 for Figure 1 A schematic diagram of the structure of the driven wheel in the end effector mounting device shown; Figure 4 for Figure 1 A top view of the end effector mounting device shown;

[0036] Figure 5for Figure 4 A cross-sectional view of the end effector mounting device shown; Figure 6 A schematic diagram of the installation structure of the end effector installation device and the end effector provided by the utility model; Figure 7 for Figure 6 A schematic cross-sectional structure diagram of the end effector mounting device shown.

[0037] In this embodiment, if Figure 1 As shown, the end effector mounting device 1 comprises:

[0038] Base 11;

[0039] A driving wheel 12 is mounted on the base 11;

[0040] The driven wheel 13 is mounted on the base 11, the driving wheel 12 is meshed with the driven wheel 13, a cavity is provided at the center of the driven wheel 13 for inserting the rod body 21 of the end effector 2, and a buckle portion 131 is extended from one axial end of the driven wheel 13;

[0041] The clamping component 14 and the rod body 21 are located between the buckling portion 131 and the clamping component 14 . The clamping component 14 can be fastened to the buckling portion 131 of the driven wheel 13 to clamp the rod body 21 .

[0042] Specifically, the end effector 2 can be a medical device such as an endoscope; the base 11 serves as the supporting body of the entire device, and a through hole is provided on the base 11 for the rod body 21 of the end effector 2 to pass through, so as to facilitate connection with the end effector 2; the driving wheel 12, the driven wheel 13 and the clamping component 14 are all arranged on the base 11, and the rod body 21 of the end effector 2 is installed on the driven wheel 13. When the driven wheel 13 rotates, it will drive the rod body 21 of the end effector 2 to rotate, thereby realizing the adjustment of the angle of the end effector 2, meeting the use requirements of medical personnel for the operating position of the end effector during the operation. For example, when the end effector is an endoscope, the endoscope can be adjusted by adjusting the end effector 2. The angle can be adjusted to realize image acquisition of different positions of the lesion; at the same time, it also includes a power component, which is connected to the driving wheel 12 and is used to drive the driving wheel 12 to rotate. The driving wheel 12 drives the driven wheel 13 to rotate by meshing with the driven wheel 13; the transmission driving wheel 12 can adopt a driving wheel 12 with a flange, which receives power from the power component and drives the driven wheel 13 equipped with the end effector 2, so that the end effector 2 rotates to the desired angle under controlled conditions; the power component can be a stepping motor, which controls the rotation angle of the driven wheel 13 by controlling the rotation angle of the driving wheel 12, thereby realizing accurate control of the end effector 2.

[0043] Preferably, the buckle part 131 is arranged at one end of the driven wheel 13 close to the base 11 and close to the position of the chamber, that is, the buckle part 131 is arranged at a position between the gear of the driven wheel 13 and the base 11, which is convenient for connection with the clamping member 14, and is arranged between the gear and the base 11, so that the rod body is clamped more firmly. In other embodiments, the buckle part 131 and the clamping member 14 can also be arranged at one end of the driven wheel 13 away from the base 11, which will not be repeated in this embodiment.

[0044] Further, if Figure 2 As shown, the clamping member 14 is preferably a clamping half ring, and the buckling portion 131 of the driven wheel 13 is also a half ring structure. After the clamping member 14 is connected with the buckling portion 131, a ring structure is formed, which surrounds the circumference of the rod body 21. During the connection between the clamping member 14 and the buckling portion 131, the clamping member 14 presses the rod body 21 against the buckling portion 131, thereby achieving the fastening of the rod body 21; Figure 3 As shown, the clamping member 14 and the buckle portion 131 can be connected by a fastener 132, and the fastener 132 can be a bolt, which can facilitate the clamping member 14 to clamp the rod body 21. Furthermore, the buckle portion 131 is located at the lower end of the driven wheel 13, and the buckle portion 131 is a part extending from the driven wheel 13, that is, the buckle portion 131 is a part of the driven wheel 13, which is convenient for processing. Of course, the buckle portion 131 can also be set separately, and then the buckle portion 131 can be welded and fixed on the driven wheel 13. Through the setting of the clamping member 14, the buckle portion 131 at the lower end of the driven wheel 13 can be tightly held on the rod body 21, and connected by bolts or other methods to prevent the rod body 21 from falling or moving up and down, which is easy to assemble and further prevents shaking. In other embodiments, the buckling part 131 and the clamping part 14 can also be a spiral tightening mechanism, the buckling part 131 is arranged on the driven wheel, the buckling part 131 is provided with an external thread, and the clamping part 14 is provided with an internal thread that matches the external thread of the buckling part 131. When the clamping part 14 and the buckling part 131 are screwed together, the clamping part 14 is used to drive the buckling part 131 to move along its radial direction, so that the buckling part 131 fits with the outer surface of the rod body to clamp the rod body. The buckling part 131 and the clamping part 14 can also be other clamping mechanisms, which will not be described in detail in the present utility model.

