Stitching instrument for surgical robot

Abstract

The utility model discloses a stitching instrument for a surgical robot. The stitching instrument comprises a forceps head assembly, a gun barrel assembly and a base assembly. The base assembly is configured to be fixedly connected with a surgical robot system and a power output machine table. The gun barrel assembly comprises a first driving shaft; a driving part and a driven part are arranged on the base assembly; the surgical robot drives the first driving shaft to do reciprocating rectilinear motion through the driving part and the driven part; wherein the driven part comprises a pull-up buffer assembly, and the driving part comprises a thrust buffer assembly. By means of the structure, hard collision of the operation structure of the stitching instrument can be effectively avoided, impact is reduced, stability and safety performance of the operation position are improved, and stitching quality is improved.

Description

Technical Field

[0001] The utility model relates to the field of medical devices, and particularly to a stapler for surgical robots. Background Art

[0002] With the emergence and continuous innovation of surgical robot technology, surgical robots will provide doctors with more efficient and accurate surgical assistance tools, bringing better treatment effects and experiences to patients. With the continuous development of technology, surgical robots can undertake more complex and delicate surgical operations. As one of the key components, the stapler for surgical robots will provide strong support for the development of surgical robots. The application of the stapler for surgical robots brings many advantages to surgical robots, including improving surgical efficiency and accuracy, reducing the labor intensity of doctors, safety, and promoting technological progress. However, the transmission of the stapler for surgical robots usually consists of multiple parts, resulting in inevitable cumulative errors. At the same time, the thickness and hardness of the target objects are inconsistent, and the direct hard collision between the transmission structures, as well as sudden impacts or vibrations during operation, can cause damage to the stapler and damage to the sutured tissues. How to avoid damage to the stapler and damage to the sutured tissues during the operation is a technical problem that urgently needs to be solved in this field. Summary of the Utility Model

[0003] To solve the above technical problems, the technical solutions provided by the utility model are as follows:

[0004] A stapler for surgical robots includes a jaw assembly, a shaft assembly, and a base assembly; the base assembly is configured to be fixedly connected to the surgical robot system and the power output machine platform; the shaft assembly includes a first drive shaft; the base assembly is provided with a driving part and a driven part; the surgical robot drives the first drive shaft to perform a reciprocating linear motion through the driving part and the driven part; wherein, the driven part includes a lifting buffer assembly, and the driving part includes a thrust buffer assembly.

[0005] Further, the lifting buffer assembly is a spring, and the thrust buffer assembly is a volute spring.

[0006] Further, the base assembly includes a base, a support frame, and a housing.

[0007] Further, the driving part further includes: a driving rod, a first driving disk, and a first output wheel; the rotation of the driving rod drives the rotation of the first driving disk, and the rotation of the first driving disk drives the rotation of the first output wheel. The thrust buffer assembly is located between the first driving disk and the first output wheel.

[0008] Furthermore, one end of the driving rod is circumferentially distributed with a plurality of first grooves, the center of the first driving disk is provided with a circular hole, and the periphery of the circular hole is provided with a plurality of first bosses, one end of the driving rod is inserted into the circular hole of the first driving disk, and the first grooves and the first bosses cooperate with each other; a plurality of second bosses are also provided on one end surface of the first driving disk, and a plurality of second grooves are provided on one end surface of the first output wheel, the second bosses cooperate with the second grooves, and the single arc length of the second grooves is greater than the arc length of the first bosses, and the length difference between the two is the compression amount of the coil spring.

[0009] Furthermore, the driven part also includes: a first driven wheel, a nest, a screw, a secondary shaft, and a top screw. The secondary shaft is connected to the first driving shaft, the first driven wheel is meshed with the first output wheel, the nest is fixed on the first driven wheel, an internal thread is provided in the nest, and the internal thread cooperates with an external thread provided on the screw; the screw is a hollow structure, the spring is sleeved on the secondary shaft, one end of the secondary shaft sleeve spring is placed in the screw together with the spring, and a top end of the secondary shaft and a top end of the screw limit the movement of the spring.

[0010] Furthermore, an internal thread is provided in the screw rod, and a top screw is located in the screw rod, which can limit the secondary shaft from coming out, and the position of the top screw can be adjusted to adjust the pressure of the spring on the secondary shaft.

[0011] Furthermore, the driving part also includes two active part support parts, which are respectively located at the upper and lower ends of the driving rod and are respectively fixed to the base and the shell; the driven part also includes two driven part support parts, and the driven part is positioned on the support frame and the shell through the two driven part supports.

