Limiting mechanism of end effector and surgical robot

Abstract

The limiting mechanism of the end effector comprises a driving piece and a friction piece, the driving end of the driving piece is connected with the friction piece, and the driving piece is used for driving the friction piece to move close to or away from a rotary table; the driving piece drives the friction piece to move close to the rotary table, so that the friction piece abuts against the end of the rotary table, and the rotary table is fixed to the base. The driving piece drives the friction piece to move away from the rotary table, so that the friction piece leaves the end of the rotary table, and the rotary table can rotate relative to the base. According to the limiting mechanism of the end effector, through cooperation of the driving piece and the friction piece, when the rotary table needs to be fixed, the driving piece drives the friction piece to move close to the rotary table, so that the friction piece abuts against the end of the rotary table, and the rotary table is fixed to the base; therefore, the rotary table can rotate relative to the base, the rotation of the rotary table is labor-saving, and the operation is convenient and fast.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, and in particular relates to a limiting mechanism for an end effector and a surgical robot. Background Technology

[0002] When using a robotic arm as a surgical robot to perform surgery on vital organs, the process begins with a CT scan of the patient's vital organs. Then, 3D reconstruction imaging technology is used to reconstruct a three-dimensional image of the patient's vital organs. During the surgery, ultrasound scans are used to reconstruct the 3D image of the human organ. Throughout this process, the robotic arm records the patient's location information and then automatically tracks to the patient's organ site for puncture treatment. During automatic tracking, the location information obtained from ultrasound imaging is used for guidance. At this stage, only an ultrasound probe is required at the end of the robotic arm. Once the patient's location is reached, a puncture needle is inserted for puncture examination and treatment.

[0003] Existing puncture navigation and positioning systems typically have a limit mechanism at the end effector of the robotic arm to limit the probe's rotation into position. The existing limit mechanism is set with rotational damping. By setting rotational damping, the probe can be rotated stably to any angle. However, in actual operation, adding rotational damping makes it difficult for the probe to rotate, which is not conducive to operation. Utility Model Content

[0004] The purpose of this invention is to provide a limiting mechanism for an end effector and a surgical robot, so as to solve the problem that conventional limiting mechanisms in the prior art are difficult to rotate and not conducive to operation.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] In a first aspect, a limiting mechanism for an end effector is provided. The end effector includes a base and a turntable, the turntable being rotatably mounted on the base, and a probe being detachably mounted on the turntable. The limiting mechanism of the end effector includes a driving member and a friction member, wherein:

[0007] The fixed end of the driving member is mounted on the base, and the driving end of the driving member is connected to the friction member. The driving member is configured to drive the friction member to move closer to or away from the turntable.

[0008] The driving member drives the friction member to move closer to the turntable, so that the friction member abuts against the end of the turntable to fix the turntable on the base;

[0009] The driving member drives the friction member to move away from the turntable, so that the friction member leaves the end of the turntable, allowing the turntable to rotate relative to the base.

[0010] Furthermore, a side plate is fixedly installed at the end of the turntable, the friction element is disposed on the inner side of the side plate, and the driving element is configured to move the friction element closer to or away from the side plate.

[0011] The driving component drives the friction component to move closer to the side plate, so that the friction component abuts against the inner surface of the side plate to fix the turntable on the base.

[0012] The driving member drives the friction member to move away from the side plate, so that the friction member leaves the inner side of the side plate, allowing the turntable to rotate relative to the base.

[0013] Furthermore, a scale for observing the rotation angle of the turntable is provided on the outer surface of the side plate.

[0014] Furthermore, the driving component includes an adjusting part and a locking shaft. The adjusting part is disposed on the outer side of the turntable. The first end of the locking shaft is fixedly connected to the adjusting part. The second end of the locking shaft extends toward the interior of the turntable. The friction element is disposed on the second end of the locking shaft. The adjusting part is configured to drive the locking shaft to move, so as to drive the friction element closer to or away from the inner side of the turntable via the locking shaft.