[0045] In some embodiments, the clamping member 14 is detachably connected to the buckling portion 131. Specifically, a fastener 132 is provided between the clamping member 14 and the buckling portion 131, and a connecting hole is provided on both the buckling portion 131 and the clamping member 14, and the fastener 132 is installed in the connecting hole between the buckling portion 131 and the clamping member 14. The fastener 132 is preferably a bolt; for example, the connecting hole on the buckling portion 131 is a stepped hole, and the connecting hole of the clamping member 14 can be a threaded hole, or vice versa. After the fastener 132 passes through the stepped hole of the buckling portion 131, it can be directly connected with the threaded hole of the clamping member 14. The fastener 132 is preferably a countersunk bolt, and the connecting hole of the clamping member 14 plays the role of a nut. After the fastener 132 is installed in place, both ends of the fastener 132 are located inside the connecting hole, and will not be exposed from the buckling portion 131 or the clamping member 14, thereby reducing the interference of the driven wheel 13 with other components when rotating.

[0046] It should be noted that the clamping member 14 and the buckling portion 131 can be detachably connected by the fastener 132, that is, the clamping member 14 and the buckling portion 131 can be completely separated for easy disassembly or assembly, or the clamping member 14 and the buckling portion 131 can be loosened or tightened only by tightening or loosening the fastener 132 to avoid loss of parts. Both methods are acceptable and can be selected as needed.

[0047] The end effector mounting device 1 provided by the utility model has a snap-fitting portion 131 on the driven wheel 13, and utilizes the cooperation between the clamping component 14 and the snap-fitting portion 131 to clamp and fix the rod body 21, which effectively prevents the rod body 21 from shaking. Moreover, since the snap-fitting portion 131 is a part of the driven wheel 13, when installing the clamping component 14, the position of the snap-fitting portion 131 is used as a reference to facilitate the positioning of the clamping component 14. The assembly is convenient, the positioning is accurate, the installation of the end effector 2 is stable, and the anti-shake effect is good.

[0048] In some embodiments, Figure 7 As shown, it also includes an elastic component 15. The base 11 is provided with a through hole for the rod body 21 to pass through. The elastic component 15 is installed in the through hole and can fit with the surface of the rod body 21. Specifically, the elastic component 15 tightly embraces the rod body 21 so that the rod body 21 does not shake when there is no power drive. Specifically, the elastic component 15 is located between the rod body 21 and the base 11. The elastic component 15 can be an O-ring, such as an O-shaped rubber ring. Of course, it can also be other structures that can be filled in the gap between the rod body 21 and the base 11. Any structure that can achieve an anti-shake effect is acceptable. It can be understood that during installation, the elastic component 15 first fixes the rod body, and then the clamping action of the buckle 131 and the clamping component 14 further fixes the rod body. The two work together to further prevent the rod body 21 from shaking.

[0049] In some embodiments, a first limiting portion 121 is provided on one of the driving wheel 12 or the driven wheel 13, and a second limiting portion is provided on the base 11. When the first limiting portion 121 contacts the second limiting portion, the rotation of the driven wheel 13 can be limited. Specifically, by providing the first limiting portion 121 on one of the driving wheel 12 or the driven wheel 13, the first limiting portion 121 will rotate with the corresponding driving wheel 12 or the driven wheel 13. When the first limiting portion 121 rotates to the position of the second limiting portion, the two will abut or engage, thereby limiting the rotation limit position of the driving wheel 12 or the driven wheel 13, so that the end effector 2 can only rotate within a certain range without causing excessive winding of the cable.

