Synchronous angle opening and closing mechanism of surgical robot

Abstract

The synchronous angle opening and closing mechanism of the surgical robot comprises a kneading rod seat, a kneading rod is fixedly connected to the kneading rod seat, two opening and closing shafts are fixed to the end, away from the kneading rod seat, of the kneading rod at intervals, the two opening and closing shafts are marked as the first opening and closing shaft and the second opening and closing shaft respectively, and the first opening and closing shaft and the second opening and closing shaft are arranged in parallel. A first opening and closing petal unit is hinged to the first opening and closing shaft, a second opening and closing petal unit is hinged to the second opening and closing shaft, the first opening and closing petal unit comprises a first opening and closing petal and a first synchronous gear, the first opening and closing petal and the first synchronous gear keep rotating synchronously, and the second opening and closing petal unit comprises a second opening and closing petal and a second synchronous gear. And the second opening and closing flap and the second synchronous gear keep rotating synchronously, and the first synchronous gear and the second synchronous gear are meshed to achieve synchronous opening and closing of the first opening and closing flap and the second opening and closing flap. The synchronous angle opening and closing mechanism of the surgical robot can improve the synchronization precision when the two opening and closing flaps act.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a synchronous angle opening and closing mechanism for a surgical robot. Background Technology

[0002] Surgical robots are being used more and more widely in the medical industry. Surgical robots typically include a master operating end and a patient operating end, which are master-slave teleoperation structures. Medical staff operate the master operating end and then control the movement of the patient operating end.

[0003] The main operating end of a surgical robot includes a main manipulator, which comprises an arm and a wrist. The wrist includes an opening and closing mechanism, a first L-link, a second L-link, and a third L-link. The opening and closing mechanism typically includes a pinch rod and two opening and closing flaps, each hinged to the pinch rod. During use, medical personnel need to control the opening and closing of the two flaps. However, in existing technologies, the synchronization between the two flaps during opening and closing is insufficient, affecting the precision of control and potentially impacting control over the patient's surgical end. Utility Model Content

[0004] To address the problems existing in the prior art, this application proposes a synchronous angle opening and closing mechanism for a surgical robot to improve the synchronization accuracy of the two opening and closing flaps during their movements.

[0005] To achieve the above objectives, this application proposes a synchronous angle opening and closing mechanism for a surgical robot, including a pinching rod seat, a pinching rod fixedly connected to the pinching rod seat, and two opening and closing shafts fixed at a distance from the end of the pinching rod away from the pinching rod seat, respectively referred to as the first opening and closing shaft and the second opening and closing shaft. The first opening and closing shaft and the second opening and closing shaft are arranged in parallel. A first opening and closing flap unit is hinged to the first opening and closing shaft, and a second opening and closing flap unit is hinged to the second opening and closing shaft. The first opening and closing flap unit includes a first opening and closing flap and a first synchronous gear. The first opening and closing flap and the first synchronous gear rotate synchronously. The second opening and closing flap unit includes a second opening and closing flap and a second synchronous gear. The second opening and closing flap and the second synchronous gear rotate synchronously. The first synchronous gear and the second synchronous gear mesh to achieve synchronous opening and closing of the first opening and closing flap and the second opening and closing flap.

[0006] In some embodiments, the first opening / closing flap unit and the second opening / closing flap unit are arranged in a mirror-symmetrical manner.

[0007] In some embodiments, the structure of the first opening / closing flap unit is as follows: two first support plates are provided opposite to each other on the first opening / closing flap, a first directional shaft passes through the two first support plates in sequence, and the first directional shaft is fixedly connected to the two first support plates. A first through hole is provided in the first directional shaft along its own axis direction. The first opening / closing flap passes through the first through hole and the first directional shaft can rotate relative to the first opening / closing flap. A first synchronous gear is provided on the first directional shaft between the two first support plates. The first synchronous gear, the first directional shaft, and the first opening / closing flap maintain synchronous rotation. A first torsion spring is provided on the first directional shaft between the two first support plates or on the outer surface of the cylindrical part of the first synchronous gear. When the first opening / closing flap performs a closing movement, the first torsion spring acts on the first opening / closing flap, causing it to have an opening tendency.

