Driving structure of flexible multi-joint operating forceps rope

Abstract

The utility model provides a driving structure of a flexible multi-joint operating forceps rope, which comprises a loop bar, a steering table, a steering seat, a rotating frame component and a clamping plate component which are sequentially connected, and the loop bar, the steering table and the steering seat are coaxially arranged; the rotating frame assembly comprises first rotating frames, a second rotating frame, a rotating shaft, a rotating block and a traction rope, and the second rotating frame is arranged between the two first rotating frames; the rotating block is rotatably mounted between the second rotating frame and the two first rotating frames through a rotating shaft; the two sides of each rotating block are connected with traction ropes correspondingly, and the two clamping plates are correspondingly connected with the two rotating blocks correspondingly. Rotation of the rotating block and the clamping plates is achieved through the pulling ropes on the two sides of the rotating block, the two clamping plates are matched with each other to achieve the opening and closing clamping function, the overall structure is simple, the occupied space is small, the use requirement can be met in the small space, light weight and microminiaturization are achieved, and operation flexibility and stability are guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of medical instruments, in particular to a driving structure of a flexible multi-joint surgical forceps rope. Background Art

[0002] With the continuous development of material technology and control technology, flexible multi-joint robots with inherent flexibility, high flexibility and deformability are widely used in various fields, especially in medical surgery and other fields with high requirements on the size and weight of the robot body. Surgical forceps are a kind of clamp-like instrument that relies on the mechanical action between its claws to clamp, clamp and tighten blood vessels or tissues. With the development of technology, surgical forceps also tend to be miniaturized and refined for use in minimally invasive surgery. In minimally invasive surgery, a tiny incision is made on the patient's body, and part of the actuator of the surgical robot passes through the tiny incision and enters the lesion. The operator controls the robotic arm part of the surgical robot to drive the actuator to swing in space within a certain angle range with the telecentric fixed point as the hinge point, and completes the minimally invasive surgery with the assistance of the actuator's own action. Minimally invasive surgery has gradually gained the favor of medical staff and patients in recent years due to its small incision and less bleeding.

[0003] In order to adapt to the narrow working environment, the drive of the surgical forceps should be as lightweight and miniaturized as possible. However, the high degree of miniaturization and the minimum number of drive system and transmission mechanism components in the traditional design cannot meet the requirements of high flexibility and stability of the end of the surgical forceps. Summary of the invention

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a driving structure for a flexible multi-joint surgical forceps rope, which achieves lightness and miniaturization and ensures operational flexibility and stability.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The swivel chair assembly is configured to be connected to a pair of camming wheels, wherein the camming wheels are connected in series with the first and second cams, and the cams are connected in series with the second cams.

[0007] Preferably, the plane corresponding to the second rotating frame is perpendicular to the plane corresponding to the clamping plate.

[0008] Preferably, the central axis of the rotating shaft is perpendicular to the plane corresponding to the second rotating frame.

[0009] Preferably, the rotating block is connected to the corresponding clamping plate through a transition block, and the two clamping plates are arranged opposite to each other, and the two transition blocks are arranged alternately.

[0010] Preferably, the outer sheath of the traction rope is provided with a protective sheath, and the protective sheath passes through the steering seat, the steering platform and the sheath rod.

[0011] Preferably, connecting plates are provided on both sides of the rotating block, connecting heads are provided on the connecting plates, and the connecting heads are connected to the corresponding traction ropes.

[0012] Preferably, a rotating motor is provided inside the turning platform, and an output shaft of the rotating motor is connected to the turning seat.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows: in the driving structure of the flexible multi-joint surgical forceps rope provided by the utility model, the rotation of the rotating block and the clamping plate is realized by two traction ropes, and the two clamping plates cooperate with each other to realize the opening and closing clamping function. The overall structure is simple and occupies a small space. It can meet the use requirements in a smaller space, achieve lightweight and miniaturization, and ensure operational flexibility and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of a driving structure of a flexible multi-joint surgical forceps cable according to an embodiment of the utility model.

