End effector for a transurethral and transvaginal rigid endoscopic surgical robot

Abstract

An end effector for a transurethral and vaginal rigid endoscopic surgical robot includes a support plate and a shell, wherein the support plate is a flat plate and the cross-section of the shell is a semicircular, and the two together define the internal space of the end effector; the end effector for a transurethral and vaginal rigid endoscopic surgical robot further includes a flange seat, a push block, a front buckle, a lamp support, a rear buckle, a light-transmitting plate, and a protective cover, wherein the front buckle and the rear buckle are mounted on the support plate to firmly clamp the resectoscope. In this end effector, the highly integrated design reduces the connection of key circuits, reduces uncertainty factors, and improves the stability of the end effector.

Description

Technical Field

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

[0002] The end effector is the end-acting tool used for transurethral and vaginal 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. Therefore, the highly integrated design of the end effector is the key to improving the working stability of the end effector. However, the existing end effectors are not satisfactory in terms of safety, reliability, and accuracy. Utility Model Content

[0003] The utility model provides a highly integrated end effector for a transurethral and transvaginal rigid endoscopic surgical robot. In the end effector, the highly integrated design reduces the connection of key circuits, reduces uncertainty factors, and improves the stability of the end effector.

[0004] The end effector is the end-acting tool used in transurethral and transvaginal rigid endoscopic surgical robots. Its stability is the guarantee for the smooth progress of the operation. The mechanical structure of the end effector will wear and the electrical components will age during use. Therefore, the number of uses of the end effector is limited to ensure the stability of the end effector and improve the safety of the operation. The design of the end effector tooling is used to burn the end effector-related programs and read the end effector-related usage information.

[0005] The utility model provides an end effector for a transurethral and transvaginal rigid endoscopic surgical robot, which integrates an end effector mechanical structure and an electrical assembly. Since the end effector needs to be immersed, cleaned and sterilized after the operation, the end effector has a complete waterproof sealing structure.

[0006] In the end effector for a transurethral and transvaginal rigid endoscopic surgical robot provided by the utility model, a communication control auxiliary board (0303) of the end effector tooling (03) has a power socket (030301), an enabling socket (030302) and a serial communication socket (030303); after the end effector tooling (03) and the end effector (01) are connected, program burning and reading of usage information can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a schematic diagram of the overall structure of the end effector provided in an embodiment of the utility model.

[0008] Figure 2 This is a schematic diagram of the end effector and tooling structure provided in an embodiment of the utility model.

[0009] Figure 3 A schematic diagram of the internal structure of the end effector provided in an embodiment of the utility model.

[0010] Figure 4 A schematic diagram of the electrical connection structure of the end effector provided in an embodiment of the utility model.

[0011] Figure 5 A schematic diagram of the tooling assembly structure provided in an embodiment of the utility model.

[0012] Figure 6 A schematic diagram of the end effector tooling structure provided in an embodiment of the utility model.

[0013] Figure 7 A schematic diagram of the connection structure between the end effector tooling and the end effector provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the utility model is not limited to the accompanying drawings and the following embodiments.

[0015] like Figure 1 As shown, the end effector (01) provided by the utility model includes a support plate (0106) and a shell (0199), wherein the support plate (0106) is a flat plate, and the cross section of the shell (0199) is a semicircular shape, and the two together define the internal space of the end effector (01). The end effector (01) further includes a flange seat (0101), a push block (0102), a front buckle (0103), a lamp support (0114), a rear buckle (0105), a light-transmitting plate (0107), and a protective cover (0108), wherein the front buckle (0103) and the rear buckle (0105) are mounted on the support plate (0106) to firmly clamp the resectoscope.