[0008] The structure of the second opening / closing flap unit is as follows: two second support plates are provided opposite to each other on the second opening / closing flap, and a second directional shaft passes through the two second support plates in sequence and is fixedly connected to the two second support plates. A second through hole is provided in the second directional shaft along its own axis, and the second opening / closing flap passes through the second through hole. The second directional shaft can rotate relative to the second opening / closing flap. A second synchronous gear is provided on the second directional shaft between the two second support plates. The second synchronous gear meshes with the first synchronous gear. The second synchronous gear, the second directional shaft, and the second opening / closing flap maintain synchronous rotation. A second torsion spring is provided on the second directional shaft between the two second support plates or on the outer surface of the cylindrical part of the second synchronous gear. When the second opening / closing flap performs a closing movement, the second torsion spring acts on the second opening / closing flap, causing it to have an opening tendency.

[0009] In some embodiments, a first magnet is provided on the first opening and closing flap, a second magnet is provided on the second opening and closing flap, and a magnetic induction device is provided in the pinching rod.

[0010] The beneficial effect of the solution in this application is that the synchronous angle opening and closing mechanism of the above-mentioned surgical robot, by setting two meshing synchronous gears, can realize the synchronous movement of the two opening and closing flaps, thereby improving the synchronization accuracy of the movement of the two opening and closing flaps, and has the advantages of being easy to use and occupying little space. Attached Figure Description

[0011] Figure 1 A schematic diagram of the synchronous angle opening and closing mechanism of the surgical robot in the embodiment is shown.

[0012] Figure 2 A schematic diagram of another angle of the synchronous angle opening and closing mechanism of the surgical robot in the embodiment is shown.

[0013] Figure 3 A schematic diagram of the structure of the first opening and closing flap unit is shown.

[0014] Figure 4 A schematic diagram of the structure of the second opening and closing lobe unit is shown.

[0015] Figure 5 A partial cross-sectional schematic diagram of the synchronous angle opening and closing mechanism of the surgical robot in the embodiment is shown.

[0016] Figure 6 A schematic diagram of the wrist of the surgical robot in the embodiment is shown.

[0017] Reference numerals: 1-Kneading rod seat, 2-Kneading rod, 3-First opening / closing flap, 4-Second opening / closing flap, 5-Opening / closing flap housing, 6-First support plate, 7-First synchronizing gear, 8-First directional shaft, 9-First through hole, 10-First torsion spring, 11-First magnet, 12-Second support plate, 13-Second synchronizing gear, 14-Second directional shaft, 15-Second through hole, 16-Second torsion spring, 17-Second magnet, 18-First opening / closing shaft, 19-Second opening / closing shaft, 20-Kneading rod housing, a-Opening / closing mechanism, b-First L-link, c-Second L-link, d-Third L-link, e-Redundant support. Detailed Implementation

[0018] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0019] In the description of this application, it should be understood that the terms "first," "second," etc., are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] like Figures 1-5As shown, the synchronous angle opening and closing mechanism of the surgical robot involved in this application includes a pinching rod seat 1, which is used for rotatable connection with a relevant L-link in the wrist of the surgical robot. A pinching rod 2 is fixedly connected to the pinching rod seat 1, and a pinching rod housing 20 is provided at the pinching rod 2. Two opening and closing shafts, referred to as the first opening and closing shaft 18 and the second opening and closing shaft 19, are fixed at a distance from the end of the pinching rod 2 away from the pinching rod seat 1. The first opening and closing shaft 18 and the second opening and closing shaft 19 are arranged in parallel. The first opening and closing shaft 18 is... A first opening and closing flap unit is hinged to the second opening and closing shaft 19, and a second opening and closing flap unit is hinged to the second opening and closing shaft 19. The first opening and closing flap unit includes a first opening and closing flap 3 and a first synchronous gear 7. The first opening and closing flap 3 and the first synchronous gear 7 rotate synchronously. The second opening and closing flap unit includes a second opening and closing flap 4 and a second synchronous gear 13. The second opening and closing flap 4 and the second synchronous gear 13 rotate synchronously. The first synchronous gear 7 and the second synchronous gear 13 mesh with each other to realize the synchronous opening and closing of the first opening and closing flap 3 and the second opening and closing flap 4.

