Linear sliding table structure and end executing mechanism of laparoscopic surgery robot

Abstract

The utility model relates to a linear sliding table structure and a tail end executing mechanism of a laparoscopic surgery robot, which comprise a support frame and the like, the support frame is strip-shaped, and a guide rail and a screw rod assembly are arranged on the support frame; the guide rail is linear and is arranged along the length direction of the support frame; the lead screw assembly comprises a linear lead screw and a nut connected with the linear lead screw in a screwed mode. The length of the lead screw is matched with that of the guide rail, and the lead screw and the guide rail are parallel. The tail end of the screw rod is connected with a frameless torque type driving motor through a bearing locking shaft; and the sliding block is arranged on the guide rail and is connected with the nut. The tail end executing mechanism of the laparoscopic surgery robot comprises the linear sliding table structure, a trocar fixing frame is arranged at the front end of the supporting frame, and a power driving structure is arranged on the sliding block. A trocar can be installed on the trocar fixing frame. Therefore, a surgical instrument can be installed on the trocar and can move along the linear sliding table structure, and surgical operation is facilitated.

Description

Technical Field

[0001] The utility model relates to a mechanical and electrical structure and an application device, in particular to a slide table structure and a surgical instrument applying this structure, specifically a linear slide table structure and an end effector of a laparoscopic surgical robot. Background Art

[0002] With the popularization and promotion of surgical robots, the convenience of their use has been increasingly concerned.

[0003] In the field of laparoscopic surgical robots, surgical instruments required are usually installed on the end effector thereof, and the surgical instruments can perform actions such as linear movement, rotation and clamping so as to complete surgical operations. Therefore, most of the end effectors of such robots have the function of linear movement. At present, this linear movement function is mostly realized by driving with a surgical motor and in cooperation with structures such as a reducer and a synchronous belt. However, the above driving mode of "surgical motor + reducer + synchronous belt" not only has a complex structure, occupies more space, is not conducive to installation and maintenance, but also increases the cost of the entire robot device, which is not conducive to promotion and popularization. At the same time, the connection between the existing robot end effector and the fuselage is usually specific and very complex, bringing more inconvenience to replacement and maintenance.

[0004] Therefore, improvement is needed to better meet the market demand. Summary of the Utility Model

[0005] The purpose of the utility model is to aim at the deficiencies of the prior art and provide a linear slide table structure and an end effector of a laparoscopic surgical robot, which can effectively simplify the structure, facilitate installation and maintenance, and reduce costs. At the same time, it can also improve the convenience of replacement and maintenance, and promote popularization and promotion.

[0006] The technical solution of the utility model is as follows:

[0007] A linear slide table structure includes a support frame. The support frame is in a long strip shape, and a guide rail and a screw rod assembly are provided thereon. The guide rail is linear and is arranged along the length direction of the support frame. The screw rod assembly includes a linear screw rod and a nut screwed thereon. 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 a frameless torque drive motor through a bearing locking shaft, so that the screw rod can rotate under the drive of the drive motor. It further includes a slider, which is arranged on the guide rail and is connected to the nut, so that the slider can linearly move along the guide rail with the rotation of the screw rod.

[0008] Furthermore, the support frame is in the shape of a hollow box; the guide rail is arranged on the top surface of the support frame; the screw rod is arranged inside the support frame; a slide groove is provided on the top surface of the support frame and passes through the interior of the support frame; the length of the slide groove is equivalent to that of the guide rail and is parallel to the guide rail; and it also includes a connecting block, which is movably arranged in the slide groove, the upper end of which is connected to the slider, and the lower end of which is connected to the nut.

[0009] Furthermore, both ends of the screw rod are connected to the support frame through bearings.

[0010] Furthermore, it also includes an oil seal; there are two oil seals, which are respectively sleeved on the screw rod and the bearing locking shaft; the oil seal is adjacent to the drive motor and is connected to the support frame.

[0011] Furthermore, the stator part of the drive motor is fixedly connected to the tail end of the support frame; the bearing locking shaft is an angular contact ball bearing locking shaft, which is arranged through the rotor part of the drive motor, with its front end connected to the tail end of the screw rod, and its rear end extending out of the drive motor, and is provided with a position sensor.

[0012] Furthermore, it also includes a brake, which is arranged at the rear end of the bearing locking shaft.

[0013] Furthermore, it also includes a connecting head in the shape of a flange, which is connected to the bottom surface of the support frame through a connecting plate.

[0014] Furthermore, it also includes a protective cover, which is in the shape of a box with one end open, and the open end is detachably connected to the tail end of the support frame, and the drive motor is placed therein.

