Two-stage end effector for transurethral and transvaginal rigid endoscopic surgical robot

Abstract

A two-stage end effector for a transurethral and vaginal rigid endoscopic surgical robot includes two detachable front and rear sections and an execution end tooling, wherein the front section of the detachable front and rear sections is the execution end and the rear section is the power end; the execution end tooling is connected to one end of the execution end; the execution end includes: a passive bottom plate, a passive housing, a fixed lock, a screw, a PIN male seat, a passive sealing plate, a slide groove pressure plate, a waterproof plate, a sliding block, a screw nut, a front bearing plate, and an information board. In the above-mentioned highly integrated two-stage end effector, an information board is set in the execution end, and a control board is integrated in the power end. The control board is connected to the information board, the motor, the button and the connector, and the control board integrates the information command and transmits it to the host computer through the connector.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and specifically relates to a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot. Background Art

[0002] The end effector is an end-effector tool that can be used in transurethral and transvaginal rigid endoscopic surgical robots. It is used to clamp the resectoscope and drive the resectoscope to complete the surgical operation. During the surgical robot operation, the safe and stable operation of the end effector is the key to ensuring the smooth progress of the operation, the key to ensuring the safety of the robotic surgery, and the key to ensuring the accuracy of the surgical robot operation. However, the reliability, stability, and safety of the existing end effectors are still not satisfactory. Utility Model Content

[0003] The inventor of the utility model realizes that the high-integration design of the end effector is the key to improving the working stability of the end effector. The high-integration design reduces the connection of key circuits, reduces uncertainty factors, and improves the stability of the end effector. The end effector is internally installed with electrical components such as motors and control boards, which have relatively high requirements for waterproofing. There is a risk of waterproofing failure, which reduces the stability of the end effector. The inventor of the utility model designed a two-stage end effector that separates the actuator end and the power end. The actuator end is designed with a transmission part and a clamping part, and the power end is designed with electrical components such as a motor and a control board. The actuator end is mainly a transmission part and does not require a waterproof design. The power end is designed with a motor and a control board, which requires a waterproof design. Water ingress during surgery is mainly at the actuator end, so this design improves the stability of the actuator, and its stability is the guarantee for the smooth progress of the operation.

[0004] The end effector end will be contaminated with human body fluids after use. To prevent cross infection, an information board is set at the end effector end to record the use information of the end effector and improve the safety of surgery. The design of the end effector end tooling is used to burn the end effector related programs and read the end effector related use information.

[0005] The highly integrated two-stage end effector of the utility model divides the end effector into an end effector power end and an end effector execution end. The end effector power end is provided with power components and electrical components such as a motor, a coupling, an output adapter shaft, and a control panel, and the end effector execution end is provided with components and electrical components such as a lead screw, a sliding block, and an information panel, and the power components of the end effector power end can provide power for the end effector execution end resectoscope to complete the surgical work. A motor support seat (113) is provided on the power base plate (101) of the end effector power end, and the internal motor (115) is fixed on the motor support seat (113). The motor shaft is connected to the output adapter shaft (106) through a coupling (114), one end of the output adapter shaft (106) is fixed on the coupling (114), and the output adapter shaft (106) is mounted on the active sealing plate (104) through a bearing support, and the other end of the output adapter shaft (106) is a concave hexagonal shape. In this way, when the concave hexagonal shape of the output adapter shaft (106) is connected to the convex hexagonal shape of one end of the actuator end lead screw, the motor power can be input to the lead screw (204), and then drive the trigger of the electric resectoscope to reciprocate, and the transmission structure is simple and effective.

[0006] In the highly integrated two-stage end effector provided by the utility model, the active sealing plate (104) of the power end and the locking nut (105) are connected by threads, so that the locking nut (105) axially presses the spiral buckle (109) and can freely rotate in a circle on the central groove of the active sealing plate (104). The spiral buckle (109) of the power end of the end effector and the fixed locking buckle (203) fixed on the execution end of the end effector have corresponding spiral protrusions and spiral grooves, and the separation and locking of the power end and the execution end of the end effector are achieved through spiral movement.

