Power driving structure applied to end executing mechanism of laparoscopic robot

Abstract

The utility model relates to a power driving structure applied to a laparoscopic robot end actuating mechanism, which comprises a shell and a flexible adjusting structure, the shell is in the shape of a rectangular box with an open front end, and a plurality of motors are arranged in the shell; the motor is mounted on the fixed plate; the fixed plate is mounted at the front end of the shell; the output shaft extends out of the shell; the flexible adjusting structure is mounted on the output shaft and can rotate along with the output shaft; meanwhile, the flexible adjusting structure can abut against the driving wheel of the surgical instrument of the laparoscopic robot, and the clamping groove in the flexible adjusting structure and the protruding block on the driving wheel are connected in place through relative rotation of the flexible adjusting structure, so that the operation efficiency is improved, damage to the surgical instrument can be avoided, and the service life of the surgical instrument is prolonged. And favorable conditions are provided for application and popularization of the surgical robot.

Description

Technical Field

[0001] The utility model relates to an electromechanical structure, in particular to a power drive structure applied to a surgical robot, specifically to a power drive structure applied to an end actuator of a laparoscopic robot. Background Art

[0002] Most of the end effectors of laparoscopic robots are equipped with a power drive structure that can be matched with the drive wheel on the surgical instrument. Then, the drive wheel is driven to rotate through the drive structure, so that the surgical instrument can complete the relevant actions.

[0003] Currently, conventional power drive structures include a drive motor with a disc-shaped connecting block mounted on its output shaft. This connecting block is equipped with two or more slots. The number and position of these slots correspond to the bumps on the surgical instrument's drive wheel. When the connecting block and the drive wheel are docked, the bumps snap into the slots, allowing the connecting block to drive the drive wheel.

[0004] However, since the size of the slots and the protrusions are very small, and when installing surgical instruments, the slots and the protrusions are often not corresponding, it is necessary to laboriously splice the slots and the protrusions, which not only affects the efficiency of installing surgical instruments, but also easily causes structural damage, affecting the application and promotion of surgical robots.

[0005] Therefore, it needs to be improved in order to better meet market demand. Utility Model Content

[0006] The purpose of the present utility model is to address the deficiencies of the existing technology and to provide a power drive structure for the end effector of a laparoscopic robot. By setting a flexible adjustment structure, the drive structure can be quickly and accurately connected to the surgical instrument, thereby improving the operating efficiency and avoiding damage to the surgical instrument, thereby providing favorable conditions for the application and promotion of surgical robots.

[0007] The technical solution of the utility model is:

[0008] A power drive structure for the end effector of a laparoscopic robot comprises a shell and a flexible adjustment structure, wherein the shell is in the shape of a rectangular box with an open front end and is provided with a plurality of motors inside; the motors are mounted on a fixed plate; the fixed plate is mounted on the front end of the shell; the output shaft extends out of the shell; and further comprises a flexible adjustment structure mounted on the output shaft and capable of rotating with the output shaft; at the same time, the flexible adjustment structure can press against the drive wheel of the surgical instrument of the laparoscopic robot and, by rotating relative thereto, connect the slot on the flexible adjustment structure to the protrusion on the drive wheel in place.

[0009] Furthermore, the elastic adjustment structure includes a drive sleeve, an adjustment spring and a spring seat; the drive sleeve is in the shape of a stepped frustum, hollow and bottomless; the adjustment spring is in the shape of a straight line, placed inside the drive sleeve, and movably sleeved on the end of the output shaft; the spring seat is cylindrical, its outer circumference is polygonal, and is fixedly sleeved on the output shaft of the motor; the rear end of the adjustment spring rests on the spring seat, and its front end is placed outside the end of the output shaft and rests on the top surface of the drive sleeve; the inner hole of the drive sleeve is in the shape of a stepped hole, and has a step shape that adapts to the spring seat, so that it can be snugly sleeved on the spring seat, rotate with the spring seat, and can move axially along the spring seat; the slot is in the shape of a groove, and is arranged on the step surface in the middle of the drive sleeve.

[0010] Furthermore, the spring seat is in the shape of a hexagonal sleeve, which is sleeved on the output shaft of the motor and fixed by screws.

[0011] Furthermore, there are four motors, which are evenly distributed.

[0012] Furthermore, there are two clamping slots, which are symmetrically arranged along the radial direction of the driving sleeve.

[0013] Furthermore, it also includes a limit plate, which is provided with a plurality of through holes; the number and position of the through holes correspond to the motor, and the aperture thereof is smaller than the bottom diameter of the drive sleeve; the limit plate is installed at the front end of the shell, so that the through holes are movably sleeved on the drive sleeve, and the limit plate is pressed against the step at the bottom edge of the drive sleeve; at the same time, the front end of the inner hole of the drive sleeve is separated from the front end of the output shaft.