[0015] A terminal actuator of a laparoscopic surgical robot comprises the linear slide structure; a poking card fixing frame is provided at the front end of the support frame; a poking card can be installed on the poking card fixing frame so that an operating rod on a surgical instrument can be passed through the poking card; the slider is provided with a power drive structure, which can dock with a driving wheel on the surgical instrument and drive the surgical instrument to move; the connecting head can be connected to a corresponding connecting piece on the operating arm of the laparoscopic surgical robot, so as to facilitate installation and replacement.

[0016] Beneficial effects of the utility model:

[0017] This utility model features a rational design, simple structure, and ease of use. It effectively simplifies the linear slide's drive structure, eliminating conventional reducers and synchronous belts, making installation and maintenance more convenient, reducing space requirements, and making the overall structure more compact. Furthermore, it facilitates replacement and maintenance of the end effector, reducing manufacturing and maintenance costs, and promoting its widespread adoption. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a top view of the linear slide structure of the present utility model.

[0019] Figure 2 is Figure 1 the A-A sectional view in

[0020] Figure 3 It is a schematic structural view of the present utility model after removing the support frame bottom plate.

[0021] Figure 4 It is a schematic view of the end effector of the laparoscopic surgical robot of the present utility model.

[0022] Figure 5 It is a schematic view of the usage state of the end effector of the laparoscopic surgical robot.

[0023] Among them, 1 - support frame; 2 - connecting head; 3 - slider; 4 - guide rail; 5 - chute; 6 - driving motor; 7 - brake; 8 - position sensor; 9 - screw rod; 10 - nut; 11 - connecting plate; 12 - oil seal; 13 - bearing locking shaft; 14 - trocar fixing frame; 15 - trocar; 16 - power driving structure; 17 - protective sleeve; 18 - surgical instrument; 19 - operating rod. Specific embodiments

[0024] The following further describes the present utility model in conjunction with the drawings and embodiments.

[0025] As Figures 1 to 3 shown.

[0026] A linear slide structure of the present utility model includes a support frame 1, a guide rail 4, a slider 3, a screw rod assembly, a driving motor 6, an oil seal 12, a brake 7, a position sensor 8, etc.

[0027] The support frame 1 is a long strip-shaped hollow box, with a rectangular cross-section, and a connecting head 2 connected to it through a connecting plate 11 is provided on its bottom surface. The connecting head 2 is in the shape of a flange, which is convenient for connection and disassembly. The connecting plates 11 are two, both are triangular, and are arranged in parallel, ensuring firm connection and making a certain angle between the connecting head 2 and the support frame 1, which is convenient for installation.

[0028] The guide rail 4 is linear and is arranged on the top surface of the support frame 1 along the length direction of the support frame 1. At the same time, a chute 5 parallel to it is also provided beside the guide rail 4. The length of the chute 5 is equivalent to that of the guide rail 4 and is connected to the inside of the support frame 1.

[0029] The screw assembly includes a linear screw 9 and a nut 10 screwed thereto. The length of the screw 9 is adapted to the length of the guide rail 4, is arranged inside the support frame 1, and is parallel to the guide rail 4, and its two ends are connected to the support frame through bearings.

[0030] The slider 3 is block-shaped and is mounted on the guide rail 4 and can move along the guide rail. It also includes a connecting block. This connecting block is a thin plate that is movably inserted into the chute 5. Its upper end is connected to the slider 3, and its lower end is connected to the nut 10, allowing the slider 3 to move with the nut 10.

[0031] The drive motor 6 is a frameless torque motor, the stator of which is fixedly connected to the rear end of the support frame. The bearing locking shaft 13 is passed through the rotor and fixedly connected to the rotor to drive the bearing locking shaft 13 to rotate. The front end of the bearing locking shaft 13 is connected to the rear end of the screw rod 9, and the rear end is output to the outside of the drive motor 6, allowing the screw rod 9 to rotate under the drive motor 6. Preferably, the drive motor 6 can be a UTS-19A-30-AN-000 frameless torque motor.

[0032] Two oil seals 12 are provided: one is sleeved onto the end of the screw 9, and the other is sleeved onto the bearing locking shaft 13. These oil seals are located adjacent to the drive motor 6 and connected to the support frame 1 for protection. A BPR-Q1 rotary oil seal is preferred, as it effectively reduces friction between the oil seal and the screw 9, meeting operational requirements.

[0033] The holding brake 7 is a miniature holding brake, which is located behind the driving motor 6 and is sleeved on the bearing locking shaft 13. It can brake the bearing locking shaft to stop its rotation when needed, ensuring safe use.

[0034] The position sensor 8 is a miniature absolute encoder installed at the tail end of the bearing locking shaft 13, which can accurately detect the rotation angle of the drive motor and transmit the detection information to the controller.

