Side-out device and surgical robot

Abstract

The utility model discloses a side-out device and a surgical robot, and relates to the technical field of medical instruments. According to the technical scheme, the device comprises a driving mechanism, a surgical tool clamping mechanism and a transmission mechanism; the transmission mechanism comprises a transmission shell, an opening gear arranged in the transmission shell, an opening bearing arranged between the opening gear and the transmission shell and a hollow pipe used for bearing the surgical tool clamping mechanism. A side outlet channel is formed among the transmission shell, the open gear and the open bearing, and the hollow pipe and the open gear are disassembled and assembled through the side outlet channel. According to the utility model, the open bearing is adopted to support and position the open gear, so that the stability of the open gear can be improved; transmission connection between the driving mechanism and the transmission mechanism is achieved through the driving shaft sleeve and the transmission sleeve, so that the rapid locking assembly can be arranged between the driving shaft sleeve and the transmission sleeve, and then rapid disassembly and assembly of the transmission mechanism are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and more specifically, to a side-outlet device and a surgical robot. Background Art

[0002] In orthopedic surgical robots, especially spinal surgical robots, internal fixation surgery involving pedicle screw placement is often involved.

[0003] The existing Chinese patent with publication number CN116585016A discloses an instrument assembly, a surgical instrument and a surgical robot. The instrument assembly includes an input gear, an open gear, an instrument tool, a driving device and a shell; the driving device is a motor, and the output shaft of the motor is connected to the central axis of the input gear to drive the input gear to rotate; the central axis of the input gear passes through the mounting hole of the shell and is connected to the driving device outside the shell; the driving device includes a mounting bracket, and the mounting bracket is connected to the shell by screws.

[0004] However, the above patent still has the following problems: 1. The open gear is directly installed in the shell, resulting in insufficient stability of the open gear and easily causing wear of the open gear, affecting the accuracy and life; 2. During surgery, the screws are turned to connect or disassemble the shell and the mounting bracket, which is inconvenient and time-consuming; although a quick locker can be used instead of screws to achieve quick disassembly and assembly, there is no extra installation position in the instrument assembly in the above patent to set the quick locker. Utility Model Content

[0005] In view of the shortcomings of the prior art, one of the purposes of the utility model is to provide a surgical instrument, which adopts a drive sleeve and a transmission sleeve to realize the transmission connection between the drive mechanism and the transmission mechanism, so that a quick locking assembly can be arranged between the drive sleeve and the transmission sleeve, thereby realizing the rapid disassembly and assembly of the transmission mechanism; an open bearing is used to support and position the open gear, which can improve the stability of the open gear.

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

[0007] A side-exit device comprises a driving mechanism, a surgical tool clamping mechanism and a transmission mechanism arranged between the driving mechanism and the surgical tool clamping mechanism; the transmission mechanism comprises a transmission housing, an open gear arranged in the transmission housing, an open bearing arranged between the open gear and the transmission housing, and a hollow tube for carrying the surgical tool clamping mechanism;

[0008] A side exit channel is formed between the transmission housing, the open gear and the open bearing, and the hollow tube is disassembled and assembled with the open gear via the side exit channel.

[0009] Furthermore, the open bearing comprises an open inner ring, an open outer ring, balls and two cover plates; a raceway cooperating with the balls is formed between the open inner ring and the open outer ring, and the two cover plates respectively block the two end openings of the raceway.

[0010] Furthermore, the raceway includes an inner groove arranged on the outer side wall of the open inner ring, and an outer groove arranged on the inner side wall of the open outer ring; the outer groove includes a bottom opening for ball embedding, and the open bearing also includes an open bottom plate that closes the bottom opening.

[0011] Furthermore, the open outer ring is integrally formed with the transmission housing.

[0012] Furthermore, the side outlet channel includes a first opening provided on the transmission housing, a second opening provided on the open gear, and a third opening provided on the open bearing.

[0013] Furthermore, an open support located outside the transmission housing is provided on the open gear, and a first quick locking assembly is provided between the hollow tube and the open support.