[0014] Furthermore, it also includes an in-position detection circuit, which is arranged in a protective box and electrically connected to the robot's controller; the protective box is installed at the front end of the shell and is adapted to the surgical instrument; when the drive sleeve is connected to the drive wheel in position, the in-position detection circuit can sense and trigger an in-position signal.

[0015] Beneficial effects of the utility model:

[0016] The utility model has a reasonable design, a simple structure and is easy to use. By setting a flexible adjustment structure, the surgical instrument can be quickly and accurately connected to the driving structure through the relative movement between the flexible adjustment structure and the driving wheel on the surgical instrument during installation. This not only improves the operating efficiency, but also avoids damage to the surgical instrument, providing favorable conditions for the application and promotion of surgical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural diagram of the utility model (a driving sleeve and a side plate of the housing are removed).

[0018] Figure 2 It is a bottom view of the drive sleeve.

[0019] Figure 3 yes Figure 2 Middle AA section view.

[0020] Figure 4 It is a schematic diagram of the end effector of the laparoscopic robot.

[0021] Among them, 1-housing; 2-motor; 3-card slot; 4-limiting plate; 5-driving sleeve; 6-spring seat; 7-adjusting spring; 8-protective box; 9-poking card; 10-power drive structure; 11-surgical instrument; 12-linear slide structure; 13-poking card connecting seat. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] like Figures 1 to 3 shown.

[0024] A power drive structure applied to an end effector of a laparoscopic robot comprises a housing 1, a flexible adjustment structure, an in-position detection circuit, and the like.

[0025] The housing 1 is a rectangular box with an open front end. Four motors 2 are mounted on a fixed plate and evenly spaced. The fixed plate is mounted on the front end of the housing 1 so that the output shafts of the motors 2 extend outside the housing 1.

[0026] The flexible adjustment structure includes a driving sleeve 5 , an adjustment spring 7 , a spring seat 6 and a limiting plate 4 .

[0027] The drive sleeve 5 is a stepped, truncated cone, made of sheet metal, and is hollow and bottomless. A recessed, groove-like retaining groove 3 is provided on the stepped surface in the middle of the drive sleeve 5. Two retaining grooves 3 are symmetrically arranged along the radial direction of the drive sleeve 5. Furthermore, the shape and position of these retaining grooves 3 correspond to the protrusions on the drive wheel of the surgical instrument, ensuring a seamless docking of the two.

[0028] The spring seat 6 is cylindrical, and its outer circumference is hexagonal. It is sleeved on the output shaft of the motor and fixed by screws.

[0029] The adjusting spring 7 is linear, placed inside the drive sleeve, and movably sleeved on the end of the output shaft, so that its rear end abuts against the spring seat 6, and its front end is placed outside the end of the output shaft and abuts against the top surface of the drive sleeve, so that the drive sleeve can press the adjusting spring to contract it, and then, the drive sleeve can move along the axial direction of the output shaft of the motor.

[0030] The interior of the drive sleeve 5 is in the shape of a stepped hole, and the shape of the first step on the bottom edge of the drive sleeve is adapted to the spring seat 6, so that it can be snugly mounted on the spring seat 6 and rotate with the spring seat 6. Moreover, the drive sleeve 5 can also move axially along the spring seat 6 to meet the requirement of flexible adjustment.

[0031] The limiting plate 4 is a thin plate, sized to fit the front end of the housing 1, allowing it to be installed there. The limiting plate 4 is provided with four through-holes. These through-holes are positioned to correspond with the motor 2, and their diameter is slightly smaller than the bottom diameter of the drive sleeve 5. This allows the through-holes to be flexibly attached to the drive sleeve, with the limiting plate pressing against the step at the bottom edge of the drive sleeve to limit the drive sleeve. Furthermore, the front end of the inner hole of the drive sleeve is separated from the front end of the output shaft to facilitate downward movement of the drive sleeve.

[0032] The in-position detection circuit is housed in a protective box 8 and electrically connected to the robot's controller. The protective box 8 is mounted at the front end of the housing 1 and is compatible with the surgical instrument. When the drive sleeve is in position with the drive wheel, the in-position detection circuit senses and triggers an in-position signal. Preferably, the in-position detection circuit is a Hall effect circuit.