[0015] Furthermore, the second end of the locking shaft is provided with an external thread section, and an internal thread hole is provided on the friction member corresponding to the external thread section. The friction member is axially movable and sleeved on the second end of the locking shaft through the thread structure.

[0016] Furthermore, a limiting groove is formed circumferentially at the end of the second end of the locking shaft, and a limiting retaining ring is detachably provided in the limiting groove. The limiting retaining ring is configured to limit the movement stroke of the friction element.

[0017] Furthermore, the base is provided with a locking frame for mounting the adjustment part. The locking frame is located between the first end of the adjustment part and the end face of the outer side of the turntable. The locking frame has a clearance hole in the middle for the locking shaft to pass through.

[0018] Furthermore, a manual operation boss extends radially outward from the second end of the adjustment part.

[0019] Furthermore, the base is provided with a mounting protrusion that is larger at the top and smaller at the bottom of the turntable, and the bottom of the locking frame is detachably mounted on the mounting protrusion via a disassembly assembly;

[0020] The assembly includes a mounting plate and several mounting pins. The first end of the mounting plate is fixedly connected to one end of the bottom of the locking frame. Several mounting pins are disposed at the second end of the mounting plate and extend toward the second end of the mounting plate. Each mounting pin has a mounting hole on the mounting protrusion, and each mounting pin is inserted into the corresponding mounting hole.

[0021] Secondly, a surgical robot is provided, including the aforementioned limiting mechanism of the end effector.

[0022] Compared with existing technologies, the advantages of the limiting mechanism of the end effector and the surgical robot are as follows:

[0023] 1) Through the cooperation of the driving component and the friction component, when the turntable needs to be fixed, the driving component drives the friction component to move closer to the turntable, so that the friction component abuts against the end of the turntable and fixes the turntable on the base. When the turntable needs to be rotated, the driving component drives the friction component to move away from the turntable, so that the friction component leaves the end of the turntable, allowing the turntable to rotate relative to the base. The turntable rotation is labor-saving and easy to operate.

[0024] 2) By setting a scale on the end face of the outer side of the turntable, the rotation angle of the turntable can be clearly seen, which is convenient for observation. The friction component is set on the side close to the inner side of the side plate. When locked, the drive component drives the friction component to move close to the inner side of the side plate and abut against the inner side of the side plate, which avoids wear on the scale on the outer side of the side plate after long-term use and avoids affecting the appearance of the outer side. Attached Figure Description

[0025] To more clearly illustrate and understand the technical solutions in the embodiments of this utility model, the accompanying drawings used in the background technology and embodiment description of this utility model will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural schematic diagram of the limiting mechanism of the end effector provided in this embodiment of the utility model;

[0027] Figure 2 This is another three-dimensional structural schematic diagram of the limiting mechanism of the end effector provided in this embodiment of the utility model;

[0028] Figure 3 This is a cross-sectional structural schematic diagram of the limiting mechanism of the end effector provided in this embodiment of the utility model. Detailed Implementation

[0029] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] To facilitate understanding of this utility model, a more complete description of it will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of this utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] Please see Figures 1 to 3 As shown, in this embodiment, the end effector includes a base 10 and a turntable 20. The turntable 20 is rotatably mounted on the base 10, and a probe 30 is detachably mounted on the turntable 20. A limiting mechanism for the end effector includes a drive member 40 and a friction member 50, wherein: the fixed end of the drive member 40 is mounted on the base 10, and the drive end of the drive member 40 is connected to the friction member 50. The drive member 40 is configured to drive the friction member 50 to move closer to or away from the turntable 20; the drive member 40 drives the friction member 50 to move closer to the turntable 20, so that the friction member 50 abuts against the end of the turntable 20 to fix the turntable 20 on the base 10; the drive member 40 drives the friction member 50 to move away from the turntable 20, so that the friction member 50 leaves the end of the turntable 20, so that the turntable 20 can rotate relative to the base 10.

