Cutting anastomat for surgical robot
By designing a cutting and anastomosis device for surgical robots, which utilizes a screw and nut structure and a swing head assembly to achieve automatic closure and swinging, the problems of anastomosis site deviation and jaw swinging in robotic surgery are solved, thereby improving the precision and efficiency of the surgery.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU WEISENTE MEDICAL ROBOT CO LTD
- Filing Date
- 2024-12-27
- Publication Date
- 2026-04-10
AI Technical Summary
In robotic surgery, the anastomosis operation performed by the bedside doctor may not be consistent with the surgeon's intention, leading to deviation of the anastomosis site. Furthermore, the instability of the human hand can cause slight wobbling of the stapler jaws, resulting in problems such as suture skewing.
A surgical robot cutting and anastomosis device was designed, including a base, an anastomosis assembly, a screw pusher drive assembly, and a swing head assembly. The screw cartridge assembly is automatically closed through a screw and nut structure, and the screw cartridge assembly is swung left and right by the swing head assembly. It is completely controlled by the surgeon, improving the accuracy and efficiency of the operation.
It improves the precision and efficiency of surgery, has a simple structure, low cost and is easy to implement, and reduces the deviation of anastomosis and the deviation of suture lines.
Smart Images
Figure CN224099390U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of medical apparatus and instruments, particularly relates to a cutting anastomat for surgical robot. BACKGROUND
[0002] The minimally invasive surgical robot is more and more widely applied in minimally invasive surgical operation of all large hospitals at home and abroad due to its small surgical incision, flexible and fine operation and many advantages. The surgical instruments are also one of its great advantages, and different instruments can be selected according to different parts to easily complete various surgical operations. The cutting anastomat is one of the surgical instruments, and has been widely applied in various thoracic and abdominal surgical operations due to its simple operation, time saving, cross infection prevention and other advantages.
[0003] In the current robot operation, the bedside doctor usually holds the laparoscope cutting anastomat to realize anastomosis, and the anastomosis position of the bedside doctor may deviate from the anastomosis position of the main doctor, and the operation is not accurate enough. In addition, due to the instability of the human hand, the jaws of the anastomat will swing slightly during the anastomosis process, which will cause the staple line at the anastomosis port to be slightly skewed. SUMMARY
[0004] To solve the above technical problems, the technical scheme provided by the utility model is as follows:
[0005] A cutting anastomat for surgical robot, comprising: a base, an anastomosis assembly, a push nail driving assembly and a head swinging assembly, the anastomosis assembly comprises a jaw assembly, the jaw assembly comprises: a nail abutting seat, a nail box base, a nail cartridge and an I-beam; the head swinging assembly is used for driving the jaw assembly to bend; the push nail driving assembly is used for pushing the nail box base to close while firing the nail cartridge and pulling the nail box base to open; the push nail driving assembly comprises: a push nail gear assembly, a push nail screw rod and a push-pull rod; the push nail gear assembly is matched with one end of the push nail screw rod to drive the axial movement of the push nail screw rod; the other end of the push nail screw rod is connected with one end of the push nail push-pull rod; the other end of the push nail push-pull rod is connected with the I-beam; the head swinging assembly comprises: a first pull rope, a second pull rope, a head winding shaft, a sliding block, a pulley and a head chuck; the head winding shaft is fixed on the head chuck; the pulley is located at the rear of the sliding block; one end of the second pull rope is fixed on the sliding block, and the other end is wound on the head chuck; one end of the first pull rope is fixed on the sliding block, and the other end is wound on the head winding shaft through the pulley and the sliding block; wherein the winding directions of the first pull rope and the second pull rope are opposite.
[0006] Further, the push nail gear assembly comprises a push nail driving gear and a push nail driven gear meshing with the push nail driving gear; the push nail driving gear is connected with the first input part; the push nail driven gear is fixedly installed with a driving nut at the center; and the driving nut is matched with the push nail screw rod.
[0007] Further, the base is provided with a middle layer support, the first input part is a push nail chuck, the push nail chuck is matched with a push nail driving gear, the push nail chuck passes through bearings of the base and the middle layer support and is axially limited by a first check ring, the push nail driving gear is arranged on the push nail chuck and is axially limited by a second check ring.
[0008] Further, the anastomat assembly comprises two upper and lower fixed connecting pieces, the jaw assembly is provided with two upper and lower fixed pin shafts, and the fixed connecting pieces and the jaw assembly are riveted through the fixed pin shafts.
