Transmission device

Abstract

The transmission device comprises an upper cover and a base which are fixedly connected, a round hole formed in the upper cover is connected with a first connecting pipe, the end, with the smaller diameter, of the first connecting pipe is located in the base, a second connecting pipe connected with the first connecting pipe is located in the base, a directional groove is formed in the inner wall of the second connecting pipe, and a limiting groove communicated with the directional groove is formed in the circumferential direction of the second connecting pipe. The positioning pin is used for being matched with a positioning boss on the endoscope; a ball plunger is arranged on the inner wall of the second connecting pipe in the circumferential direction and used for being matched with a clamping groove in the endoscope; the first cylindrical gear is rotationally connected with the second connecting pipe and the base, the endoscope is assembled at the first cylindrical gear and cannot rotate relative to the first cylindrical gear, the first cylindrical gear is meshed with the second cylindrical gear, the second cylindrical gear is driven by a transmission shaft to rotate, and the transmission shaft is driven by a driving device on the surgical robot; the transmission device comprises two clamping mechanisms which are in mirror symmetry and used for achieving assembly and disassembly of the transmission device and the driving device. The device can be conveniently assembled and disassembled with the endoscope and the driving device.

Description

Technical Field

[0001] The utility model relates to a transmission device. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. With the development of robotics technology, minimally invasive surgical robot technology has emerged. When in use, the endoscope needs to be connected to the driving device of the surgical robot through a transmission device so that the surgical robot can drive the endoscope to perform corresponding actions.

[0003] The existing transmission device is composed of multiple components that cooperate with each other for transmission, and the connection between the transmission device and the endoscope and the driving device of the surgical robot is relatively complicated, requiring professional disassembly and assembly tools for disassembly and assembly. In addition, the large number of cooperating components in the transmission device greatly shortens the effective use length of the endoscope. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the present application proposes a transmission device so as to realize convenient assembly and disassembly between an endoscope and the transmission device, and between the transmission device and a driving device of a surgical robot.

[0005] In order to achieve the above-mentioned purpose, the present application proposes a transmission device, comprising a base with an upper end opening, an upper cover fixedly connected to the upper end of the base, a circular hole provided on the upper cover, a trumpet-shaped first connecting tube fixedly connected to the circular hole, and an end of the first connecting tube with a larger diameter is fixed to the circular hole, an end of the first connecting tube with a smaller diameter is in the inner cavity of the base, and a second connecting tube is also in the inner cavity of the base along the up-down direction, the top end of the second connecting tube is connected to the end of the first connecting tube with a smaller diameter, the second connecting tube is coaxially arranged with the first connecting tube, at the connection between the first connecting tube and the second connecting tube, the inner diameter of the second connecting tube is smaller than the inner diameter of the first connecting tube, at least one directional groove is provided on the inner wall of the second connecting tube, all the directional grooves are arranged at intervals along the circumferential direction, each directional groove is arranged along the up-down direction, and the upper end of the directional groove starts from the top end of the second connecting tube, and the end of the first connecting tube with a smaller diameter can smoothly dock with the directional groove; a limiting groove is provided on the inner wall of the second connecting tube along the circumferential direction, and the limiting groove is in the There is a directional groove below, and it is connected with all the directional grooves, and the directional groove and the limit groove are used to cooperate with the positioning boss provided on the endoscope; a plurality of ball head plungers are also arranged at intervals along the circumferential direction on the inner wall of the second connecting tube, each ball head plunger is arranged along the radial direction of the second connecting tube, and the ball head plunger is located above the limit groove, and is used to cooperate with the clamping groove provided along the circumferential direction on the endoscope. When the endoscope is rotated, each ball head plunger can slide in the clamping groove; the second connecting tube is rotatably connected to the first cylindrical gear, and the first cylindrical gear is rotatably connected to the base, part of the endoscope is assembled at the first cylindrical gear, and cannot rotate relative to the first cylindrical gear, the first cylindrical gear is meshed with the second cylindrical gear, and the second cylindrical gear is driven to rotate by the transmission shaft, and the transmission shaft is used to be driven to rotate by the driving device on the surgical robot, and the transmission shaft is connected to the upper cover and the base through bearings respectively; the transmission device also includes two clamping mechanisms arranged in a mirror-symmetrical manner, which are used to realize the assembly and disassembly of the transmission device and the driving device on the surgical robot.