[0021] The structure of the first opening / closing flap unit is as follows: Two first support plates 6 are provided opposite to each other on the first opening / closing flap 3. A first directional shaft 8 passes through the two first support plates 6 in sequence, and the first directional shaft 8 is fixedly connected to the two first support plates 6. A first through hole 9 is provided in the first directional shaft 8 along its own axis. The first opening / closing shaft 18 passes through the first through hole 9, and the first directional shaft 8 can rotate relative to the first opening / closing shaft 18. A first synchronous gear 7 is provided on the first directional shaft 8 between the two first support plates 6. The first synchronous gear 7, the first directional shaft 8, and the first opening / closing flap 3 maintain synchronous rotation. Specifically, the first directional shaft 8 is a square shaft. A square hole adapted to the square shaft is provided on the first support plate 6. A square hole adapted to the square shaft is also provided in the first synchronous gear 7. The first directional shaft 8 cooperates with the square holes in the first support plate 6 and the first synchronous gear 7. The movement of the first directional shaft 8 and the first synchronous gear 7 along the axis of the first directional shaft 8 is restricted by a limiting member. A first torsion spring 10 is provided on the first directional shaft 8 between the two first support plates 6 or on the outer surface of the cylindrical part of the first synchronous gear 7. When the first opening and closing flap 3 performs a closing movement, the first torsion spring 10 acts on the first opening and closing flap 3, giving it an opening tendency and ensuring that the first opening and closing flap 3 can automatically rebound. A first magnet 11 is also provided on the first opening and closing flap 3.

[0022] The first and second opening / closing flap units are arranged in a mirror image symmetrical manner. The structure of the second opening / closing flap unit is as follows: two second support plates 12 are provided opposite to each other on the second opening / closing flap 4. The second directional shaft 14 passes through the two second support plates 12 in sequence and is fixedly connected to the two second support plates 12. The second directional shaft 14 is provided with a second through hole 15 along its own axis direction. The second opening / closing shaft 19 passes through the second through hole 15. The second directional shaft 14 can rotate relative to the second opening / closing shaft 19. A second synchronous gear 13 is provided on the second directional shaft 14 between the two second support plates 12. The second synchronous gear 13 meshes with the first synchronous gear 7. The second synchronous gear 13, the second directional shaft 14, and the second opening / closing flap 4 maintain synchronous rotation. Specifically, the second directional shaft 14 is a square shaft, and a square hole adapted to the square shaft is provided on the second support plate 12. The second synchronous gear 13 also has a square hole adapted to the square shaft. The second directional shaft 14 engages with the square holes in the second support plate 12 and the second synchronous gear 13, and a limiting member restricts the movement of the second directional shaft 14 and the second synchronous gear 13 along the axial direction of the second directional shaft 14. A second torsion spring 16 is provided on the second directional shaft 14 between the two second support plates 12 or on the outer surface of the cylindrical portion of the second synchronous gear 13. When the second opening / closing flap 4 performs a closing movement, the second torsion spring 16 acts on the second opening / closing flap 4, giving it an opening tendency and ensuring that the second opening / closing flap 4 can automatically rebound. A second magnet 17 is also provided on the second opening / closing flap 4. A magnetic induction device, such as a Hall element, is provided in the pinch rod 2. The magnetic induction device is used to sense the magnetic field strength of the magnetic elements (first magnet 11, second magnet 17), thereby obtaining the opening / closing angle of the opening / closing mechanism.

[0023] Opening and closing flap shells 5 can be provided at both the first opening and closing flap 3 and the second opening and closing flap 4. A wiring groove is provided between the first opening and closing flap 3 and its corresponding opening and closing flap shell 5, and a wiring groove is also provided between the second opening and closing flap 4 and its corresponding opening and closing flap shell 5.