[0009] Further, the anastomat assembly further comprises a swing head connecting piece and a connecting rod pin shaft, and the swing head connecting piece and the jaw assembly are connected through the connecting rod pin shaft, so that when the swing head connecting piece is pushed and pulled, the jaw assembly can rotate around the fixed pin shaft.
[0010] Further, the swing head assembly further comprises a first push-pull rod and a swing head push-pull rod, one end of the first push-pull rod is fixedly connected with the sliding block, the other end is fixedly connected with one end of the swing head push-pull rod, and the other end of the swing head push-pull rod is buckled with the swing head connecting piece.
[0011] Further, one end of the swing head push-pull rod comprises a curved portion, and a through hole is arranged on the curved portion for the push nail screw rod to pass through.
[0012] Further, the swing head assembly further comprises a wire guide, and the first pull rope and the second pull rope are respectively wound on the swing head reel and the swing head chuck after passing through the wire guide.
[0013] The cutting anastomat of the utility model can improve the operation accuracy, operation efficiency and operation quality, and has the advantages of simple structure, good effect, low cost and easy process implementation. BRIEF DESCRIPTION OF DRAWINGS
[0014] The above is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, the utility model will be further described in detail in combination with the drawings and the specific embodiments.
[0015] Figure 1 It is a whole structure schematic view of the cutting anastomat for the operation robot of the utility model;
[0016] Figure 2 It is an internal structure schematic view of the base of the cutting anastomat for the operation robot of the utility model;
[0017] Figure 3 It is an installation schematic view of the jaw assembly of the utility model;
[0018] Figure 4 It is the partial structure section view schematic diagram of the cutting anastomat of the surgical robot.
[0019] Figure 5 It is the structure schematic diagram of the swing head assembly.
[0020] Figure 6 It is the partial structure schematic diagram of the anastomosis assembly.
[0021] Reference signs, 10 base, 11 middle layer support, 12 top layer support, 20 instrument rod, 21 first inner fastener, 311 push nail driving gear, 312 push nail driven gear, 32 push nail screw rod, 33 driving nut, 35 first blocking ring, 36 second blocking ring, 41 first pull rope, 42 second pull rope, 43 swing head reel, 44 sliding block, 45 pulley, 46 first push-pull rod, 47 swing head push-pull rod, 48 wire guide, 50 anastomosis assembly, 511 nail abutment, 512 nail box base, 513 nail magazine, 514 I-beam, 515 push nail sliding block, 52 assembly outer tube, 531 first assembly outer tube inner fastener, 532 second assembly outer tube inner fastener, 54 fixed connecting plate, 55 fixed pin shaft, 56 swing head connecting plate, 57 connecting rod pin shaft, 61 push nail chuck, 62 swing head chuck. DETAILED DESCRIPTION
[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0023] In this document, "upper", "lower", and the like are used to indicate relative positional relationships between the relevant parts, and do not limit the absolute positions of the relevant parts.
[0024] The end of each component close to the operator is defined as the proximal end, and the end away from the operator is defined as the distal end. The expression of the proximal end and the distal end is only used to make the description simple and clear, and should not be understood as any limitation on the present application.
[0025] Referring to the drawings Figures 1-6The application discloses a cutting anastomat for a surgical robot, which comprises a base 10, an anastomosis assembly, a push nail driving assembly and a swing head assembly. The anastomosis assembly 50 comprises a jaw assembly, and the jaw assembly comprises a nail abutting seat 511, a nail box base 512, a nail cartridge 513 and an I-beam 514. The swing head assembly is used for driving the I-beam 514 to bend. The push nail driving assembly is used for pushing the nail box base 512 to close and simultaneously firing the nail cartridge 513 and pulling the nail box base 512 to open. The push nail driving assembly comprises a push nail gear assembly and a push nail screw rod 32. The push nail gear assembly is matched with one end of the push nail screw rod 32 and is used for driving the push nail screw rod 32 to move axially. The other end of the push nail screw rod 32 is connected with the anastomosis assembly 50. The swing head assembly comprises a first pull rope 41, a second pull rope 42, a swing head reel 43, a sliding block 44, a pulley 45 and a swing head chuck 62. The swing head reel 43 is fixed on the swing head chuck 62. The pulley 45 is located at the rear of the sliding block 44. One end of the second pull rope 42 is fixed on the sliding block 44, and the other end is wound on the swing head chuck 62. One end of the first pull rope 41 is fixed on the sliding block 44, and the other end is wound on the swing head reel 43 after passing through the pulley 45 and the sliding block 44. The winding directions of the first pull rope 41 and the second pull rope 42 are opposite.