[0050] In some embodiments, the driving wheel 12 is provided with a first limiting portion 121, and the driven wheel 13 is provided with a second limiting portion; when the first limiting portion 121 contacts the second limiting portion, the rotation of the driven wheel 13 can be limited. Specifically, any method that can limit the rotation angle of the driven wheel 13 is not limited to the solution given in this embodiment.

[0051] In some embodiments, an identification component 18 for identifying the instrument model and / or instrument type and / or status information is further included, and the identification component 18 is installed on the base 11. Specifically, the identification component 18 is preferably an NFC transmitter card, and the identification component 18 transmits a signal to enable the surgical robot to identify the instrument model and / or instrument type and / or status information installed on the mechanical arm of the surgical robot, thereby achieving automatic identification.

[0052] In some embodiments, it also includes a detection element for sending a signal when the end effector mounting device 1 is installed in place. The detection element is installed on the base 11. Specifically, a detection element arrangement groove 19 is provided in the base 11, and the detection element is arranged in the detection element arrangement groove 19. Specifically, the detection element can be a Hall sensor. For example, a magnetic element can be provided on the mechanical arm of the surgical robot. The magnetic element is identified by the Hall sensor on the end effector mounting device 1, so as to determine whether the end effector mounting device 1 is installed and whether it is installed in place. In some embodiments, it also includes a detected element that is set on the mechanical arm of the surgical robot and detected when the end effector mounting device 1 is installed in place. The detected element can be a magnetic element, and a Hall sensor is provided on the mechanical arm. Of course, the end effector mounting device 1 can also be provided with a detection element and a detected element at the same time to further ensure the installation accuracy of the end effector mounting device 1. Regarding the working principle of the Hall sensor, reference can be made to the prior art, which will not be repeated here.

[0053] In some embodiments, a cover plate is further included, and both the base 11 and the cover plate are provided with through holes for the rod body 21 to pass through, and the through holes correspond to the positions of the chambers of the driven wheel 13. Specifically, after the base 11 and the cover plate are buckled together, a box structure is formed, and the base 11 and the cover plate are detachably connected for easy maintenance; during installation, the rod body 21 is first passed through the through hole of the cover plate, and then through the chamber of the driven wheel 13 and the through hole of the base 11, and then the clamping component 14 is assembled and connected with the buckling portion 131 of the driven wheel 13, and then the cover plate is connected to the base 11.

[0054] In some embodiments, the two axial ends of the driven wheel 13 are respectively connected to the base 11 and the cover plate through bearings 17, and the two axial ends of the driving wheel 12 are respectively connected to the base 11 and the cover plate through bearings 17. Specifically, the arrangement of the bearings 17 can ensure that the driving wheel 12 and the driven wheel 13 rotate smoothly; further, a mounting seat for assembling the bearings 17 is provided on the base 11 or the cover plate. In other embodiments, one end of the driving wheel 12 and / or the driven wheel 13 close to the base 11 is connected to the base 11 through a bearing, and the other end is not connected to the cover plate.

[0055] In some embodiments, a button assembly 16 is further included. The button assembly 16 is mounted on the base 11. A snap-on portion 165 is provided on the button assembly 16. The button assembly 16 can drive the snap-on portion 165 to move so as to snap-on or snap-off with the robotic arm of the surgical robot. Specifically, the button assembly 16 can be composed of two identical buttons and a reset elastic component 163. The two identical buttons serve as guide rails for each other, which provide better guidance during translation. The same shape of the buttons facilitates mass production. The reset elastic component 163 is provided to make assembly easier. The buttons on both sides are pressed at the same time. A snap-on portion is provided on the robotic arm of the surgical robot. After the button is pressed, the snap-on portion 165 of the end effector mounting device 1 can be reliably mounted on the robotic arm of the surgical robot.