[0016] Figure 3 This is a schematic diagram of the internal structure of the end effector provided in the embodiment of the utility model. Figure 1 and Figure 3As shown, the push block (0102) is fixed on the shaft (0111), the shaft (0111) is connected to the fork (0110), the fork (0110) is fixedly connected to the screw (0119), the screw (0119) is connected to the motor (0117) through the coupling (0112), the motor (0117) rotates to drive the screw (0119) to rotate, and then drives the push block (0102) to move forward and backward to assist the electrosurgical resectoscope to complete the surgical action, and the motor (0117) is fixedly connected to the support plate (0106) through the support frame (0118). Figure 1 As shown, the camera pad (0105) is fixedly connected to the support plate (0106) to assist in supporting the camera for the electrosurgeon and prevent the camera from rotating. The light-transmitting plate (0107) is clamped between the support plate (0106) and the flange seat (0101). An indicator light (0115) is installed inside the light-transmitting plate (0107). The indicator light (0115) is fixed on the indicator light support (0114), and the indicator light support (0114) is fixed on the flange seat (0101). At the same time, a connector (0109) is fixed on the flange seat (0101). The connector (0109) is used for communication and power supply between the end effector (01) and the surgical robot. As shown Figure 1 As shown, a protective cover (0108) is also installed on the flange seat (0101), and the protective cover (0108) is used to protect the spring pin (010901) on the connector (0109) from being damaged during the cleaning and sterilization process of the end effector (01). A button (0113) and an intelligent communication control board (0116) are installed on the support plate (0106), and the button (0113) is used to drag the mechanical arm of the surgical robot during the operation, and the intelligent communication control board (0116) is connected to the motor (0118), the button (0113), the indicator light (0115) and the connector (0109).

[0017] Figure 4 This is a schematic diagram of the electrical connection structure of the end effector provided in the embodiment of the utility model. Figure 4As shown, the power supply contact (011701) of the motor (0117) is connected to the intelligent communication control board (0116) through a cable, the encoder connector (011702) of the motor (0117) is connected to the first control board socket (011601) on the intelligent communication control board (0116), the button (0113) is connected to the fourth control board socket (011604) on the intelligent communication control board (0116), the indicator light (0115) is connected to the second control board socket (011602) on the intelligent communication control board (0116), and the connector (0109) is connected to the fifth control board socket (011605) on the intelligent communication control board (0116). At the same time, a buzzer (011607) is provided on the intelligent communication control board (0116). When the designed number of times is used, the buzzer sounds, prompting the surgeon that the end effector has reached the limited number of operations. The intelligent communication control board (0116) is provided with a control board third socket (011603) and a connector (011606) for burning the program of the end effector and reading the usage information.

[0018] Figure 5 It is a schematic diagram of the tooling assembly structure. Figure 6 This is a schematic diagram of the end effector tooling structure. Figure 7 Figure 1 is a schematic diagram of the connection structure between the end effector fixture and the end effector. Figure 5 , Figure 6 , Figure 7 As shown, the end effector fixture (03) is connected to the end effector (01) through a flange nut (0301). Figure 6 As shown, the end effector tooling (03) includes a flange nut (0301), a support frame (0302) and a communication control auxiliary board (0303). Figure 7 As shown, a contact (030304) is provided on the communication control auxiliary board (0303), and the contact (030304) contacts the spring pin (010901) on the connector (0109) to realize the communication and power supply between the end effector tooling (03) and the intelligent communication control board (0116) in the end effector (01), and realize program burning and usage information reading. A groove (030305) is provided on the communication control auxiliary board (0303) to cooperate with the protrusion (030201) on the support frame (0302), which is convenient for installation and ensures that the spring pin (010901) on the connector (0109) and the matching contact (030304) are accurately contacted. A first socket (030301), a second socket (030302) and a third socket (030303) are provided on the communication control auxiliary board (0303). The first socket (030301) is used for 24V power supply, the second socket (030302) is used for enabling, and the third socket (030303) is used for serial port communication.

