Surgical robot assembly jig

Abstract

The utility model discloses a surgical robot assembling jig which comprises a fixing seat, a first fixing position and a second fixing position, the first fixing position and the second fixing position are arranged on the fixing seat, and the first fixing position comprises a first fixing block and a first moving block. The second fixing position comprises a second fixing block and a second moving block, an abutting block is arranged at the front end of the second fixing position, a set of rotatable positioning rods are arranged in the abutting block in a penetrating mode, and the positioning rods extend into the driving base and are connected with the gears in the driving base in a one-to-one clamping mode through rotation so as to limit rotation of the gears; the device further comprises a threading rod, the threading rod comprises a branching block and a pull rod, a set of threading holes are formed in the branching block around the central axis of the branching block in parallel at intervals, a rope can penetrate through each threading hole, and the pull rod axially moves forwards to pre-assemble the rope in the execution part and limits parallel extension between every two ropes through axial backward movement. According to the scheme, winding between the inner ropes of the execution part is effectively avoided, and assembly between the inner ropes of the execution part and the driving seat gear is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of surgical stapler assembly fixtures, and more specifically to a surgical robot assembly fixture. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes, thoracoscopes, and laryngoscopes. Compared to traditional surgery, it has advantages such as less trauma, less pain, and faster recovery. To meet the flexibility required for surgery and to miniaturize end effectors, surgical robots have emerged.

[0003] Surgical robots typically employ a cable-driven design, placing the bulky drive unit externally and driving the end effector structure internally via cables. For example, CN115054373B discloses a detachable surgical robot end effector and surgical robot, which includes a drive base and an actuator. The actuator is a long, narrow tubular structure, with all the driving cables housed within its outer tube. Due to the complexity of the surgical robot's actuator mechanism, it involves multiple cables connected together. During assembly, these multiple cables must be threaded through the long, narrow outer tube, which can easily lead to tangling and transmission failure. Installing them one by one is also inefficient. Therefore, how to reliably and efficiently install the cables is a pressing problem that needs to be solved. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a surgical robot assembly fixture.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A surgical robot assembly fixture includes a fixed base and a first fixed position and a second fixed position disposed thereon. The first fixed position includes a first fixed block fixed to the fixed base and a first movable block translatable relative to the first fixed block, used to define the actuator. The second fixed position includes a second fixed block fixed to the fixed base and a second movable block translatable relative to the second fixed block, used to define the drive seat. The front end of the second fixed position is provided with an abutment block adapted to the front end face of the drive seat. A set of rotatable first positioning rods are inserted into the abutment block, and the first positioning rods extend into the drive seat and rotate to engage with the actuator. The gears inside the drive unit are engaged one by one to limit the rotation of the gears; it also includes a threading rod pre-installed in the actuator, the threading rod including a branching block and a pull rod fixed to the axis of the branching block, the branching block having a set of threading holes spaced parallel around its central axis, each threading hole can hold a thread rope, the pull rod moves axially forward to pre-install a set of thread ropes in the actuator, and moves axially backward to limit the parallel extension of the set of thread ropes in pairs; when the actuator and drive unit are respectively fixed in the first fixed position and the second fixed position, the pull rod is pulled out to straighten the set of thread ropes and wind the set of thread ropes one by one onto the gear.

[0007] Preferably, the inner sidewall of the first fixed block or the first movable block is recessed with a limiting groove that matches the outer diameter of the actuator.

[0008] Preferably, the first movable block is driven by a first driving mechanism to translate relative to the first fixed block. The first driving mechanism includes a first connecting block fixed on the fixed base and a first driving rod screwed to the first connecting block. The end of the first driving rod is pivotally disposed in the first movable block, and the first driving rod drives the first movable block to translate by rotating.

[0009] Preferably, a first slider is fixedly connected to the bottom of the first movable block, and a first guide groove extending straight out is provided on the fixed base. The first slider is slidably engaged in the first guide groove and slides along it.

[0010] Preferably, the second movable block is driven by a second driving mechanism to translate relative to the second fixed block. The second driving mechanism includes a second connecting block fixed on the fixed base and a second driving rod screwed to the second connecting block. The end of the second driving rod is pivotally disposed within the second movable block, and the second driving rod drives the second movable block to translate by rotating.

[0011] Preferably, the bottom of the second movable block is fixedly connected to a second slider, and the fixed base is provided with a straight-extending second guide groove, and the second slider is slidably engaged in the second guide groove and slides along it.

[0012] Preferably, the rear end face of the abutment block is provided with an insertion port, and the front end face of the drive seat has a locking block adapted to the insertion port for insertion into the insertion port; each of the rear end faces of the first positioning rod is symmetrically provided with positioning locking blocks on both sides for engaging with the gear.

[0013] Preferably, each of the first positioning rods is provided with a locking button at its tail end. The locking button is fixed to the front end face of the fixing seat or the abutment block. When the first positioning rod is engaged with the gear, the locking button is tightened to limit the first positioning rod.

[0014] Preferably, it further includes a third fixing position consisting of a second positioning rod and a third positioning block. The second positioning rod is vertically fixed to one side of the second fixing block, and the third positioning block is disposed on the second positioning rod. The side of the third positioning block has a latch, and a positioning bolt is inserted from the top of the latch downward to limit the dividing block within the latch.

[0015] Preferably, the top of the second positioning rod has a vertically extending waist-shaped hole, and the third positioning block is adjustablely disposed on the second positioning rod.