[0056] In some embodiments, Figure 4 and Figure 5As shown, the button assembly 16 includes a first button 161 and a second button 162 which are symmetrically arranged. The first button 161 includes a first pressing portion 1611, a first guide rail portion 1612 and a first clamping portion 1651 arranged on the first pressing portion 1611. The second button 162 includes a second pressing portion 1621, a second guide rail portion 1622 and a second clamping portion 1652 arranged on the second pressing portion 1621. The first guide rail portion 1612 and the second guide rail portion 1622 are both fixed on the base 11; and the first guide rail portion 1612 is provided with a guide groove for the second pressing portion 1621 to slide, and the second guide rail portion 1622 is provided with a guide groove for the first pressing portion 1611 to slide, so as to facilitate sliding and limiting. It should be noted that when a cover is provided, corresponding limiting structures are provided on the cover and the base 11 to constrain the positions of the first button 161 and the second button 162 , thereby ensuring smooth movement of the first button 161 and the second button 162 .

[0057] In some embodiments, the base 11 is further provided with an escape groove, and the first clamping portion 1651 and the second clamping portion 1652 can extend into or out of the escape groove to connect with the robot arm. In other words, the first clamping portion 1651 and the second clamping portion 1652 can be connected to the robot arm inside the base 11, or can be connected to the robot arm outside the base 11. Preferably, the connection with the robot arm is achieved inside the base 11 to ensure the flatness of the bottom surface of the base 11 and reduce the position interference with the robot arm.

[0058] In some embodiments, a resetting elastic component 163 is provided between the first rail portion 1612 and the first pressing portion 1611, and between the second rail portion 1622 and the second pressing portion 1621. Further, a mounting groove 164 is provided on one side of the first rail portion 1612 close to the first pressing portion 1611, and the resetting elastic component 163 is positioned in the mounting groove 164 to prevent the resetting elastic component 163 from falling. The resetting elastic component 163 is preferably a spring, which is easy to obtain and has good elasticity. Of course, the installation position and direction of the resetting elastic component 163 can be selected as needed and are not limited to the method given in this embodiment.

[0059] It should be noted that the first button 161 and the second button 162 have the same structure and are symmetrically arranged, and the number of the resetting elastic component 163 can be only one. Figure 2 , Figure 4 and Figure 5 As shown, two may also be symmetrically arranged, and the specific selection may be made according to the actual needs. When two resetting elastic components 163 are selected, the structure of the button assembly 16 is more stable.

[0060] In some embodiments, a snap-on surface 167 is provided at the connection between the first snap-on portion 1651 and the second snap-on portion 1652 and the snap-on portion provided on the robot arm; when the end effector mounting device 1 needs to be set on the robot arm, the first pressing portion 1611 and the second pressing portion 1621 are first pressed to overcome the elastic force of the resetting elastic component 163, and the first snap-on portion 1651 and the second snap-on portion 1652 are driven to approach each other, and after the end effector mounting device 1 is placed at the corresponding position of the robot arm, the pressing of the first pressing portion 1611 and the second pressing portion 1621 is released, and the resetting elastic component 163 drives the first pressing portion 1611 and the second pressing portion 1621 to move away from each other, at which time, the snap-on surface 167 is engaged with the snap-on portion of the robot arm. When the end effector mounting device 1 needs to be removed, the first pressing portion 1611 and the second pressing portion 1621 are pressed to separate the snap-on portion and the snap-on surface 167, so that the end effector mounting device 1 can be removed smoothly.

[0061] Furthermore, the end of the first clamping part 1651 away from the first pressing part 1611 and the end of the second clamping part 1652 away from the second pressing part 1621 are both provided with a guide surface 166. When the end effector mounting device 1 needs to be assembled with the robot arm, the setting of the guide surface 166 can be utilized. The end guide surface of the guide surface 166 first contacts the buckle of the robot arm and then moves slowly. Under the buckle of the robot arm, the guide surface 166 pushes the first pressing part 1611 and the second pressing part 1621 closer to each other until the clamping surface 167 of the first clamping part 1651 and the second clamping part 1652 enters the buckle. At this time, under the action of the reset elastic component 163, the first clamping part 1651 and the second clamping part 1652 are firmly connected to the buckle. When the end effector mounting device 1 needs to be removed, it can be pressed from the two sides of the first pressing part 1611 and the second pressing part 1621. The end effector mounting device 1 can eliminate the lens shaking problem caused by the elasticity of the belt drive and the side clearance of the gear drive, has the functions of type identification, installation identification, and lens rotation limiting, and has the beneficial effects of reliable use and convenient disassembly and assembly.