[0015] Figure 2This is a schematic structural diagram of the driving structure of the flexible multi-joint surgical forceps cable according to an embodiment of the present invention from another perspective.

[0016] Numbers in the figure: 1, sleeve rod; 11, steering platform; 12, traction rope; 13, protective cover; 2, clamping plate; 21, transition block; 3, steering seat; 31, first rotating frame; 32, second rotating frame; 4, rotating block; 41, connecting plate; 42, connecting head; 43, rotating shaft. DETAILED DESCRIPTION

[0017] In order to provide a further understanding of the purpose, structure, features and functions of the present invention, the present invention is described in detail below with reference to the embodiments.

[0018] 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.

[0019] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the driving structure of the flexible multi-joint surgical forceps cable according to an embodiment of the utility model. Figure 2 This is a schematic structural diagram of the driving structure of the flexible multi-joint surgical forceps cable according to an embodiment of the present invention from another perspective.

[0022] The utility model provides a driving structure of a flexible multi-joint surgical forceps rope, which comprises a sleeve rod 1, a steering platform 11, a steering seat 3, a rotating frame assembly and a clamping plate assembly connected in sequence, wherein the sleeve rod 1, the steering platform 11 and the steering seat 3 are coaxially arranged, the rotating frame assembly is arranged on the end surface of the steering seat 3, and the clamping plate assembly is connected to the rotating frame assembly. A rotating motor (not shown in the figure) is arranged inside the steering platform 11, and the output shaft of the rotating motor is connected to the steering seat 3. The rotating motor can drive the steering seat 3 to rotate, drive the rotating frame assembly and the clamping plate assembly to rotate synchronously, thereby adjusting the clamping direction.

[0023] The rotating frame assembly includes a first rotating frame 31, a second rotating frame 32, a rotating shaft 43, a rotating block 4 and a traction rope 12. There are two first rotating frames 31, and the two first rotating frames 31 are respectively arranged on both sides of the end surface of the steering seat 3, and the second rotating frame 32 is arranged between the two first rotating frames 31. There are two rotating blocks 4, and the two rotating blocks 4 are rotatably installed between the second rotating frame 32 and the two first rotating frames 31 through the rotating shaft 43. There are four traction ropes 12, and the two sides of each rotating block 4 are respectively connected with traction ropes 12, one end of each traction rope 12 is connected to the side of the corresponding rotating block 4, and the other end of each traction rope 12 passes through the steering seat 3, the steering platform 11 and the sleeve rod 1 in sequence. The clamping plate assembly includes two clamping plates 2, and the two clamping plates 2 are respectively connected to the two rotating blocks 4.

[0024] During application, the traction rope 12 on one side of the rotating block 4 can drive the rotating block 4 to rotate around the corresponding rotating axis 43, thereby driving the corresponding clamping plate 2 to rotate; in this way, by simultaneously pulling the traction ropes 12 on different sides of the two rotating blocks 4 to make the two rotating blocks 4 rotate in opposite directions, the two clamping plates 2 can be driven to open or close, so that the two clamping plates 2 cooperate to achieve the clamping function.

[0025] Preferably, the plane corresponding to the second rotating frame 32 is perpendicular to the plane corresponding to the clamping plate 2, and the central axis of the rotating shaft 43 is perpendicular to the plane corresponding to the second rotating frame 32. In this way, the two clamping plates 2 can be opened and closed by the opposite rotation of the two rotating blocks 4.

[0026] In some preferred embodiments of the present invention, the rotating block 4 is connected to the corresponding clamping plate 2 through a transition block 21, and the two clamping plates 2 are arranged opposite to each other, and the two transition blocks 21 are arranged alternately.

[0027] In some other preferred embodiments of the utility model, the outer sleeve of the traction rope 12 is provided with a protective sleeve 13, and the protective sleeve 13 passes through the steering seat 3, the steering platform 11 and the sleeve rod 1. The protective sleeve 13 is used to protect the traction rope 12, reduce the friction loss of the traction rope 12, and extend the service life of the device.