[0024] like Figure 6 As shown, the wrist of the main operating end of the surgical robot includes an opening and closing mechanism a, a first L-link b, a second L-link c, and a third L-link d. The third L-link d is rotatably connected to the first joint of the wrist on the arm, which is rotatably connected to the third L-link d, which is rotatably connected to the second joint of the wrist, which is rotatably connected to the third L-link d, which is rotatably connected to the second L-link c, and the rotation axis of the first L-link b is perpendicular to the horizontal direction, which is set as the third joint of the wrist. The opening and closing mechanism a is rotatably mounted on the first L-link b, which is the fourth joint of the wrist, and the rotation axis of the opening and closing mechanism a is set parallel to the horizontal direction.

[0025] Since the second synchronizing gear 13 meshes with the first synchronizing gear 7, when the first opening / closing flap 3 and the second opening / closing flap 4 are operated, their movement trajectories and directions will theoretically remain mirror-symmetrical, and their speeds will be consistent. The first synchronizing gear 7 and the second synchronizing gear 13 involved in this application are made of copper to increase wear resistance and extend service life.

[0026] The synchronous angle opening and closing mechanism of the surgical robot involved in this application can realize the synchronous movement of two opening and closing flaps by setting two meshing synchronous gears, thereby improving the synchronization accuracy of the two opening and closing flaps. It also has the advantages of being easy to use, reliable in operation, and occupying little space.

[0027] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A synchronous angle opening and closing mechanism of a surgical robot, characterized by: The utility model provides a kind of kneading rod seat, fixedly connected with kneading rod on the kneading rod seat, two open-close shafts are fixed with at the end of the kneading rod away from the kneading rod seat, respectively marked as first open-close shaft and second open-close shaft, the first open-close shaft and second open-close shaft are arranged in parallel, the first open-close petal unit is hinged on the first open-close shaft, the second open-close petal unit is hinged on the second open-close shaft, the first open-close petal unit includes first open-close petal and first synchronous gear, the first open-close petal and first synchronous gear keep rotating synchronous, the second open-close petal unit includes second open-close petal and second synchronous gear, the second open-close petal and second synchronous gear keep rotating synchronous, the first synchronous gear and second synchronous gear are engaged, to realize the synchronous opening and closing of the first open-close petal and second open-close petal.

2. The synchronous angle opening and closing mechanism of a surgical robot according to claim 1, characterized by: The first open-close petal unit and the second open-close petal unit are arranged in mirror symmetry.

3. The synchronous angle opening and closing mechanism of a surgical robot according to claim 2, characterized by: The structure of the first open-close petal unit is as follows: two first supporting plates are provided on the first open-close petal, a first directional shaft passes through the two first supporting plates in sequence, and the first directional shaft is fixedly connected with the two first supporting plates, a first through hole is provided in the first directional shaft along the axial direction thereof, the first open-close shaft passes through the first through hole, the first directional shaft can rotate relative to the first open-close shaft, a first synchronous gear is provided on the first directional shaft between the two first supporting plates, and the first synchronous gear, the first directional shaft and the first open-close petal keep rotating synchronous; a first torsion spring is provided on the first directional shaft between the two first supporting plates or at the outer surface of the cylindrical portion of the first synchronous gear, when the first open-close petal performs closing movement, the first torsion spring acts on the first open-close petal to make it have a tendency to open. The structure of the second open-close petal unit is as follows: two second supporting plates are provided on the second open-close petal, a second directional shaft passes through the two second supporting plates in sequence, and the second directional shaft is fixedly connected with the two second supporting plates, a second through hole is provided in the second directional shaft along the axial direction thereof, the second open-close shaft passes through the second through hole, the second directional shaft can rotate relative to the second open-close shaft, a second synchronous gear is provided on the second directional shaft between the two second supporting plates, the second synchronous gear is engaged with the first synchronous gear, and the second synchronous gear, the second directional shaft and the second open-close petal keep rotating synchronous; a second torsion spring is provided on the second directional shaft between the two second supporting plates or at the outer surface of the cylindrical portion of the second synchronous gear, when the second open-close petal performs closing movement, the second torsion spring acts on the second open-close petal to make it have a tendency to open.

4. The synchronous angle opening and closing mechanism of a surgical robot according to claim 1, characterized by: A first magnet is further provided on the first open-close petal, a second magnet is further provided on the second open-close petal, and a magnetic induction device is provided in the kneading rod.

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