[0006] In some embodiments, the inner wall of the lower end of the second connecting tube is connected to the outer ring of the first bearing, and the inner ring of the first bearing is connected to the first cylindrical gear; the first cylindrical gear includes a hollow cylinder, and a rack is provided along the circumferential direction at the middle position of the outer wall of the hollow cylinder, the upper end of the outer wall of the hollow cylinder is connected to the inner ring of the first bearing, and the lower end of the hollow cylinder is rotatably connected to the base, and a positioning portion is provided on the inner wall of the hollow cylinder for cooperating with the endoscope to achieve accurate assembly of the endoscope at the first cylindrical gear, and the assembled endoscope cannot rotate relative to the first cylindrical gear.

[0007] In some embodiments, a cylindrical pin is provided on the second cylindrical gear, and a limiting mechanism is provided in the base. The limiting mechanism is used in conjunction with the cylindrical pin. When the cylindrical pin rotates to a preset position, it is limited by the limiting mechanism.

[0008] In some embodiments, the clamping mechanism includes a clamping piece, and the clamping piece includes a vertical connecting block and a transverse connecting block that are fixedly connected, and the two are vertically connected, the upper end of the vertical connecting block is fixedly connected to one end of the connecting shaft of the button, and the other end of the connecting shaft of the button is fixedly connected to the pressing part of the button, and the connecting shaft passes through a through hole provided on the base and can move relative to the through hole, the lower end of the vertical connecting block is fixed to the upper surface of the transverse connecting block, and the end of the transverse connecting block away from the first cylindrical gear forms a clamping block, which can pass through the side opening provided on the base and be clamped to the driving device of the surgical robot to realize the assembly of the transmission device and the driving device, and the transverse connecting block is provided with a accommodating cavity, and the starting end of the accommodating cavity is from the transverse connecting block Starting from one end near the first cylindrical gear, the transverse connecting block can slide along the slide groove set in the base, one end of the spring is fixed in the accommodating cavity, and the other end of the spring is fixed at the inner wall of the slide groove; when the two buttons are pressed at the same time, the two transverse connecting blocks slide along the corresponding slide grooves, and the two gradually approach each other, so that the two clamping blocks gradually retract into the base, and the disassembly of the transmission device and the driving device is completed at this time; during assembly, the position between the transmission device and the driving device is adjusted, the two buttons are released, the two transverse connecting blocks slide along the corresponding slide grooves, and the two gradually move away from each other, so that the two clamping blocks extend out of the base through the corresponding side openings and are clamped to the driving device, and the installation of the transmission device and the driving device is completed at this time.

[0009] The beneficial effect of the solution of the present application is that the transmission device can realize convenient assembly and disassembly between the endoscope and the transmission device, and between the transmission device and the driving device of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The schematic diagram of the structure of the transmission device in the embodiment is shown.

[0011] Figure 2 A partial structural schematic diagram of a transmission device in an embodiment is shown.

[0012] Figure 3 A partial structural schematic diagram of a transmission device in an embodiment is shown.

[0013] Figure 4 The schematic diagram of the structure of the upper cover in the embodiment is shown.

[0014] Figure 5 A schematic structural diagram of the first cylindrical gear in the embodiment is shown.

[0015] Figure 6 A schematic cross-sectional structure diagram of a transmission device in an embodiment is shown.

[0016] Figure 7 (a) shows a schematic diagram of the structure of an endoscope in the prior art; (b) shows a schematic diagram of an endoscope with a disposable sterile sheath in the prior art.