[0062] In addition to the above-mentioned end effector mounting device 1, the present invention also provides a surgical robot including the above-mentioned end effector mounting device 1. For the structure of other parts of the surgical robot, please refer to the prior art and will not be described in detail herein.

[0063] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0064] The above is a detailed introduction to the end effector mounting device provided by the utility model. This article uses specific examples to illustrate the principles and implementation methods of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. An end effector mounting device, characterized in that: include: Base (11); A driving wheel (12) is mounted on the base (11); A driven wheel (13) is mounted on the base (11), the driving wheel (12) meshes with the driven wheel (13), a cavity for inserting the rod body (21) of the end effector (2) is provided at the center of the driven wheel (13), and a buckling portion (131) is extended from one axial end of the driven wheel (13); A clamping component (14), wherein the rod body (21) is located between the buckling portion (131) and the clamping component (14), and the clamping component (14) can be fastened to the buckling portion (131) of the driven wheel (13) to clamp the rod body (21).

2. The end effector mounting device according to claim 1, characterized in that: The clamping component (14) is detachably connected to the buckling portion (131).

3. The end effector mounting device according to claim 1, characterized in that: It also comprises an elastic component (15); the base (11) is provided with a through hole for the rod body (21) to pass through; the elastic component (15) is installed in the through hole and can be fitted with the surface of the rod body (21).

4. The end effector mounting device according to claim 1, characterized in that: A first limiting portion (121) is provided on one of the driving wheel (12) or the driven wheel (13), and a second limiting portion is provided on the base (11); or, the driving wheel (12) is provided with a first limiting portion (121), and the driven wheel (13) is provided with a second limiting portion; when the first limiting portion (121) contacts the second limiting portion, the rotation of the driven wheel (13) can be limited.

5. The end effector mounting device according to claim 1, characterized in that: It also includes an identification component (18) for identifying the device model and / or device type and / or status information, and the identification component (18) is installed in the base (11).

6. The end effector mounting device according to claim 1, characterized in that: It also includes a detection element for sending a signal when the end effector mounting device is installed in place, and the detection element is installed on the base (11); And / or, it also includes a detected element when the end effector mounting device is installed in place, and the detected element is mounted on the base (11).

7. The end effector mounting device according to any one of claims 1 to 6, characterized in that: The invention also comprises a button assembly (16), wherein the button assembly (16) is mounted on the base (11), and a clamping portion (165) is provided on the button assembly (16). The button assembly (16) can drive the clamping portion (165) to move so as to be clamped with or separated from the mechanical arm of the surgical robot.

8. The end effector mounting device according to claim 7, characterized in that: The button assembly (16) comprises a first button (161) and a second button (162) which are symmetrically arranged, wherein the first button (161) comprises a first pressing portion (1611), a first guide rail portion (1612) and a first clamping portion (1651) arranged on the first pressing portion (1611), and the second button (162) comprises a second pressing portion (1621), a second guide rail portion (1622) and a second clamping portion (1652) arranged on the second pressing portion (1621), wherein the first guide rail portion (1612) The first guide rail portion (1612) and the second guide rail portion (1622) are both fixedly mounted on the base (11); the first guide rail portion (1612) is provided with a guide groove for the second pressing portion (1621) to slide, and the second guide rail portion (1622) is provided with a guide groove for the first pressing portion (1611) to slide; the base (11) is also provided with an avoidance groove, and the first clamping portion (1651) and the second clamping portion (1652) can extend into the avoidance groove or extend out of the avoidance groove to be connected to the robot arm.

9. The end effector mounting device according to claim 8, characterized in that: A resetting elastic component (163) is provided between the first guide rail portion (1612) and the first pressing portion (1611), and between the second guide rail portion (1622) and the second pressing portion (1621).

10. A surgical robot, comprising a robotic arm and an end effector mounting device (1), characterized in that: The end effector mounting device (1) is the end effector mounting device (1) according to any one of claims 1 to 9.

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