[0035] The linear slide structure of the utility model eliminates the previous structures such as the reducer and the synchronous belt, so that the structure is effectively simplified, thereby making installation and maintenance more convenient, reducing space occupation, and making the overall structure more compact.

[0036] The utility model provides an end effector mechanism of a laparoscopic surgical robot, such as Figure 4 As shown, it includes the linear slide structure and also includes a punch card fixing frame 14, a punch card 15 and a power drive structure 16.

[0037] The puncture card fixing bracket 14 is in the shape of a folded rod, and the bending angle is an obtuse angle, which is convenient for subsequent operations. The rear end of the puncture card fixing bracket 14 is connected to the front end of the support bracket 1, and its front end is detachably connected to the puncture card 15, which is convenient for installing and replacing the puncture card 15.

[0038] The power driving structure 16 includes a box-shaped housing, and several surgical motors are arranged inside it. The output shaft of the surgical motor can be docked with the driving wheel of the surgical instrument 18 to drive the driving wheel to rotate. The power driving structure 16 is installed on the slider 3 so that it can move along the slide rail to meet the surgical requirements. Preferably, it further includes a protective cover 17, which is box-shaped with one end open, and the open end is detachably connected to the tail end of the support bracket 1, and the driving motor, position sensor, etc. are placed therein to achieve effective protection.

[0039] During use, as Figure 5 shown, the operating rod 19 on the surgical instrument is inserted into the puncture card 15, and the driving wheel of the surgical instrument is docked with the surgical motor of the power driving structure. Then, according to the surgical requirements, the driving motor is controlled to drive the surgical instrument to move along the guide rail. At the same time, the surgical motor is controlled to drive the components at the front end of the operating rod to act to complete the operation.

[0040] When it is necessary to replace or repair the end effector, the connector can be removed from the operating arm of the robot, which is convenient and fast, and does not have any impact on the end effector and the control system of the robot, and can effectively reduce the maintenance cost.

[0041] Parts not involved in the present utility model are the same as or can be realized by the prior art.

Claims

1. A linear slide structure, including a support frame, characterized in that: The support frame is long and strip-shaped, and is provided with a guide rail and a screw rod assembly; the guide rail is linear and is arranged along the length direction of the support frame; 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 frameless torque-type drive motor through a bearing locking shaft, so that the screw rod can rotate under the drive of the drive motor; it also includes a slider, which is arranged on the guide rail and is connected to the nut, so that the slider can move linearly along the guide rail as the screw rod rotates.

2. The linear slide structure according to claim 1, wherein: The support frame is in the shape of a hollow box; the guide rail is arranged on the top surface of the support frame; the screw rod is arranged inside the support frame; a slide groove is provided on the top surface of the support frame and passes through the interior of the support frame; the length of the slide groove is equivalent to that of the guide rail and is parallel to the guide rail; the lower end of the slider passes through the slide groove and extends into the interior of the support frame; the nut is arranged at the lower end of the slider.

3. The linear slide structure according to claim 1, wherein: Both ends of the screw rod are connected to the support frame through bearings respectively.

4. The linear slide structure according to claim 1, wherein: It also includes an oil seal; there are two oil seals, which are respectively sleeved on the screw rod and the bearing locking shaft; the oil seal is adjacent to the drive motor and is connected to the support frame.

5. The linear slide structure according to claim 1, wherein: The stator part of the drive motor is fixedly connected to the tail end of the support frame; the bearing locking shaft is an angular contact ball bearing locking shaft, which is arranged through the rotor part of the drive motor, with its front end connected to the tail end of the screw rod, and its rear end extending out of the drive motor, and is provided with a position sensor.

6. The linear slide structure according to claim 1, wherein: It also includes a brake, which is arranged at the rear end of the bearing locking shaft.

7. The linear slide structure according to claim 1, wherein: It also includes a connecting head in the shape of a flange, which is connected to the bottom surface of the support frame through a connecting plate.

8. The linear slide structure according to claim 1, wherein: It also includes a protective cover, which is in the shape of a box with one end open, and the open end is detachably connected to the tail end of the support frame, and the drive motor is placed therein.

9. An end effector of a laparoscopic surgical robot, characterized in that: It includes the linear slide structure described in claims 1 to 7; the front end of the support frame is provided with a poking card fixing frame; the poking card fixing frame can be installed on the poking card so that the operating rod on the surgical instrument can be passed through the poking card; the slider is provided with a power drive structure, which can connect with the driving wheel on the surgical instrument and drive the surgical instrument to move; the connecting head can be connected to the corresponding connecting piece on the operating arm of the laparoscopic surgical robot, which is convenient for installation and replacement.

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