[0017] Figure markings: 1-upper cover, 2-base, 3-screw, 4-first connecting tube, 5-second connecting tube, 6-directional groove, 7-limiting groove, 8-ball plunger, 9-bearing seat, 10-first cylindrical gear, 11-hollow cylinder, 12-rack, 13-positioning part, 14-first bearing, 15-second cylindrical gear, 16-transmission shaft, 17-cylindrical pin, 18-limiting mechanism, 19-button, 20-clamping part, 21-vertical connecting block, 22-lateral connecting block, 23-clamping block, 24-accommodating chamber, 25-spring, 26-slide groove, 27-chip set, 28-side opening, 29-round hole, A-endoscope, B-disposable sterile sheath, A01-cage, A02-positioning boss. DETAILED DESCRIPTION

[0018] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0019] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0020] like Figures 1 to 7As shown, the transmission device involved in the present application includes a base 2 with an opening at the upper end, and an upper cover 1 is fixedly connected to the upper end of the base 2. Specifically, the upper cover 1 is fixed to the base 2 by screws 3. A circular hole 29 is provided on the upper cover 1, and a trumpet-shaped first connecting tube 4 is fixedly connected to the circular hole 29, and the end of the first connecting tube 4 with a larger diameter is fixed to the circular hole 29, and the end of the first connecting tube 4 with a smaller diameter is in the inner cavity of the base 2. The second connecting tube 5 is also in the inner cavity of the base 2 along the up and down directions, and the top end of the second connecting tube 5 is connected to the end of the first connecting tube 4 with a smaller diameter. The second connecting tube 5 is coaxially arranged with the first connecting tube 4, and at the connection between the first connecting tube 4 and the second connecting tube 5, the second connecting tube 5 The inner diameter of the second connecting tube 5 is smaller than the inner diameter of the first connecting tube 4. At least one orientation groove 6 is provided on the inner wall of the second connecting tube 5. All orientation grooves 6 are arranged along the circumferential interval. Each orientation groove 6 is arranged along the axial direction (up and down direction), and the upper end of the orientation groove 6 starts from the top of the second connecting tube 5. The end of the first connecting tube 4 with a smaller diameter can smoothly dock with the orientation groove 6. That is to say, at the connection between the first connecting tube 4 and the second connecting tube 5, the sum of the inner diameter radius of the second connecting tube 5 and the depth of the orientation groove 6 is equal to the inner diameter radius of the end of the first connecting tube 4 with a smaller diameter.

[0021] A limiting groove 7 is provided along the circumferential direction on the inner wall of the second connecting tube 5, and the limiting groove 7 is located below all the directional grooves 6 and is connected with all the directional grooves 6. The directional grooves 6 and the limiting groove 7 are used for use in conjunction with the positioning boss A02 provided on the endoscope A or the positioning boss A02 provided on the endoscope A with a disposable sterile sheath B; a plurality of ball plungers 8 are also provided at intervals along the circumferential direction on the inner wall of the second connecting tube 5, and each ball plunger 8 is arranged along the radial direction of the second connecting tube 5, and the ball plunger 8 is located above the limiting groove 7, and is used for use in conjunction with the card slot A01 provided along the circumferential direction on the endoscope A or the card slot A01 provided along the circumferential direction on the endoscope A with a disposable sterile sheath B. When the endoscope A is rotated, each ball plunger 8 can slide in the card slot A01.