[0026] The push nail gear assembly comprises a push nail driving gear 311 and a push nail driven gear 312 which is engaged with the push nail driving gear 311. The push nail driving gear 311 is connected with a push nail chuck 61. A driving nut 33 is fixedly installed at the center of the push nail driven gear 312. The driving nut 33 is matched with the push nail screw rod 32. The push nail chuck 61 drives the push nail driving gear 311 to rotate. The rotation of the push nail driving gear 311 drives the push nail driven gear 312 to rotate. The push nail driven gear 312 drives the push nail screw rod 32 to move axially through the driving nut 33. Preferably, a hexagonal hole groove is arranged at the center of the push nail driven gear 312. The driving nut 33 is tightly and matchingly installed in the hexagonal hole groove. The other end of the push nail screw rod 32 is connected with the anastomosis assembly 50. The push nail chuck 61 rotates under the driving of a motor of the medical robot. The motor drives the push nail chuck 61 to rotate, thereby driving the push nail driving gear 311 to rotate, further driving the driven gear 312 to rotate, and finally driving the push nail screw rod 32 to move axially forward or backward. When the push nail screw rod 32 moves axially forward or backward, the I-beam 514 is pushed or pulled. When the I-beam 514 is pushed, the push nail sliding block 515 is pushed, the nail box base 512 is closed and the nail cartridge 513 is fired. When the I-beam 514 is pulled, the nail box base 512 is opened.
[0027] The base 10 is provided with a middle layer support 11 and a top layer support 12, the push nail chuck 61 is an input shaft, passes through the bearing of the base 10 and the middle layer support 11 and is axially limited by the first retainer 35, the push nail chuck 61 is cooperatively installed with the push nail driving gear 311, the push nail driving gear 311 is arranged on the push nail chuck 61 and is axially limited by the second retainer 36, the D15 bearing is installed on the top layer support 12, and the push nail driven gear 312 is cooperatively installed with the inner ring of the D15 bearing.
[0028] The anastomat assembly comprises two upper and lower fixed connecting pieces 54, the jaw assembly is provided with two upper and lower fixed pin shafts 55, the fixed connecting pieces 54 and the jaw assembly are riveted through the fixed pin shafts 55, and the jaw assembly can rotate around the fixed pin shafts 55. The anastomat assembly further comprises an assembly outer tube 52, a first assembly outer tube inner fastener 531 and a second assembly outer tube inner fastener 532, and the two fixed connecting pieces 54 are fixed through the assembly outer tube 52 and the first assembly outer tube inner fastener 531 and the second assembly outer tube inner fastener 532. The anastomat assembly further comprises a swing head connecting piece 56 and a connecting rod pin shaft 57, the swing head connecting piece 56 and the jaw assembly are connected through the connecting rod pin shaft 57, so that when the swing head connecting piece 56 is pushed and pulled, the jaw assembly can rotate around the fixed pin shaft 55.
[0029] The swing head assembly further comprises a first push-pull rod 46 and a swing head push-pull rod 47, one end of the first push-pull rod 46 is fixedly connected with the sliding block 44, the other end is fixedly connected with one end of the swing head push-pull rod 47, and the other end of the swing head push-pull rod is buckled with the swing head connecting piece 56. Preferably, one end of the first push-pull rod 46 is fixedly connected with the sliding block 44 in a threaded fastening manner, the other end of the first push-pull rod 46 passes through the round hole of the swing head push-pull rod 47 and is firmly welded. One end of the swing head push-pull rod 47 comprises a bent portion, and a through hole is arranged on the bent portion for the push nail screw 32 to pass through, and the round hole is also located on the bent portion.
[0030] The cutting anastomat comprises an instrument rod 20 which is a hollow structure for protecting the internal components, one end of the instrument rod 20 is located in the base 10, and the instrument rod 20 is further provided with a first inner fastener 211 and a second inner fastener (the structure is similar to the first inner fastener, not shown in the figure), and the slider 44 is mounted in the sliding groove of the first inner fastener 211 and the second inner fastener. The swing head assembly further comprises a wire guide 48, and the first pull rope 41 and the second pull rope are respectively threaded through the wire guide and then wound on the swing head spool 43 and the swing head chuck 62. Specifically, one end of the second pull rope 42 is fixed on the slider 44, the other end is led out from the corresponding hole of the wire guide 48, and then wound in the wire groove of the swing head chuck 62. One end of the first pull rope is fixed on the slider 44, the other end is wound around the pulley and then led out through the slider and the corresponding hole of the wire guide 48, and then wound in the wire groove of the swing head spool 43. The swing head spool 43 is fixed on the swing head chuck 62 by a hexagonal screw. The winding directions of the first pull rope 41 and the second pull rope 42 are opposite, for example: the first pull rope 41 is wound clockwise, and the second pull rope 42 is wound counterclockwise. When the swing head chuck 62 rotates counterclockwise, the swing head spool 43 rotates synchronously, at this time, the second pull rope 42 is tightened and the first pull rope 41 is loosened, the slider 44 is pulled to move the first push-pull rod 46 to the proximal end, so that the swing head push-pull rod 47 and the swing head connecting piece 56 also move to the proximal end, thereby driving the jaw assembly to bend to the left side; when the swing head chuck 62 rotates clockwise, the swing head spool 43 rotates synchronously, at this time, the first pull rope 41 is tightened and the second pull rope 42 is loosened, the slider 44 is pulled to move the first push-pull rod 46 to the distal end, so that the swing head push-pull rod 47 and the swing head connecting piece 56 also move to the distal end, thereby driving the jaw assembly to bend to the right side.