[0033] The utility model is applied to the end effector of the laparoscopic robot. Figure 4 As shown, the end effector of the laparoscopic robot also includes a linear slide structure 12. The linear slide structure 12 includes a support frame. The support frame is in the shape of an elongated strip, on which a guide rail and a screw rod assembly are provided, and a stamping card connecting seat 13 is provided at the front end. The guide rail is linear, arranged along the length direction of the support frame, and provided with a slider that can move along it. The screw rod assembly includes a linear screw rod and a nut screwed thereto. The length of the screw rod is adapted to the length of the guide rail and is parallel to each other. The tail end of the screw rod is connected to the drive motor so that the screw rod can rotate under the drive of the drive motor. The slider is also connected to the nut so that the slider can move linearly along the guide rail as the screw rod rotates. A stamping card 9 is installed on the stamping card connecting seat 13. The power drive structure 10 of the utility model is installed on the slider and can move along the guide rail with the slider.

[0034] During use, the operating rod of the surgical instrument is installed on the stamping card 9, and the driving wheel of the surgical instrument 11 is docked with the driving sleeve. Since the position of the protrusion on the driving wheel of the surgical instrument is random, the position of the protrusion may not correspond to the card slot. At this time, the protrusion rests on the step surface of the driving sleeve and compresses the adjustment spring to contract and move the driving sleeve toward the motor. Then, the motor is started, so that the driving sleeve rotates with the output shaft of the motor, and relative movement occurs between the driving sleeve and the driving wheel of the surgical instrument. Then, the protrusion on the driving wheel moves along the step surface of the driving sleeve until it falls into the card slot, so that the driving sleeve and the driving wheel are connected in place. Subsequently, the in-place detection circuit triggers an in-place signal to the robot control system, and the subsequent surgical procedure begins.

[0035] The utility model provides a flexible adjustment structure, so that when the surgical instrument is installed, the relative movement between the flexible adjustment structure and the driving wheel on the surgical instrument can be used to complete the quick and accurate connection between the driving structure and the surgical instrument, which not only improves the operating efficiency but also avoids damage to the surgical instrument, providing favorable conditions for the application and promotion of surgical robots.

[0036] The parts not involved in the present invention are the same as the existing technology or can be implemented by using the existing technology.

Claims

1. A power drive structure for a laparoscopic robot end effector, comprising a housing and a flexible adjustment structure, characterized in that: The housing is in the shape of a rectangular box with an open front end, and a plurality of motors are arranged inside the housing; the motors are mounted on a fixed plate, and their output shafts extend out of the housing; The fixing plate is installed at the front end of the shell; it also includes a flexible adjustment structure, which is installed on the output shaft and can rotate with the output shaft; at the same time, the flexible adjustment structure can press against the driving wheel of the surgical instrument of the laparoscopic robot, and by rotating relative to it, the slot on the flexible adjustment structure is connected to the protrusion on the driving wheel in place.

2. The power drive structure for the end effector of a laparoscopic robot according to claim 1, characterized in that: The flexible adjustment structure includes a driving sleeve, an adjusting spring and a spring seat; the driving sleeve is in the shape of a stepped frustum, hollow and bottomless; the adjusting spring is in the shape of a straight line, placed inside the driving sleeve, and movably sleeved on the end of the output shaft; the spring seat is cylindrical, its outer circumference is polygonal, and is fixedly sleeved on the output shaft of the motor; the rear end of the adjusting spring rests on the spring seat, and its front end is placed outside the end of the output shaft and rests on the top surface of the driving sleeve; the inner hole of the driving sleeve is in the shape of a stepped hole, and has a step shape that adapts to the spring seat, so that it can be snugly sleeved on the spring seat, rotate with the spring seat, and can move axially along the spring seat; the slot is in the shape of a groove, and is arranged on the stepped surface in the middle of the driving sleeve.

3. The power drive structure for the end effector of a laparoscopic robot according to claim 2, characterized in that: The spring seat is in the shape of a hexagonal sleeve, is sleeved on the output shaft of the motor, and is fixed by screws.

4. The power drive structure for the end effector of a laparoscopic robot according to claim 1, characterized in that: There are four motors, which are evenly distributed.

5. The power drive structure for the end effector of a laparoscopic robot according to claim 2, wherein: There are two clamping slots, which are symmetrically arranged along the radial direction of the driving sleeve.

6. The power drive structure for the end effector of a laparoscopic robot according to claim 2, wherein: It also includes a limit plate, which is provided with a plurality of through holes; the number and position of the through holes correspond to the motor, and the aperture thereof is smaller than the bottom diameter of the drive sleeve; the limit plate is installed at the front end of the shell so that the through holes are movably sleeved on the drive sleeve and the limit plate is pressed against the step at the bottom edge of the drive sleeve; at the same time, the front end of the inner hole of the drive sleeve is separated from the front end of the output shaft.

7. The power drive structure for the end effector of a laparoscopic robot according to claim 2, wherein: It also includes a position detection circuit, which is arranged in a protection box and is electrically connected to the controller of the robot; the protection box is installed at the front end of the shell and is adapted to the surgical instrument; When the driving sleeve is connected to the driving wheel in position, the position detection circuit can sense and trigger a position signal.

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