[0014] Furthermore, the transmission mechanism and the driving mechanism are detachably connected via a second quick locking assembly; the transmission mechanism further comprises a transmission sleeve rotatably arranged in the transmission housing, and an outer side wall of the transmission sleeve is provided with a driving gear that transmits power to the open gear;

[0015] The driving mechanism comprises a driving sleeve, which is embedded in a transmission sleeve, and the two are linked in a circumferential direction; the second quick locking assembly is arranged between the driving sleeve and the transmission sleeve, and realizes axial limitation.

[0016] Furthermore, the second quick locking assembly includes a locking head extending into the transmission sleeve, and a locking seat embedded in the driving sleeve and cooperating with the locking head.

[0017] Furthermore, the driving mechanism also includes a driving motor and an adapter assembly; the adapter assembly includes an adapter shell, and an adapter sleeve rotatably disposed in the adapter shell; one end of the adapter sleeve is connected to the motor shaft of the driving motor, and the other end is connected to the driving sleeve.

[0018] Another object of the present utility model is to provide a surgical robot, which includes the above-mentioned side-exit device.

[0019] In summary, the utility model has the following beneficial effects:

[0020] 1. The driving shaft sleeve and the transmission sleeve are adopted to realize the connection between the driving mechanism and the transmission mechanism and the torque transmission, so that the quick locking component can be installed by using the driving shaft sleeve and the transmission sleeve, the quick disassembly and assembly of the transmission mechanism can be realized, and the radial dimension of the transmission mechanism can be effectively controlled;

[0021] 2. The open bearing is adopted to support and position the open gear, which can improve the stability of the open gear;

[0022] 3. The open outer ring and the transmission housing are integrally formed, which can reduce the number of parts, optimize the dimensions and facilitate installation; the outer channel has an opening at the bottom, which can facilitate the machining of the transmission housing. Brief Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of the side-out device in Embodiment 1;

[0024] Figure 2 It is a schematic structural diagram of the adapter assembly and the transmission mechanism in Embodiment 1;

[0025] Figure 3 It is a schematic structural diagram of the adapter assembly in Embodiment 1;

[0026] Figure 4 It is a schematic structural diagram of the transmission mechanism and the surgical tool clamping mechanism in Embodiment 1 Figure 1 ;

[0027] Figure 5 It is a schematic structural diagram of the transmission mechanism and the surgical tool clamping mechanism in Embodiment 1 Figure 2 ;

[0028] Figure 6 It is a schematic structural diagram of the open gear, the open inner ring and the open bottom plate in Embodiment 1.

[0029] In the figure: 1. Linear driving mechanism; 2. Driving motor; 3. Adapter assembly; 31. Adapter housing; 32. Adapter shaft sleeve; 33. Driving shaft sleeve; 4. Kirschner wire; 5. Transmission mechanism; 51. Transmission housing; 52. Transmission sleeve; 521. Driving gear; 531. Locking head; 532. Locking seat; 54. Open gear; 55. Hollow tube; 561. Open inner ring; 562. Open outer ring; 563. Open bottom plate; 564. Ball; 565. Cover plate; 57. Open support; 58. First quick locking component; 59. Transmission gear; 6. Surgical tool clamping mechanism. Detailed Embodiment

[0030] The present invention will be further described in detail below with reference to the accompanying drawings.

[0031] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention. Embodiment 1:

[0032] A side-out device, referring to Figures 1 to 6 , which includes a driving mechanism, a surgical tool clamping mechanism 6 and a transmission mechanism 5 arranged between the driving mechanism and the surgical tool clamping mechanism 6; specifically, the driving mechanism in this embodiment includes a driving motor 2, and an adapter assembly 3 arranged between the driving motor 2 and the transmission mechanism 5; the surgical tool clamping mechanism 6 in this embodiment is used to mount the Kirschner wire 4, then, specifically a drill chuck; the side-out device in this embodiment also includes a linear driving mechanism 1 for carrying the driving motor 2; that is, the driving motor 2 drives the Kirschner wire 4 to rotate through the adapter assembly 3, the transmission mechanism 5 and the surgical tool clamping mechanism 6, and the linear driving mechanism 1 drives the Kirschner wire to move along its length direction; of course, in other optional embodiments, the driving mechanism can also use a hand drill to provide a rotational driving force, and the operator holds the hand drill to drive the Kirschner wire to move, which is not limited here.