[0032] As can be seen, through the cooperation of the driving component 40 and the friction component 50, when the turntable 20 needs to be fixed, the driving component 40 drives the friction component 50 to move closer to the turntable 20, so that the friction component 50 abuts against the end of the turntable 20, fixing the turntable 20 on the base 10. When the turntable 20 needs to rotate, the driving component 40 drives the friction component 50 to move away from the turntable 20, so that the friction component 50 leaves the end of the turntable 20, allowing the turntable 20 to rotate relative to the base 10. The rotation of the turntable 20 is effortless and convenient to operate.

[0033] In one embodiment, a side plate 200 is fixedly mounted on the end of the turntable 20, and a friction element 50 is disposed on the inner side of the side plate 200. The driving element 40 is configured to move the friction element 50 closer to or away from the side plate 200. The driving element 40 drives the friction element 50 to move closer to the side plate 200, so that the friction element 50 abuts against the inner side surface of the side plate 200, thereby fixing the turntable 20 on the base 10. The driving element 40 drives the friction element 50 to move away from the side plate 200, so that the friction element 50 leaves the inner side surface of the side plate 200, thereby allowing the turntable 20 to rotate relative to the base 10.

[0034] As one implementation, a scale 21 for observing the rotation angle of the turntable 20 is provided on the outer side surface of the side plate 200.

[0035] As can be seen, by setting a dial 21 on the end face of the outer side of the turntable 20, the rotation angle of the turntable 20 can be clearly seen, which is convenient for observation. The friction member 50 is set on the side close to the inner side of the side plate 200. When locked, the drive member 40 drives the friction member 50 to move close to the inner side of the side plate 200 and abut against the inner side of the side plate 200, which avoids wear on the dial 21 on the outer side of the side plate 200 and the impact on the appearance of the outer side after long-term use.

[0036] In one embodiment, the drive member 40 includes an adjustment part 41 and a locking shaft 42. The adjustment part 41 is disposed on the outer side of the turntable 20. The first end of the locking shaft 42 is fixedly connected to the adjustment part 41, and the second end of the locking shaft 42 extends toward the interior of the turntable 20. A friction member 50 is disposed at the second end of the locking shaft 42. The adjustment part 41 is configured to drive the locking shaft 42 to move so that the friction member 50 moves closer to or away from the inner side of the turntable 20 via the locking shaft 42.

[0037] In one embodiment, the second end of the locking shaft 42 is provided with an external thread section, and an internal thread hole 51 is provided on the friction member 50 corresponding to the external thread section. The friction member 50 is axially movable and sleeved on the second end of the locking shaft 42 through the thread structure.

[0038] In one embodiment, a limiting groove 420 is provided circumferentially at the end of the second end of the locking shaft 42, and a limiting retaining ring 43 is detachably provided in the limiting groove 420. The limiting retaining ring 43 is configured to limit the movement stroke of the friction member 50.

[0039] In one embodiment, a locking frame 60 for mounting the adjustment part 41 is provided on the base 10. The locking frame 60 is located between the first end of the adjustment part 41 and the end face of the outer side of the turntable 20. A clearance hole 61 for the locking shaft 42 to pass through is provided in the middle of the locking frame 60.

[0040] In one embodiment, a manual operation boss 44 extends radially outward from the second end of the adjustment part 41.

[0041] In one embodiment, a mounting protrusion 11, which is larger at the top and smaller at the bottom, is provided on the base 10 at the bottom of the turntable 20. The bottom of the locking frame 60 is detachably mounted on the mounting protrusion 11 via a disassembly assembly. The disassembly assembly includes a mounting plate 70 and a plurality of mounting pins 71. The first end of the mounting plate 70 is fixedly connected to one end of the bottom of the locking frame 60. The plurality of mounting pins 71 are provided at the second end of the mounting plate 70 and extend toward the second end of the mounting plate 70. A mounting hole is provided on the mounting protrusion 11 for each mounting pin 71, and each mounting pin 71 is inserted into the corresponding mounting hole.

[0042] Based on the aforementioned end effector limiting mechanism, a surgical robot is provided, including the aforementioned end effector limiting mechanism.