[0022] The inner wall of the lower end of the second connecting tube 5 is connected to the outer ring of the first bearing 14, and the inner ring of the first bearing 14 is connected to the first cylindrical gear 10. Specifically, the first cylindrical gear 10 includes a hollow cylinder 11, and a rack 12 is circumferentially provided at the middle position of the outer wall of the hollow cylinder 11, the upper end of the outer wall of the hollow cylinder 11 is connected to the inner ring of the first bearing 14, and the lower end of the hollow cylinder 11 is rotatably connected to the base 2. Specifically, the lower end of the hollow cylinder 11 can be connected to the base 2 via another bearing, or an annular groove is provided in the base 2, and the lower end of the hollow cylinder 11 can rotate in the groove; a positioning portion 13 is provided on the inner wall of the hollow cylinder 11 for cooperating with the endoscope A to achieve accurate assembly of the endoscope A at the first cylindrical gear 10, and the assembled endoscope A cannot rotate relative to the first cylindrical gear 10.

[0023] The first cylindrical gear 10 is meshed with the second cylindrical gear 15, and the second cylindrical gear 15 is driven to rotate by a transmission shaft 16. The transmission shaft 16 is used to be driven to rotate by a driving device on the surgical robot. The transmission shaft 16 is connected to the upper cover 1 and the base 2 via bearings respectively. Specifically, a bearing seat 9 is provided on the lower surface of the upper cover 1, and the transmission shaft 16 is connected to the bearing seat 9 via a bearing.

[0024] In order to limit the rotation range of the endoscope A, a cylindrical pin 17 is provided on the second cylindrical gear 15, and a limiting mechanism 18 is provided in the base 2. For example, the limiting mechanism 18 adopts a limiting baffle. The limiting mechanism 18 is used in conjunction with the cylindrical pin 17. When the cylindrical pin 17 is rotated to a preset position, it is limited by the limiting mechanism 18. When the endoscope is rotated clockwise or counterclockwise, it can be rotated to the corresponding limiting position.

[0025] In order to achieve convenient assembly and disassembly with the driving device of the surgical robot, the transmission device also includes two clamping mechanisms arranged in a mirror-symmetrical manner, and the clamping mechanism includes a clamping member 20, and the clamping member 20 includes a fixedly connected vertical connecting block 21 (arranged in the up and down direction) and a horizontal connecting block 22, which are vertically connected. The upper end of the vertical connecting block 21 is fixedly connected to one end of the connecting shaft of the button 19, and the other end of the connecting shaft of the button 19 is fixedly connected to the pressing part of the button 19. The connecting shaft passes through the through hole provided on the base 2 and can move relative to the through hole. The lower end of the vertical connecting block 21 is fixed to the upper end of the horizontal connecting block 22. On the surface, the end of the transverse connecting block 22 away from the first cylindrical gear 10 forms a clamping block 23, which can pass through the side opening 28 provided on the base 2 and be clamped to the driving device of the surgical robot to realize the assembly of the transmission device and the driving device. An accommodating cavity 24 is provided in the transverse connecting block 22, and the starting end of the accommodating cavity 24 starts from the end of the transverse connecting block 22 close to the first cylindrical gear 10. The transverse connecting block 22 can slide along the slide groove 26 provided in the base 2, one end of the spring 25 is fixed in the accommodating cavity 24, and the other end of the spring 25 is fixed to the inner wall of the slide groove 26. When the two buttons 19 are pressed at the same time, the two transverse connecting blocks 22 slide along the corresponding sliding grooves 26, and the two gradually approach each other, so that the two clamping blocks 23 gradually retract into the base 2, and the disassembly of the transmission device and the driving device is completed at this time; during assembly, the position between the transmission device and the driving device is adjusted, the two buttons 19 are released, the two transverse connecting blocks 22 slide along the corresponding sliding grooves 26, and the two gradually move away from each other, so that the two clamping blocks 23 extend out of the base 2 through the corresponding side openings 28 and are clamped onto the driving device, and the installation of the transmission device and the driving device is completed at this time.

[0026] In order to automatically detect whether the transmission device is installed with the drive device, a chipset 27 is also provided at the base 2. The various connection contacts of the chipset 27 are used in conjunction with the detection circuit provided in the drive device. When the transmission device and the drive device are installed, the various connection contacts in the chipset 27 are just connected to the detection circuit in the drive device. The detection circuit transmits information to the control unit of the drive device, and the control unit sends a signal to drive the transmission shaft 16 to rotate.