[0012] Furthermore, the active part support portion and the driven part support portion are bearings respectively.

[0013] Furthermore, the support frame is provided with a support frame boss, and the support frame boss cooperates with a track groove provided on the screw rod to limit the rotational movement of the screw rod.

[0014] After adopting such a design, the utility model has at least the following advantages:

[0015] (1) Effectively avoiding rigid contact during the transmission process of the stapler can ensure that both pushing and pulling actions can be properly controlled.

[0016] (2) The risk of damage caused by excessive speed or sudden changes in direction is reduced, thereby improving the overall safety of the stapler.

[0017] (3) Improve safety performance and enhance stability. Stable angle dimension operation drive can improve the accuracy and safety of the suturing process and further improve the suturing quality.

[0018] (4) The utility model has an ingenious structure, good effect, low cost and easy process implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above is only an overview of the technical solution of the present utility model. In order to better understand the technical means of the present utility model, the following provides a more detailed description of the present utility model in conjunction with the accompanying drawings and specific embodiments.

[0020] Figure 1 It is a schematic diagram of the overall structure of the surgical robot stapler of the present utility model;

[0021] Figure 2 It is a schematic diagram of the decomposed structure of the driving part of the present utility model;

[0022] Figure 3 It is a schematic diagram of the structure of the first driving disk of the present utility model;

[0023] Figure 4 It is a schematic diagram of the structure of the driving rod and the coil spring of the present utility model;

[0024] Figure 5 It is a schematic diagram of the structure of the driving rod, the coil spring and the first output wheel of the present utility model;

[0025] Figure 6 It is a sectional view of the base assembly of the present utility model;

[0026] Figure 7 It is a sectional view of the driven part of the present utility model;

[0027] Figure 8 It is a schematic diagram of the structure of the driven part and the first driving shaft of the present utility model;

[0028] Figure 9 It is a schematic diagram of the structure of the support frame of the present utility model;

[0029] Reference numerals: 1000 jaw assembly, 2000 gun barrel assembly, 2100 first driving shaft, 2101 T-shaped table, 3000 base assembly, 3100 driving part, 3110 driving rod, 3111 first groove, 3112 third groove, 3120 first driving disk, 3121 second boss, 3122 first boss, 3130 coil spring, 3131 first clamping position, 3132 second clamping position, 3140 first output wheel, 3141 clamping position table, 3142 second groove, 3150 driving part support part, 3200 driven part, 3210 first driven wheel, 3220 first driven part support part, 3230 second driven part support part, 3240 nesting, 3241 internal thread, 3250 screw rod, 3251 track groove, 3250 secondary shaft, 3261 T-shaped groove, 3270 compression spring, 3280 setscrew, 3310 base, 3410 support frame, 3411 boss, 3510 housing. Specific Embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] In this article, "upper", "lower", etc. are only used to represent the relative positional relationship between relevant parts, rather than limiting the absolute positions of these relevant parts.

[0032] Refer to the attached Figures 1-9 , a stapler for a surgical robot, comprising a jaw assembly 1000, a gun barrel assembly 2000, and a base assembly 3000; the base assembly 3000 is configured to be fixedly connected to a surgical robot system and a power output machine table; the gun barrel assembly includes a first drive shaft 2100; a drive part 3100 and a driven part 3200 are provided on the base assembly 3000; the surgical robot drives the first drive shaft 2100 to perform a reciprocating linear motion through the drive part 3100 and the driven part 3200; wherein, the driven part 3200 includes a lifting buffer assembly, and the drive part 3100 includes a thrust buffer assembly. Preferably, the lifting buffer assembly is a spring 3270, and the thrust buffer assembly is a torsion spring 3130.