[0019] The end effector of 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. An end effector for a transurethral and transvaginal rigid endoscopic surgical robot, characterized in that: The end effector (01) for the transurethral and vaginal rigid endoscopic surgical robot comprises a support plate (0106) and a shell (0199), wherein the support plate (0106) is a flat plate and the cross-section of the shell (0199) is a semicircular, and the two together define the internal space of the end effector (01); the end effector (01) for the transurethral and vaginal rigid endoscopic surgical robot further comprises a flange seat (0101), a push block (0102), a front buckle (0103), a lamp support (0114), a rear buckle (0104), a light-transmitting plate (0107), and a protective cover (0108), wherein the front buckle (0103) and the rear buckle (0104) are mounted on the support plate (0106) and are used to firmly clamp the resectoscope.

2. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 1, characterized in that: The push block (0102) is fixed on the shaft (0111), the shaft (0111) is connected to the fork (0110), the fork (0110) is fixedly connected to the screw rod (0119), the screw rod (0119) is connected to the motor (0117) through the coupling (0112), the motor (0117) rotates to drive the screw rod (0119) to rotate, and then drives the push block (0102) to move forward and backward to assist the electric resectoscope to complete the surgical action, and the motor (0117) is fixedly connected to the support plate (0106) through the support frame (0118).

3. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 2, characterized in that: The camera pad (0105) is fixedly connected to the support plate (0106) to assist in supporting the camera for the electrosurgery scope and prevent the camera from rotating; the light-transmitting plate (0107) is clamped between the support plate (0106) and the flange seat (0101), and an indicator light (0115) is installed inside the light-transmitting plate (0107), and the indicator light (0115) is fixed on the indicator light support (0114), and the indicator light support (0114) is fixed on the flange seat (0101); a connector (0109) is fixed on the flange seat (0101), and the connector (0109) is configured to be used for communication and power supply between the end effector (01) and the surgical robot.

4. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 3, characterized in that: A protective cover (0108) is also installed on the flange seat (0101), and the protective cover (0108) is configured to protect the spring pin (010901) on the connector (0109) from being damaged during the cleaning and sterilization process of the end effector (01); a button (0113) and an intelligent communication control board (0116) are installed on the support plate (0106), the button (0113) is used to drag the mechanical arm of the surgical robot to move during the operation, and the intelligent communication control board (0116) is connected to the motor (0117), the button (0113), the indicator light (0115) and the connector (0109).

5. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 4, characterized in that: The power supply contact (011701) of the motor (0117) is connected to the intelligent communication control board (0116) through a cable, the encoder connector (011702) of the motor (0117) is connected to the first control board socket (011601) on the intelligent communication control board (0116), the button (0113) is connected to the fourth control board socket (011604) on the intelligent communication control board (0116), the indicator light (0115) is connected to the second control board socket (011602) on the intelligent communication control board (0116), and the connector (0109) is connected to the fifth control board socket (011605) on the intelligent communication control board (0116); a buzzer (011607) is provided on the intelligent communication control board (0116); and a third control board socket (011603) and a connector are provided on the intelligent communication control board (0116) for burning the program of the end effector and reading the usage information.

6. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 5, characterized in that: The end effector tooling (03) is connected to the end effector (01) for a transurethral and vaginal rigid endoscopic surgical robot via a flange nut (0301); the end effector tooling (03) comprises a flange nut (0301), a support frame and a communication control auxiliary board (0303); a contact (030304) is provided on the communication control auxiliary board (0303), and the contact (030304) contacts the spring pin (010901) on the connector (0109) to realize communication and power supply between the end effector tooling (03) and the intelligent communication control board (0116) in the end effector (01) for a transurethral and vaginal rigid endoscopic surgical robot, thereby realizing program burning and usage information reading.

7. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 6, characterized in that: A groove (030305) is arranged on the communication control auxiliary board (0303) to cooperate with the protrusion (030201) on the support frame, so as to facilitate installation and ensure that the spring pin (010901) on the connector (0109) and the matching contact (030304) are in accurate contact.

8. The end effector for a transurethral and transvaginal rigid endoscopic surgical robot according to claim 7, characterized in that: A first socket (030301), a second socket (030302) and a third socket (030303) are provided on the communication control auxiliary board (0303); the first socket (030301) is used for 24V power supply, the second socket (030302) is used for enabling, and the third socket (030303) is used for serial port communication.

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