[0027] In a specific use process, the endoscope A is inserted along the first connecting tube 4 and the second connecting tube 5, and the endoscope A is accurately assembled on the first cylindrical gear 10 through the positioning portion 13, and the endoscope A cannot rotate relative to the first cylindrical gear 10. During this process, the positioning boss A02 provided on the endoscope A slides downward along the directional groove 6 until it slides to the limiting groove 7. The endoscope A is rotated, and the first cylindrical gear 10 rotates synchronously. At this time, the positioning boss A02 on the endoscope A rotates into the limiting groove 7, and each ball head plunger 8 is used in conjunction with the card slot A01 provided on the endoscope A, so that the endoscope A can be rotated. At this time, endoscope A can only rotate and cannot move axially relative to the transmission device. At this point, the installation of endoscope A and the transmission device is completed. Specifically, the operator can determine whether endoscope A and the transmission device are installed in place by observing whether the ball plunger 8 is in the slot A01 on endoscope A. When disassembly is required, first rotate the endoscope A to align the positioning boss A02 with the directional groove 6, and then pull out the endoscope A. During this process, each ball plunger 8 will cooperate with the slot A01 on endoscope A. As the endoscope A is pulled out, each ball plunger 8 will gradually move out of the way until it is out of the slot A01.

[0028] When the two buttons 19 are pressed at the same time, the two transverse connecting blocks 22 slide along the corresponding sliding grooves 26, and the two gradually approach each other, so that the two clamping blocks 23 gradually retract into the base 2, and the disassembly of the transmission device and the driving device is completed at this time; during assembly, the position between the transmission device and the driving device is adjusted, the two buttons 19 are released, the two transverse connecting blocks 22 slide along the corresponding sliding grooves 26, and the two gradually move away from each other, so that the two clamping blocks 23 extend out of the base 2 through the corresponding side openings 28 and are clamped onto the driving device, and the installation of the transmission device and the driving device is completed at this time.

[0029] The assembly and disassembly of the endoscope A with the disposable sterile sheath B and the transmission device are similar to the above process and will not be described in detail here.

[0030] The transmission device involved in the present application can realize convenient assembly and disassembly between the endoscope and the transmission device, and between the transmission device and the driving device of the surgical robot. The transmission device involved in the present application has an optimal axial dimension design, which greatly improves the working length of the endoscope while meeting the prerequisite of installing the endoscope alone or installing the endoscope with a disposable sterile sheath; through the convenient assembly and disassembly method, the purpose of rapid assembly and disassembly in the operating room without professional assembly and disassembly tools is achieved.