[0043] It should be noted that: when the turntable 20 needs to be fixed, the locking shaft 42 is rotated by operating the manual operating boss 44, and the friction element 50 moves axially towards the inner side of the turntable 20 through the threaded structure until the friction element 50 abuts against the inner side. At this time, the turntable 20 is fixed on the base 10. When the turntable 20 needs to be rotated, the locking shaft 42 is rotated by operating the manual operating boss 44, and the friction element 50 moves axially away from the inner side of the turntable 20 through the threaded structure, releasing the fixation of the turntable 20. At this time, the turntable 20 can rotate relative to the base 10.

[0044] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above examples. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An end effector position limiting mechanism, comprising: The end effector includes a base and a turntable, the turntable being rotatably mounted on the base, and a probe being detachably mounted on the turntable. The limiting mechanism of the end effector includes a driving element and a friction element, wherein: The fixed end of the driving member is mounted on the base, and the driving end of the driving member is connected to the friction member. The driving member is configured to drive the friction member to move closer to or away from the turntable. The driving member drives the friction member to move closer to the turntable, so that the friction member abuts against the end of the turntable to fix the turntable on the base; The driving member drives the friction member to move away from the turntable, so that the friction member leaves the end of the turntable, allowing the turntable to rotate relative to the base.

2. The end effector limit mechanism of claim 1, wherein, A side plate is fixedly installed at the end of the turntable, the friction element is disposed on the inner side of the side plate, and the driving element is configured to move the friction element closer to or away from the side plate. The driving component drives the friction component to move closer to the side plate, so that the friction component abuts against the inner surface of the side plate to fix the turntable on the base. The driving member drives the friction member to move away from the side plate, so that the friction member leaves the inner side of the side plate, allowing the turntable to rotate relative to the base.

3. The end effector limit mechanism of claim 2, wherein, The outer surface of the side plate is provided with a scale for observing the rotation angle of the turntable.

4. The end effector limit mechanism of claim 3, wherein, The driving component includes an adjusting part and a locking shaft. The adjusting part is disposed on the outer side of the turntable. A first end of the locking shaft is fixedly connected to the adjusting part. A second end of the locking shaft extends toward the interior of the turntable. A friction element is disposed on the second end of the locking shaft. The adjusting part is configured to drive the locking shaft to move so as to move the friction element closer to or away from the inner side of the turntable via the locking shaft.

5. The end effector limit mechanism of claim 4, wherein, The second end of the locking shaft is provided with an external thread section, and an internal thread hole is provided on the friction element corresponding to the external thread section. The friction element is axially movable and sleeved on the second end of the locking shaft through the thread structure.

6. The end effector limit mechanism of claim 4, wherein, A limiting groove is formed circumferentially at the end of the second end of the locking shaft, and a limiting retaining ring is detachably provided in the limiting groove. The limiting retaining ring is configured to limit the movement stroke of the friction element.

7. The end effector limit mechanism of claim 4, wherein, The base is provided with a locking frame for mounting the adjustment part. The locking frame is located between the first end of the adjustment part and the end face of the outer side of the turntable. The middle part of the locking frame is provided with a clearance hole for the locking shaft to pass through.

8. The end effector limit mechanism of claim 4, wherein, A manual operation boss extends radially outward from the second end of the adjustment part.

9. The end effector limit mechanism of claim 7, wherein, The base has a mounting protrusion that is larger at the top and smaller at the bottom of the turntable. The bottom of the locking frame is detachably mounted on the mounting protrusion via a disassembly assembly. The assembly includes a mounting plate and several mounting pins. The first end of the mounting plate is fixedly connected to one end of the bottom of the locking frame. Several mounting pins are disposed at the second end of the mounting plate and extend toward the second end of the mounting plate. Each mounting pin has a mounting hole on the mounting protrusion, and each mounting pin is inserted into the corresponding mounting hole.

10. A surgical robot, characterised in that, The surgical robot comprises a position limiting mechanism of an end effector as claimed in any of claims 1 to 9.

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