[0033] Reference Figures 1 to 6 Preferably, in this embodiment, the transmission mechanism 5 and the drive mechanism are detachably connected through the second quick locking assembly, so that the transmission mechanism 5 can be quickly disassembled and assembled, saving time; specifically, in this embodiment, the transmission mechanism 5 and the adapter assembly 3 are detachably connected through the second quick locking assembly; in this embodiment, the adapter assembly 3 includes an adapter shell 31, an adapter sleeve 32 rotatably arranged in the adapter shell 31, and a drive sleeve 33 connected to the adapter sleeve 32; specifically, a bearing is arranged between the adapter sleeve 32 and the adapter shell 31; the top end of the adapter sleeve 32 is provided with an axial hole, and the motor shaft of the drive motor 2 is connected When embedded in the shaft hole, the driving motor 2 can drive the adapter sleeve 32 to rotate; the bottom end of the adapter sleeve 32 is embedded in the top end of the driving sleeve 33, and a screw connected to the adapter sleeve 32 is passed through the driving sleeve 33, thereby realizing a fixed connection between the adapter sleeve 32 and the driving sleeve 33; the adapter sleeve 32 is arranged in the adapter shell 31, and the adapter shell 31 is connected to the casing of the driving motor 2, so in this embodiment, the driving sleeve 33 and the adapter sleeve 32 are treated as two independent parts, which can facilitate the processing and installation of the driving sleeve 33, and the driving sleeve 33 can be disassembled separately for inspection and replacement.

[0034] Reference Figures 1 to 6, the transmission mechanism 5 includes a transmission housing 51 and a transmission sleeve 52 rotatably disposed within the transmission housing 51. Specifically, a bearing is provided between the transmission sleeve 52 and the transmission housing 51; the drive shaft sleeve 33 extends from the bottom end of the adapter housing 31 and is inserted into the transmission sleeve 52 from the top end thereof, and the drive shaft sleeve 33 and the transmission sleeve 52 are circumferentially linked; that is, when the drive shaft sleeve 33 is inserted into the transmission sleeve 52, torque transmission between the adapter assembly 3 and the transmission mechanism 5 can be achieved; preferably, in this embodiment, the mating surface between the drive shaft sleeve 33 and the transmission sleeve 52 is a non-cylindrical surface, so that torque can be transmitted and circumferential linkage can be achieved after the outer sidewall of the drive shaft sleeve 33 contacts the inner sidewall of the transmission sleeve 52; specifically, three circumferentially evenly distributed planes are provided on the outer sidewall of the drive shaft sleeve 33, and three circumferentially evenly distributed planes are provided on the inner sidewall of the transmission sleeve 52; of course, in other alternative embodiments, in order to achieve circumferential linkage, other structures can also be adopted for the mating surface between the drive shaft sleeve 33 and the transmission sleeve 52, which is not limited herein; in this embodiment, circumferential linkage can be achieved after the drive shaft sleeve 33 and the transmission sleeve 52 are axially sleeved, without the need for additional fasteners, which can simplify the structure, reduce the number of parts and facilitate disassembly and assembly.

[0035] Referring to Figures 1 to 6 , specifically, in this embodiment, the second quick-locking assembly includes a locking head 531 and a locking seat 532; wherein, the locking head 531 extends into the transmission sleeve 52 from the bottom end of the transmission sleeve 52, and the locking seat 532 is embedded in the bottom end of the drive shaft sleeve 33; then, after the drive shaft sleeve 33 is inserted into the transmission sleeve 52, the locking head 531 is pressed upward until it is inserted into the locking seat 532, and axial limitation between the drive shaft sleeve 33 and the transmission sleeve 52 can be achieved to prevent the transmission mechanism from falling off; pressing the locking head 531 again to separate the locking head 531 from the locking seat 532, the transmission mechanism 5 can be moved downward until it is separated from the adapter assembly 3, realizing the quick disassembly of the transmission mechanism; in this embodiment, the second quick-locking assembly is a push-type quick-locking device, which can optimize the radial dimension; of course, in other alternative embodiments, other quick-locking devices can also be adopted for the second quick-locking assembly, such as a knob-type quick-locking device, etc., which is not limited herein.