[0031] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A transmission device, characterized in that: A base with an opening at the upper end is fixedly connected to an upper cover at the upper end of the base, a circular hole is provided on the upper cover, a trumpet-shaped first connecting tube is fixedly connected to the circular hole, and an end of the first connecting tube with a larger diameter is fixed to the circular hole, an end of the first connecting tube with a smaller diameter is in the inner cavity of the base, and a second connecting tube is also in the inner cavity of the base along the up-down direction, a top end of the second connecting tube is connected to an end of the first connecting tube with a smaller diameter, the second connecting tube is coaxially arranged with the first connecting tube, at a connection between the first connecting tube and the second connecting tube, an inner diameter of the second connecting tube is smaller than an inner diameter of the first connecting tube, at least one orientation groove is provided on the inner wall of the second connecting tube, all the orientation grooves are arranged at intervals along the circumferential direction, each orientation groove is arranged along the up-down direction, and an upper end of the orientation groove starts from the top end of the second connecting tube, and an end of the first connecting tube with a smaller diameter can smoothly dock with the orientation groove; a limiting groove is provided on the inner wall of the second connecting tube along the circumferential direction, the limiting groove is below all the orientation grooves and is aligned with all the orientation grooves. There are directional grooves connected, and the directional grooves and the limiting grooves are used to cooperate with the positioning bosses provided on the endoscope; a plurality of ball head plungers are also arranged at intervals along the circumferential direction on the inner wall of the second connecting tube, each ball head plunger is arranged along the radial direction of the second connecting tube, and the ball head plunger is located above the limiting groove, and is used to cooperate with the clamping grooves provided along the circumferential direction on the endoscope. When the endoscope is rotated, each ball head plunger can slide in the clamping groove; the second connecting tube is rotatably connected to the first cylindrical gear, and the first cylindrical gear is rotatably connected to the base. Part of the endoscope is assembled at the first cylindrical gear and cannot rotate relative to the first cylindrical gear. The first cylindrical gear is meshed with the second cylindrical gear. The second cylindrical gear is driven to rotate by a transmission shaft, and the transmission shaft is used to be driven to rotate by a driving device on the surgical robot. The transmission shaft is connected to the upper cover and the base through bearings respectively; the transmission device also includes two clamping mechanisms arranged in a mirror-symmetrical manner, which are used to realize the assembly and disassembly of the transmission device and the driving device on the surgical robot.

2. The transmission device according to claim 1, characterized in that: The inner wall of the lower end of the second connecting tube is connected to the outer ring of the first bearing, and the inner ring of the first bearing is connected to the first cylindrical gear; the first cylindrical gear includes a hollow cylinder, and a rack is provided along the circumferential direction at the middle position of the outer wall of the hollow cylinder, the upper end of the outer wall of the hollow cylinder is connected to the inner ring of the first bearing, and the lower end of the hollow cylinder is rotatably connected to the base, and a positioning portion is provided on the inner wall of the hollow cylinder for cooperating with the endoscope to achieve accurate assembly of the endoscope at the first cylindrical gear, and the assembled endoscope cannot rotate relative to the first cylindrical gear.

3. The transmission device according to claim 1, characterized in that: A cylindrical pin is provided on the second cylindrical gear, and a limiting mechanism is provided in the base. The limiting mechanism is used in conjunction with the cylindrical pin. When the cylindrical pin rotates to a preset position, the limiting mechanism is used to limit the position.

4. The transmission device according to claim 1, characterized in that: The clamping mechanism includes a clamping piece, and the clamping piece includes a vertical connecting block and a horizontal connecting block that are fixedly connected, and the two are vertically connected. The upper end of the vertical connecting block is fixedly connected to one end of the connecting shaft of the button, and the other end of the connecting shaft of the button is fixedly connected to the pressing part of the button, and the connecting shaft passes through a through hole provided on the base and can move relative to the through hole. The lower end of the vertical connecting block is fixed to the upper surface of the horizontal connecting block, and the end of the horizontal connecting block away from the first cylindrical gear forms a clamping block, which can pass through the side opening provided on the base and be clamped to the driving device of the surgical robot to realize the assembly of the transmission device and the driving device. The horizontal connecting block is provided with a accommodating cavity, and the starting end of the accommodating cavity is from the horizontal connecting block close to the Starting from one end of the first cylindrical gear, the transverse connecting block can slide along the slide groove set in the base, one end of the spring is fixed in the accommodating cavity, and the other end of the spring is fixed at the inner wall of the slide groove; when the two buttons are pressed at the same time, the two transverse connecting blocks slide along the corresponding slide grooves, and the two gradually approach each other, so that the two clamping blocks gradually retract into the base, and the disassembly of the transmission device and the driving device is completed at this time; during assembly, the position between the transmission device and the driving device is adjusted, the two buttons are released, the two transverse connecting blocks slide along the corresponding slide grooves, and the two gradually move away from each other, so that the two clamping blocks extend out of the base through the corresponding side openings and are clamped to the driving device, and the installation of the transmission device and the driving device is completed at this time.

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