[0007] In the highly integrated two-stage end effector provided by the utility model, the switch push block (107) drives the push block connector (108) to rotate, thereby driving the rotation of the spiral buckle (109). When it rotates to the locked position, the elastic force of the spring (110) pushes the lock button (111) to lock the switch push block (107), locking the power end and the execution end of the end effector and preventing them from loosening. Pressing the lock button (111) and pushing the switch push block (107) can separate the power end and the execution end of the end effector. The two ends of the end effector can be separated and locked more conveniently, and the hidden design of the switch makes the appearance of the end effector more beautiful. The locking device can effectively ensure the reliability of the connection between the power end and the execution end.

[0008] In the highly integrated two-stage end effector provided by the utility model, an information board (212) is arranged in the execution end, and a control board (116) is integrated in the power end. The control board (116) is connected to the information board (212), the motor (115), the button (121) and the connector (118). The control board (116) integrates information commands and transmits them to the host computer through the connector (118).

[0009] In the highly integrated two-stage end effector provided by the utility model, the anti-disassembly label (103) on the fixing plate of the power end can effectively prevent non-professionals from disassembling the power end of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is an overall structural diagram of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0011] Figure 2 This is a disassembled structural diagram of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0012] Figure 3 It is a schematic diagram of the front end structure of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0013] Figure 4 It is a schematic diagram of the internal structure of the front end actuator of a highly integrated two-stage end actuator for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0014] Figure 5 It is a schematic diagram of the power end structure of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0015] Figure 6 It is a schematic diagram of the end surface structure of the power end of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0016] Figure 7 It is a schematic diagram of the internal structure of the power end of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0017] Figure 8 It is a schematic diagram of the electrical connection structure of a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0018] Fig. 9It is a schematic diagram of the structure of the execution end tooling circuit board in the highly integrated two-stage end effector for the transurethral and transvaginal rigid endoscopic surgical robot provided by the embodiment of the utility model.

[0019] Fig.10 It is a schematic diagram of the connection structure of the execution end tooling circuit board in the highly integrated two-stage end effector for the transurethral and transvaginal rigid endoscopic surgical robot provided by the embodiment of the utility model. DETAILED DESCRIPTION

[0020] like Figure 1 , Figure 2 As shown, an embodiment of the utility model provides a highly integrated two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot, comprising two detachable front and rear sections and an execution end tooling (3), wherein the front section of the detachable front and rear sections is the execution end (2) and the rear section is the power end (1); the execution end tooling (3) is connected to one end of the execution end (2).

[0021] like Figure 3 , Figure 4 As shown, the execution end (2) includes: a passive base plate (201), a passive housing (202), a fixed lock (203), a screw (204), a PIN male seat (205), a passive sealing plate (206), a slide groove pressure plate (207), a waterproof plate (208), a sliding block (209), a screw nut (210), a front bearing plate (211), and an information plate (212). The passive base plate (201) is a flat plate, the passive housing (202) is a semi-cylindrical shell, and the passive sealing plate (206) is a semi-circular flat plate. The three are installed together to define the internal space of the end actuator execution end (2). Because the information plate (212) is relatively small in size, 17mm*12mm, it is installed in a special groove and is strictly sealed with a three-proof paint or a sealant to ensure that the information plate (212) does not come into contact with water.

[0022] like Figure 3 As shown, the passive sealing plate (206) is provided with an O-ring groove (20601), in which an O-ring is placed to prevent liquid from entering the PIN male seat (205) during surgery and causing leakage, thereby playing a sealing role.

[0023] like Figure 4 As shown, a first PIN female socket is arranged in the execution end tooling (3), and the first PIN female socket is connected to the PIN male socket (205) of the execution end of the end actuator, so as to realize the burning of the program and the reading of the information on the information board (212) on the execution end (2).

[0024] like Figure 2As shown, the passive base plate (201) of the front end execution end (2) is fixed with a front clip (213), a rear clip (214) and a shifting block (215) of the resectoscope.