[0033] The driving part 3100 further includes: a driving rod 3110, a first driving disk 3120, and a first output wheel 3140. The rotation of the driving rod 3100 drives the rotation of the first driving disk 3120, and the rotation of the first driving disk 3120 drives the rotation of the first output wheel 3140. The thrust buffer assembly is located between the first driving disk 3120 and the first output wheel 3140. Specifically, a plurality of first grooves 3111 are circumferentially distributed at one end of the driving rod 3110, a circular hole is provided at the center of the first driving disk 3120, and a plurality of first protrusions 3122 are provided around the circular hole. One end of the driving rod 3110 is inserted into the circular hole of the first driving disk 3120, and the first grooves 3111 cooperate with the first protrusions 3122; a plurality of second protrusions 3121 are further provided on one end face of the first driving disk 3120, a plurality of second grooves are provided on one end face of the first output wheel 3140, and the second protrusions cooperate with the second grooves 3142. Moreover, the arc length of a single second groove 3142 is greater than the arc length of the first protrusion 3121, and the difference between the two lengths is the compression amount. The thrust buffer assembly is arranged between the first driving disk 3120 and the first output wheel 3140. Preferably, the thrust buffer assembly is a coil spring 3130. The coil spring 3130 is provided with a first clamping position 3131 and a second clamping position 3132. The driving rod 3110 is provided with a third groove 3112 that cooperates with the second clamping position 3132, and the first clamping position 3131 cooperates with the clamping position platform 3141 of the first output wheel 3140. Further, the base assembly includes a base 3310, a support frame 3410, and a housing 3510. The driving part 3100 further includes two driving part support parts 3150, which are respectively located at the upper and lower ends of the driving rod 3110 and are respectively fixed to the base 3310 and the housing 3510. The support part 3150 is preferably a bearing, which can reduce the friction coefficient during its movement and ensure its rotational accuracy.

[0034] The driven part 3200 also includes: a first driven wheel 3210, a nest 3240, a screw 3250, a secondary shaft 3260, and a top screw 3280. The secondary shaft 3260 is connected to the first drive shaft 2100, the first driven wheel 3210 is meshed with the first output wheel 3140, the nest 3240 is fixed on the first driven wheel 3210, the nest 3240 is provided with an internal thread 3241, and the internal thread 3241 is matched with the external thread provided on the screw 3250; the screw 3250 is a hollow structure, the spring 3270 is sleeved on the secondary shaft 3260, and one end of the secondary shaft 3260 sleeved with the spring 32 70 are placed together in the screw rod 3250, and the top end of the secondary shaft 3260 and the top end of the screw rod 3250 limit the movement of the spring 3270; the screw rod 3250 is provided with an internal thread, and the top screw 3280 is located in the screw rod, which can limit the escape of the secondary shaft 3260, and the position of the top screw 3280 can be adjusted to adjust the pressure of the compression spring 3270 on the secondary shaft 3260; the first drive shaft 2100 is provided with a T-type table 2101, and the secondary shaft 3260 is provided with a T-slot 3261, and the T-type table 2101 is hung on the T-slot 3261 to realize the connection between the first drive shaft 2100 and the secondary shaft 3260.

[0035] Furthermore, the driven part 3200 also includes a first driven part support part 3220 and a second driven part support part 3230. The driven part is positioned on the support frame 3410 and the outer shell 3510 through the first driven part support part 3220 and the second driven part support part 3230. The first driven part support part 3220 and the second driven part support part 3230 are preferably bearings, which can reduce the friction coefficient during its movement and ensure its rotation accuracy.

[0036] The support frame 3410 is provided with a support frame boss 3411, and the support frame boss 3411 cooperates with the track groove 3251 provided on the screw rod 3250 to limit the rotational movement of the screw rod 3250. When the nest 3240 rotates synchronously with the first driven wheel 3210, the screw rod 3250 can realize reciprocating linear motion.

[0037] The working principle of the utility model is as follows: when the driving rod 3110 rotates along the spiral direction of the coil spring 3130, the torque is directly transmitted to the first output wheel 3140 through the first boss 3121 provided on the first driving disk 3120, causing it to rotate in the same direction, driving the first driven wheel 3210 to rotate in the opposite direction, and the screw rod 3250 moves toward the side away from the clamp head assembly 1000. At this time, the spring 3270 is compressed, and the elastic force of the spring 3270 pushes toward the secondary shaft 3260, thereby achieving buffering of the pulling process.

[0038] When the driving rod 3110 rotates reversely along the spiral direction of the coil spring 3130, since the arc length of a single arc of the second groove 3142 is greater than that of the first boss 3121, the torque cannot be directly transmitted to the first output wheel 3140. Instead, it is necessary to compress the coil spring 3130, and the first clamping position 3131 pushes the first output wheel 3140 to rotate. The first driven wheel 3210 rotates reversely relative to the first output wheel 3140, the screw rod 3250 moves towards the side of the clamp head assembly 1000, and at the same time, the secondary shaft 3260 is pressed downwards, and the first driving shaft 2100 realizes the thrust towards the side of the clamp head assembly 1000. The torque gradually increases during the process of compressing the coil spring 3130, realizing the buffering of the thrust process.