[0031] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.
[0032] It is to be understood that the application is not limited to the specific structures described herein and shown in the drawings, but includes any and all variations falling within the scope of the claims. The scope of the application is limited only by the claims.
Claims
1. A cutting stapler for surgical robotics, comprising: The base, the anastomosis assembly, the pusher driving assembly, the swing head assembly, the anastomosis assembly comprises a jaw assembly, the jaw assembly comprises: a nail abutting seat, a nail magazine base, a nail cartridge, an I-beam; the swing head assembly is used for driving the jaw assembly to bend; the pusher driving assembly is used for pushing the nail magazine base to close while firing the nail cartridge and pulling the nail magazine base to open; The pusher driving assembly comprises: a pusher gear assembly, a pusher screw, a push-pull rod; the pusher gear assembly cooperates with one end of the pusher screw to drive the pusher screw to move axially, the other end of the pusher screw is connected with one end of the pusher push-pull rod, and the other end of the pusher push-pull rod is connected with the I-beam. The swing head assembly comprises: a first pull rope, a second pull rope, a swing head reel, a sliding block, a pulley, a swing head chuck, the swing head reel is fixed on the swing head chuck, the pulley is located at the rear of the sliding block, one end of the second pull rope is fixed on the sliding block, and the other end of the second pull rope is wound on the swing head chuck, one end of the first pull rope is fixed on the sliding block, the other end of the first pull rope passes through the pulley and then passes through the sliding block and is wound on the swing head reel; wherein the winding directions of the first pull rope and the second pull rope are opposite.
2. The cutting stapler for a surgical robot according to claim 1, characterized by The pusher gear assembly comprises a pusher driving gear and a pusher driven gear meshing with the pusher driving gear, the pusher driving gear is connected with the first input part, and the center of the pusher driven gear is fixedly installed with a driving nut cooperating with the pusher screw.
3. The cutting stapler for a surgical robot according to claim 2, characterized by The base is provided with a middle layer support, the first input part is a pusher chuck, the pusher chuck cooperates with the pusher driving gear, the pusher chuck passes through the bearing of the base and the middle layer support and is axially limited by the first retainer, and the pusher driving gear is arranged on the pusher chuck and is axially limited by the second retainer.
4. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized by, The anastomosis assembly comprises two upper and lower fixed connecting pieces, the jaw assembly is provided with two upper and lower fixed pin shafts, and the fixed connecting pieces and the jaw assembly are riveted through the fixed pin shafts.
5. The cutting stapler for a surgical robot according to claim 4, characterized by The anastomosis assembly further comprises a swing head connecting piece and a connecting rod pin shaft, the swing head connecting piece and the jaw assembly are connected through the connecting rod pin shaft, so that when the swing head connecting piece is pushed and pulled, the jaw assembly can rotate around the fixed pin shaft.
6. The cutting stapler for a surgical robot according to claim 5, characterized by The swing head assembly further comprises a first push-pull rod and a swing head push-pull rod, one end of the first push-pull rod is fixedly connected with the sliding block, the other end of the first push-pull rod is fixedly connected with one end of the swing head push-pull rod, and the other end of the swing head push-pull rod is buckled with the swing head connecting piece.
7. The cutting stapler for a surgical robot according to claim 6, characterized by One end of the swing head push-pull rod comprises a curved portion, and a through hole is arranged on the curved portion for the pusher screw to pass through.
8. The cutting stapler for surgical robot according to any one of claims 1 to 3, wherein The swing head assembly further comprises a wire guide, the first pull rope and the second pull rope pass through the wire guide respectively and are then wound on the swing head reel and the swing head chuck respectively.