[0025] like Figure 5 , Figure 6 As shown, the power end (1) includes an active base plate (101), an active housing (102), an anti-disassembly label (103), an active sealing plate (104), a lock nut (105), an output adapter shaft (106), a switch push block (107), a push block connector (108), a spiral buckle (109), a spring (110), a lock button (111), a second PIN nut (112), a motor support base (113), a coupling (114), and a motor (115).

[0026] like Figure 5 , Figure 6 As shown, the active bottom plate (101) is a flat plate, the active housing (102) is a semi-cylindrical shell, and the active cover plate (104) is a semi-circular flat plate. The three are assembled and installed together to define the internal space of the power end (1).

[0027] like Figure 7 As shown, the motor support seat (113) is fixedly mounted on the inner side of the active base plate (101), and the motor (115) is fixedly mounted on the motor support seat (113). The motor shaft is connected to the output adapter shaft (106) through a coupling (114). One end of the output adapter shaft (106) is fixed on the coupling (114), and the middle is mounted on the active cover plate (104) through a bearing. The active cover plate (104) is designed with a bearing. The output adapter shaft (106) is mounted on the active cover plate (104) through a bearing support. The other end of the output adapter shaft (106) is a concave hexagonal shape. When it is connected with the convex hexagonal shape at one end of the lead screw (204) at the execution end, the motor power is input to the lead screw (204), and then further drives the shift block (215) to move, thereby driving the trigger of the electrosurgical resectoscope to reciprocate. As shown Figure 7 As shown, a button (121) and a control panel (116) are also installed on the active bottom plate (101); the active bottom plate (101) is fixedly connected to one side of the base (122). The light-transmitting plate (120), the light panel (117), and the joint (118) are fixedly connected to the other side of the base (122). The base (122) is fixedly connected to the flange (119), so that the end effector and the robot arm are fixedly connected.

[0028] like Figure 5 , Figure 6As shown, the lock buckle nut (105) is fixedly connected to the active sealing plate (104) by screw thread, so that the lock buckle nut (105) axially presses the spiral buckle (109), and a small gap is designed between the lock buckle nut (105) and the spiral buckle (109). This structure allows the spiral buckle (109) to rotate freely in the central groove of the active sealing plate (104) without shaking. Figure 3 , Figure 4 As shown, the fixed lock buckle (203) is fixed on the passive sealing plate (206) through a passive lock buckle pressing nut with the same structure, and there is no small gap between the fixed lock buckle (203) and the passive lock buckle pressing nut, so the fixed lock buckle (203) is firmly fixed on the passive sealing plate (206) under the action of the passive lock buckle pressing nut. A spiral protrusion is provided on the spiral buckle (109), and a spiral groove is provided on the fixed lock buckle (203), so that the separation and locking of the end effector power end (1) and the execution end (2) are achieved through spiral motion.

[0029] like Figure 5 As shown, the switch push block (107) has an arc structure that matches the active sealing plate (104), and has a U-shaped protrusion in the center of the concave side of the arc structure, and the U-shaped protrusion is convenient for doctors to operate. The push block connector (108) is fixedly connected to the spiral buckle (109) by screws, and a pin is set on the push block connector (108). The switch push block (107) acts on the pin to push the spiral buckle (109) to rotate, thereby locking the power end (1) and the execution end (2). The spring (110) and the push lock button (111) are installed in the active sealing plate (104), and the spring (110) is pressed into the active sealing plate (104) through the switch push block (107).

[0030] The end effector provided by the embodiment of the utility model has an internal spiral separation structure, and the push block connector (108) is driven to rotate by the switch push block (107), thereby driving the spiral buckle (109) to rotate. When it rotates to the locked position, the elastic force of the spring (110) pushes the lock button (111) to lock the switch push block (107), thereby locking the power end and the execution end of the end effector. Pressing the lock button (111) and pushing the switch push block (107) can separate the power end (1) and the execution end (2). The two ends of the end effector can be separated and locked more conveniently, and the hidden design of the switch makes the appearance of the end effector more beautiful. The locking device can effectively ensure the reliability of the connection between the power end and the execution end.