[0036] Referring to Figures 1 to 6, in this embodiment, the drive shaft sleeve 33 and the transmission sleeve 52 are used to realize the connection and torque transmission between the drive mechanism and the transmission mechanism, so that the quick locking assembly can be installed by using the drive shaft sleeve 33 and the transmission sleeve 52, realizing the quick disassembly and assembly of the transmission mechanism, and effectively controlling the radial dimension of the transmission mechanism; in this embodiment, the drive shaft sleeve 33 is embedded into the transmission sleeve 52, which is also convenient to realize the connection between the locking head 531 and the locking seat 532 and control the length of the locking head 531 without extension; moreover, the second quick locking assembly can be directly purchased in the market without customization, thus reducing the cost.

[0037] Refer to Figures 1 to 6 , in this embodiment, the transmission mechanism 5 further includes an open gear 54 arranged in the transmission housing 51, an open bearing arranged between the open gear 54 and the transmission housing 51, and a hollow tube 55 for carrying the surgical tool clamping mechanism 6; a driving gear 521 is integrally formed on the outer side wall of the transmission sleeve 52, and a transmission gear 59 meshing with the driving gear 521 and the open gear 54 respectively is arranged in the transmission housing 51; that is, the torque of the transmission sleeve 52 is transmitted to the open gear 54 through the driving gear 521 and the transmission gear 59; a side outlet channel is formed between the transmission housing 51, the open gear 54 and the open bearing, and the hollow tube 55 is disassembled and assembled with the open gear 54 through the side outlet channel; specifically, the side outlet channel includes a first opening arranged on the transmission housing 51, a second opening arranged on the open gear 54, and a third opening arranged on the open bearing.

[0038] Refer to Figures 1 to 6 , the hollow tube 55 extends out of the bottom end of the transmission housing 51, and the surgical tool clamping mechanism 6 is sleeved on the hollow tube 55; an open support 57 located at the outer top of the transmission housing 51 is arranged on the open gear 54, and a first quick locking assembly 58 is arranged between the hollow tube 55 and the open support 57; specifically, the first quick locking assembly 58 is a push-type quick lock; the hollow tube 55 is installed into the open gear 54 through the side outlet channel, and the connection between the hollow tube 55 and the open support 57 is realized through the first quick locking assembly 58, then the open gear 54 drives the surgical tool clamping mechanism 6 to rotate through the open support 57, the first quick locking assembly 58 and the hollow tube 55; pressing the first quick locking assembly 58 to realize the separation between the hollow tube 55 and the open support 57, and the hollow tube 55 can be taken out through the side outlet channel, realizing the side outlet of the Kirschner wire 4.

[0039] Refer to Figures 1 to 6, in this embodiment, an open bearing is provided between the open gear 54 and the transmission housing 51. By using the open bearing to support and position the open gear 54, the stability of the open gear 54 can be improved, wear of the open gear 54 can be avoided, and the service life can be extended. Specifically, in this embodiment, the open bearing includes an open inner ring 561, an open outer ring 562, a plurality of balls 564, and two cover plates 565. A raceway for cooperating with the balls 564 is formed between the open inner ring 561 and the open outer ring 562. The two cover plates 565 respectively block the two end openings of the raceway to prevent the balls 564 from disengaging from the raceway. Preferably, the raceway includes an inner channel provided on the outer sidewall of the open inner ring 561 and an outer channel provided on the inner sidewall of the open outer ring 562. Among them, the two cover plates 565 respectively block the two end openings of the outer channel, which can prevent the balls from disengaging and ensure the smooth rotation of the open inner ring 561. The outer channel includes a bottom opening for the balls 564 to be embedded, and the open bearing further includes an open bottom plate 563 for closing the bottom opening. That is, a raceway for cooperating with the balls 564 is formed among the open inner ring 561, the open outer ring 562, and the open bottom plate 563. First, the balls 564 are embedded into the inner channel, then the balls and the open inner ring 561 are together embedded into the open outer ring 562, and then the open bottom plate 563 is connected to the open outer ring 562 and the cover plate 565 is connected to the open outer ring 562, so that the balls 564 can be embedded in the raceway.