[0039] Based on the structure of the present utility model, the power output machine platform of the surgical robot system outputs stable torque and rotation angle to the stapler. Through the special properties of the compression spring and the coil spring, during the suturing process, the pulling force is buffered by the built-in compression spring, and during the reverse reset process, the thrust is buffered by the coil spring, realizing dynamic adjustment, avoiding rigid contact during the transmission process, ensuring that both pushing and pulling actions can be properly controlled, and the buffering process can effectively play its role. Thus, the risk of damage caused by too fast speed or sudden change of direction can be reduced, the overall safety is improved, sudden impacts or vibrations are avoided, and the stable angular dimension operation drive can improve the accuracy and safety of the suturing process, further improving the suturing quality.

[0040] After considering the present utility model disclosed in the specification and the embodiments, those skilled in the art will readily think of other implementation schemes of the present utility model. This application aims to cover any variations, uses or adaptive changes of the present utility model, which follow the general principles of the present utility model and include the well-known common sense or conventional technical means in the technical field not disclosed in the present utility model. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present utility model are pointed out by the claims.

[0041] It should be understood that the present utility model is not limited to the precise structure already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present utility model is only limited by the appended claims.

Claims

1. A suture device for a surgical robot, comprising a clamp head assembly, a gun rod assembly and a base assembly; the base assembly is configured to be fixedly connected to a surgical robot system and a power output machine; the gun rod assembly comprises a first drive shaft; a driving part and a driven part are provided on the base assembly; the surgical robot drives the first drive shaft to perform reciprocating linear motion through the driving part and the driven part; wherein, The driven part includes a pull-up buffer assembly, and the driving part includes a thrust buffer assembly.

2. The surgical robot stapler according to claim 1, wherein: The pull-up buffer component is a spring, and the thrust buffer component is a coil spring.

3. The surgical robot stapler according to claim 1 or 2, characterized in that: The base assembly includes a base, a support frame and a housing.

4. The surgical robot stapler according to claim 3, characterized in that: The driving part also includes: a driving rod, a first driving disk, and a first output wheel; the rotation of the driving rod drives the first driving disk to rotate, and the rotation of the first driving disk drives the first output wheel to rotate, and the thrust buffer assembly is located between the first driving disk and the first output wheel.

5. The surgical robot stapler according to claim 4, characterized in that: A plurality of first grooves are distributed circumferentially at one end of the driving rod, a circular hole is provided at the center of the first driving disk, and a plurality of first bosses are provided around the circular hole. One end of the driving rod is inserted into the circular hole of the first driving disk, and the first grooves and the first bosses cooperate with each other. A plurality of second bosses are also provided on one end surface of the first driving disk, and a plurality of second grooves are provided on one end surface of the first output wheel, and the second bosses cooperate with the second grooves, and the single arc length of the second grooves is greater than the arc length of the first bosses.

6. The surgical robot stapler according to claim 4, characterized in that: The driven part also includes: a first driven wheel, a nest, a screw, a secondary shaft, and a top screw. The secondary shaft is connected to the first driving shaft, the first driven wheel is meshed with the first output wheel, the nest is fixed on the first driven wheel, an internal thread is provided in the nest, and the internal thread cooperates with the external thread provided on the screw; the screw is a hollow structure, the spring is sleeved on the secondary shaft, one end of the secondary shaft sleeve spring is placed in the screw together with the spring, and a top end of the secondary shaft and a top end of the screw limit the movement of the spring.

7. The surgical robot stapler according to claim 6, characterized in that: An internal thread is arranged in the screw rod, and a top screw is arranged in the screw rod and the position of the top screw can be adjusted.

8. The surgical robot stapler according to claim 3, characterized in that: The driving part also includes two active part support parts, which are respectively located at the upper and lower ends of the driving rod and are respectively fixed to the base and the shell: the driven part also includes two driven part support parts, and the driven part is positioned on the support frame and the shell through the two driven part supports.

9. The surgical robot stapler according to claim 8, characterized in that: The active part support part and the driven part support part are bearings respectively.

10. The surgical robot stapler according to claim 6, wherein: The support frame is provided with a support frame boss, and the support frame boss cooperates with the track groove provided on the screw rod to limit the rotational movement of the screw rod.

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