[0031] like Figure 8As shown, the power supply contact (11501) of the motor (115) is connected to the control board (116) through a cable, the encoder connector (11502) of the motor (115) is connected to the first socket (11601) on the control board (116), the button (121) is connected to the seventh socket (11607) on the control board (116), the indicator light is connected to the sixth socket (11606) on the control board (116), the connector (118) is connected to the fifth socket (11605) on the control board (116), and the second PIN female socket (112) is connected to the second socket (11602) on the control board (116). The control board (116) is provided with a third socket (11603) and a fourth socket (11604), the third socket (11603) is used for serial communication to realize the burning of the program of the end effector and the reading of the use information, and the fourth socket (11604) is used to provide enable.

[0032] like Fig. 9 , Fig.10 As shown, the execution end tooling (3) is provided with a first tooling board socket (301), a second tooling board socket (302) and a third tooling board socket (303). The first tooling board socket (301) is used for 24V power supply, the second tooling board socket (302) is used for enabling, and the third tooling board socket (303) is used for serial communication. A contact (304) is provided on the tooling board, and the contact (304) contacts the spring pin (11801) on the connector (118), so as to realize communication and power supply between the tooling board and the control board (116) in the power end (1), and realize program burning and usage information reading.

[0033] In the internal spiral separation structure of the end effector of the utility model, an anti-disassembly label (103) is arranged on the fixing plate of the end effector power end (1), which can effectively prevent non-professionals from disassembling the end effector power end.

[0034] The highly integrated two-stage end effector and its tooling design for the transurethral and vaginal rigid endoscopic surgical robot uses a PCB with higher integration and more stable signal transmission to replace the original wires and connectors, ensuring the reliability of the electrical connection of the end effector and thus ensuring the safety of the operation. At the same time, the utility model also uses a softer light strip to replace the original light board, making the end effector more beautiful. In addition, through the improvement of the circuit and the design of the tooling, the assembly of the end effector is more portable, and the hardware foundation for future maintenance is laid.

Claims

1. A two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot, characterized in that: The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot comprises two detachable front and rear sections and an execution end tooling (3), wherein the front section of the detachable front and rear sections is the execution end (2) and the rear section is the power end (1); the execution end tooling (3) is connected to one end of the execution end (2); The execution end (2) comprises: a passive base plate (201), a passive housing (202), a fixed lock buckle (203), a lead screw (204), a PIN male seat (205), a passive sealing plate (206), a slide groove pressure plate (207), a waterproof plate (208), a sliding block (209), a lead screw nut (210), a front bearing plate (211), and an information plate (212).

2. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 1, characterized in that: The passive bottom plate (201) is a flat plate, the passive housing (202) is a semi-cylindrical housing, and the passive sealing plate (206) is a semi-circular flat plate. The three are assembled and installed together to define the internal space of the end effector execution end (2).

3. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 1, characterized in that: The information plate (212) is installed in a special groove and sealed with a three-proof paint or a sealant.

4. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 2, characterized in that: An O-ring groove (20601) is provided on the passive sealing plate (206), and an O-ring is placed in the groove.

5. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 4, characterized in that: A first PIN female socket is arranged in the execution end tooling (3), and the first PIN female socket is connected to the execution end PIN male socket (205) of the end actuator to realize the burning of the program and the reading of the information on the information board (212) on the execution end (2).

6. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 5, characterized in that: A front clip (213), a rear clip (214) and a shifting block (215) of the resectoscope are fixed on the passive bottom plate (201) of the front execution end (2).

7. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 6, characterized in that: The power end (1) comprises an active base plate (101), an active housing (102), an anti-disassembly label (103), an active sealing plate (104), a lock buckle nut (105), an output adapter shaft (106), a switch push block (107), a push block connector (108), a spiral buckle (109), a spring (110), a lock button (111), a second PIN female seat (112), a motor support seat (113), a coupling (114), and a motor (115); The active bottom plate (101) is a flat plate, the active housing (102) is a semi-cylindrical shell, and the active sealing plate (104) is a semi-circular flat plate. The three are assembled and installed together to define the internal space of the power end (1).

8. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 7, characterized in that: The motor support seat (113) is fixedly mounted on the inner side of the active base plate (101), and the motor (115) is fixedly mounted on the motor support seat (113); the motor shaft is connected to the output adapter shaft (106) through a coupling (114); one end of the output adapter shaft (106) is fixed on the coupling (114), and the middle is mounted on the active cover plate (104) through a bearing; the active cover plate (104) is provided with a bearing; the output adapter shaft (106) is mounted on the active cover plate (104) through a bearing support; the other end of the output adapter shaft (106) is a concave hexagonal shape, so that when it is connected with the convex hexagonal shape at one end of the lead screw (204) at the execution end, the motor power is input to the lead screw (204), and then further drives the shift block (215) to move, thereby driving the trigger of the electric resectoscope to reciprocate.

9. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 8, characterized in that: The active base plate (101) is also provided with a button (121) and a control panel (116); the active base plate (101) is fixedly connected to one side of the base (122); the light-transmitting plate (120), the light panel (117), the joint (118) and the other side of the base (122); the base (122) is fixedly connected to the flange (119), so that the end effector and the robot arm are fixedly connected; The lock buckle nut (105) is fixedly connected to the active sealing plate (104) by means of a thread, so that the lock buckle nut (105) axially presses the spiral buckle (109), and a small gap is designed between the lock buckle nut (105) and the spiral buckle (109). This structure enables the spiral buckle (109) to rotate freely in a circle on the central groove of the active sealing plate (104) without shaking; the fixed lock buckle (203) is fixed to the passive sealing plate (206) by means of a passive lock buckle nut with the same structure, and there is no small gap between the fixed lock buckle (203) and the passive lock buckle nut, so that the fixed lock buckle (203) is firmly fixed to the passive sealing plate (206) under the action of the passive lock buckle nut; A spiral protrusion is provided on the spiral buckle (109), and a spiral groove is provided on the fixed lock buckle (203), so that the power end (1) and the execution end (2) of the end effector can be separated and locked through spiral motion.

10. The two-stage end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 9, characterized in that: The switch push block (107) has an arc-shaped structure that matches the active sealing plate (104), and has a U-shaped protrusion in the center of the concave side of the arc-shaped structure; The push block connecting member (108) is fixedly connected to the spiral buckle (109) by means of screws, and a pin is arranged on the push block connecting member (108). The switch push block (107) acts on the pin to push the spiral buckle (109) to rotate, thereby locking the power end (1) and the execution end (2); the spring (110) and the push lock button (111) are installed in the active sealing plate (104), and the spring (110) is pressed into the active sealing plate (104) by means of the switch push block (107); The power supply contact (11501) of the motor (115) is connected to the control board (116) through a cable, the encoder connector (11502) of the motor (115) is connected to the first socket (11601) on the control board (116), the button (121) is connected to the seventh socket (11607) on the control board (116), the indicator light is connected to the sixth socket (11606) on the control board (116), the connector (118) is connected to the fifth socket (11605) on the control board (116), and the second PIN female socket (112) is connected to the second socket (11602) on the control board (116); the control board (116) is provided with a third socket (11603) and a fourth socket (11604), the third socket (11603) is used for serial communication to realize the burning of the program of the end effector and the reading of the use information, and the fourth socket (11604) is used to provide an enable; The execution end tooling (3) is provided with a first tooling board socket (301), a second tooling board socket (302) and a third tooling board socket (303); the first tooling board socket (301) is used for 24V power supply, the second tooling board socket (302) is used for enabling, and the third tooling board socket (303) is used for serial communication; a contact (304) is provided on the tooling board, and the contact (304) contacts with a spring pin (11801) on a connector (118), so as to realize communication and power supply between the tooling board and a control board (116) in the power end (1), and realize program burning and usage information reading.

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