[0028] In some other preferred embodiments of the present invention, connecting plates 41 are provided on both sides of the rotating block 4 , connecting heads 42 are provided on the connecting plates 41 , and the connecting heads 42 are connected to the corresponding traction ropes 12 .

[0029] In some embodiments, a servo motor and a winding roller structure can be used to realize the traction action of the traction rope 12, specifically: for the same rotating block 4, the ends of the traction ropes 12 on both sides that are not connected to the rotating block 4 are wound on the winding roller, and the winding directions of the two traction ropes 12 are opposite. The servo motor drives the winding roller to rotate, and the traction rope 12 on one side is wound on the winding roller, and the traction rope 12 on the other side is rolled out from the winding roller, thereby driving the rotating block 4 to rotate, and the rotating block 4 then drives the corresponding clamping plate 2 to rotate. Of course, the utility model is not limited to this. In other embodiments, other reasonable structures can also be used to realize the traction action of the traction rope 12.

[0030] In the application of the above-mentioned flexible multi-joint surgical forceps rope driving structure, the servo motor inside the turning platform 11 can drive the turning seat 3 to rotate, driving the rotating frame assembly and the clamping plate assembly to rotate synchronously, thereby adjusting the clamping direction; by simultaneously pulling the traction ropes 12 on different sides of the two rotating blocks 4 to make the two rotating blocks 4 rotate in opposite directions, the two clamping plates 2 can be driven to open or close, so that the two clamping plates 2 cooperate to realize the clamping function, and the operation is flexible, stable and convenient.

[0031] To sum up, the utility model provides a driving structure of a flexible multi-joint surgical forceps rope, which realizes the rotation of the rotating block and the clamping plate through two traction ropes on both sides of the rotating block, and the two clamping plates cooperate with each other to realize the opening and closing function. The overall structure is simple and occupies a small space. It can meet the use requirements in a smaller space, achieve lightweight and miniaturization, and ensure operational flexibility and stability.

[0032] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, any changes and modifications made without departing from the spirit and scope of the present invention are within the scope of patent protection of the present invention.

Claims

1. A driving structure for a flexible multi-jointed surgical forceps cable, characterized in that: The invention relates to a wheeled vehicle, wherein the wheeled vehicle has a first end and a second end, and wherein the wheeled vehicle has a first end and a second end. The wheeled vehicle has a first end and a second end. The wheeled vehicle has a first end and a second end. The wheeled vehicle has a first end and a second end.

2. The driving structure of the flexible multi-joint surgical forceps cable as claimed in claim 1, characterized in that: The plane corresponding to the second rotating frame is perpendicular to the plane corresponding to the clamping plate.

3. The driving structure of the flexible multi-joint surgical forceps cable as claimed in claim 2, characterized in that: The central axis of the rotating shaft is perpendicular to the plane corresponding to the second rotating frame.

4. The driving structure of the flexible multi-joint surgical forceps cable as claimed in claim 1, characterized in that: The rotating block is connected to the corresponding clamping plate through a transition block, and the two clamping plates are arranged opposite to each other, and the two transition blocks are arranged in a staggered manner.

5. The driving structure of the flexible multi-joint surgical forceps cable as claimed in claim 1, characterized in that: The outer sleeve of the traction rope is provided with a protective sleeve, and the protective sleeve passes through the steering seat, the steering platform and the sleeve rod.

6. The driving structure of the flexible multi-joint surgical forceps cable as claimed in claim 1, characterized in that: Connecting plates are provided on both sides of the rotating block, and connecting heads are provided on the connecting plates. The connecting heads are connected to corresponding traction ropes.

7. The driving structure of the flexible multi-joint surgical forceps cable as claimed in claim 1, characterized in that: A rotating motor is arranged inside the turning platform, and an output shaft of the rotating motor is connected to the turning seat.

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