[0040] Referring to Figures 1 to 6 , the open inner ring 561 and the open gear 54 are coaxially arranged, and the two are fixedly connected by screws. Preferably, in this embodiment, the open outer ring 562 and the transmission housing 51 are integrally formed. That is to say, an outer channel is provided on the inner sidewall of the transmission housing 51, which can reduce the number of parts, optimize the size, and facilitate installation. The outer channel has a bottom opening, which can facilitate the machining of the transmission housing. Embodiment 2:

[0041] A surgical robot, referring to Figures 1 to 6 , which includes the side-out device in Embodiment 1. Specifically, the surgical robot further includes a robotic arm (not shown in the drawings) connected to the linear drive mechanism 1.

Claims

1. A side discharge device, characterized in that: It comprises a driving mechanism, a surgical tool clamping mechanism and a transmission mechanism arranged between the driving mechanism and the surgical tool clamping mechanism; the transmission mechanism comprises a transmission housing, an open gear arranged in the transmission housing, an open bearing arranged between the open gear and the transmission housing, and a hollow tube for carrying the surgical tool clamping mechanism; A side exit channel is formed between the transmission housing, the open gear and the open bearing, and the hollow tube is disassembled and assembled with the open gear via the side exit channel.

2. The side discharge device according to claim 1, characterized in that: The open bearing comprises an open inner ring, an open outer ring, balls and two cover plates; a raceway cooperating with the balls is formed between the open inner ring and the open outer ring, and the two cover plates respectively block the two end openings of the raceway.

3. The side discharge device according to claim 2, characterized in that: The raceway includes an inner groove arranged on the outer side wall of the open inner ring, and an outer groove arranged on the inner side wall of the open outer ring; the outer groove includes a bottom opening for ball embedding, and the open bearing also includes an open bottom plate closing the bottom opening.

4. The side discharge device according to claim 2, characterized in that: The open outer ring is integrally formed with the transmission housing.

5. The side discharge device according to claim 1, characterized in that: The side outlet channel comprises a first opening arranged on the transmission housing, a second opening arranged on the open gear and a third opening arranged on the open bearing.

6. The side discharge device according to claim 1, characterized in that: The open gear is provided with an open support located outside the transmission housing, and a first quick locking component is provided between the hollow tube and the open support.

7. The side discharge device according to claim 1, characterized in that: The transmission mechanism and the driving mechanism are detachably connected via a second quick locking assembly; the transmission mechanism further comprises a transmission sleeve rotatably arranged in the transmission housing, and an outer side wall of the transmission sleeve is provided with a driving gear that is transmitted to the open gear; The driving mechanism comprises a driving sleeve, which is embedded in a transmission sleeve, and the two are linked in a circumferential direction; the second quick locking assembly is arranged between the driving sleeve and the transmission sleeve, and realizes axial limitation.

8. The side discharge device according to claim 7, characterized in that: The second quick locking assembly includes a locking head extending into the transmission sleeve, and a locking seat embedded in the driving shaft sleeve and cooperating with the locking head.

9. The side discharge device according to claim 7, characterized in that: The driving mechanism further comprises a driving motor and an adapter assembly; the adapter assembly comprises an adapter housing and an adapter sleeve rotatably disposed in the adapter housing; One end of the adapter sleeve is connected to the motor shaft of the drive motor, and the other end is connected to the drive sleeve.

10. A surgical robot, characterized in that: The invention comprises the side outlet device according to any one of claims 1 to 9.

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