[0016] The beneficial effects of this utility model are mainly reflected in:

[0017] 1. A threading rod is set up, and the position of each rope is defined by the dividing block. The pull rod is set on the central axis of the dividing block, and a set of threading holes are spaced around the central axis of the dividing block so that the pull rod is located in the middle of a set of ropes. By utilizing the structural feature of the spaced threading holes, the ropes are separated one by one by the axial movement of the threading rod, so as to avoid tangling between a set of ropes. In addition, the position of the pull rod can enhance the strength between a set of ropes, so as to facilitate the convenient installation of a set of ropes into the outer sleeve of the actuator.

[0018] 2. Set a first fixed position and a second fixed position to fix the actuator and the drive seat respectively, so as to complete the positioning of the entire product to be processed, and set a positioning rod to limit the rotation of the gears respectively, so as to facilitate the winding of each rope and facilitate actual operation. Attached Figure Description

[0019] The technical solution of this utility model will be further described below with reference to the accompanying drawings:

[0020] Figure 1 : Schematic diagram of an embodiment of this utility model;

[0021] Figure 2 : A schematic diagram of another direction of an embodiment of the present utility model;

[0022] Figure 3 : A schematic diagram of the threading rod in the embodiment of this utility model. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0024] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of 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 the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Also, in the description of the solution, with the operator as a reference, the direction closer to the operator is the proximal end, and the direction farther from the operator is the distal end.

[0025] like Figures 1 to 3 As shown, this utility model discloses a surgical robot assembly fixture, including a fixed base 4 and a first fixed position and a second fixed position disposed thereon. The first fixed position includes a first fixed block 101 fixed on the fixed base 4 and a first movable block 102 translatable relative to the first fixed block 101, used to limit the actuator. The second fixed position includes a second fixed block 201 fixed on the fixed base 4 and a second movable block 202 translatable relative to the second fixed block 201, used to limit the drive seat. The front end of the second fixed position is provided with an abutment block 203 adapted to the front end face of the drive seat. A set of rotatable first positioning rods 204 are inserted through the abutment block 203, and the first positioning rods 204 extend into the drive seat. The seat engages with the gears in the drive seat one by one through rotation to limit the rotation of the gears; it also includes a threading rod pre-installed in the actuator, the threading rod including a branch block 301 and a pull rod 302 fixed to the axis of the branch block 301. The branch block 301 has a set of threading holes 303 spaced parallel around its central axis, and a thread can be threaded through each threading hole 303. The pull rod 302 moves forward axially to pre-install a set of thread in the actuator, and moves backward axially to limit the parallel extension of the set of thread in pairs; when the actuator and the drive seat are respectively fixed in the first fixed position and the second fixed position, the pull rod 302 is pulled out to straighten the set of thread, and the set of thread is wound around the gear one by one.

[0026] The product to be processed in this solution is preferably an end effector for installation on a surgical robot. It includes a drive base and an actuator. The actuator includes an outer tube, a set of cords embedded in the outer tube, and an operating jaw located at the front end of the outer tube. Due to the elongated structure of the actuator, this solution incorporates a threading rod. The thread divider block 301 defines the position of each cord. A pull rod 302 is positioned on the central axis of the thread divider block 301, and a set of thread holes 303 are spaced around the central axis of the thread divider block 301. This allows the pull rod 302 to be positioned in the middle of the set of cords. Utilizing the spaced thread holes 303, the axial movement of the threading rod separates the cords one by one, preventing tangling between cords. The position of the pull rod 302 enhances the strength between the cords, facilitating easy installation of the cords into the outer tube of the actuator.

[0027] The drive seat is connected to the actuator, allowing the pull rod 302 to move axially forward to thread a set of ropes into the outer sleeve of the actuator. The axis of the pull rod 302 is the same as the axis of the actuator. The threading rod works by passing a set of ropes one by one through the threading holes 303 during the pre-assembly stage. Moving the threading rod axially forward quickly threads the ropes into the outer sleeve of the actuator, connecting them to the operating jaws and other structures at the front end of the outer sleeve, thus pre-assembling the actuator. Then, the actuator and drive seat, with the ropes installed, are positioned at the first and second fixed positions, respectively. After positioning, the pull rod 302 is moved axially backward and pulled out. Removing the threading rod simultaneously unblocks the ropes, ensuring they extend parallel to each other and preventing tangling. The spacing of the threading holes 303 helps the operator quickly identify each rope for subsequent winding operations. To facilitate the pulling of the two 302s, the length of the pull rod 302 is greater than that of the actuator, and the outer wall of the rear half of the pull rod 302 is symmetrically provided with straight extending cut surfaces, so that the pull rod 302 forms a non-circular outer contour, which plays a role in preventing rotation and making it convenient for the hand to grip and apply force.

[0028] To better secure the actuator, a limiting groove 103 matching the outer diameter of the actuator is recessed on the inner sidewall of the first fixing block 101 or the first moving block 102. The sidewall of the limiting groove 103 is inclined so that a line contact is formed between the limiting groove 103 and the outer wall of the actuator, thereby limiting the position of the actuator while minimizing the contact area with the actuator and reducing excessive wear on the outer wall of the actuator.

[0029] The first movable block 102 is driven by a first driving mechanism to translate relative to the first fixed block 101. The first driving mechanism includes a first connecting block 104 fixed to the fixed base 4 and a first driving rod 105 screwed to the first connecting block 104. The end of the first driving rod 105 is pivotally disposed within the first movable block 102. The first driving rod 105 drives the first movable block 102 to translate by rotating. Such a first driving mechanism is convenient for handheld operation by the operator. Of course, in other feasible embodiments, the first driving mechanism can also be constructed using a motor for electric drive.

[0030] Furthermore, a first slider 106 is fixedly connected to the bottom of the first movable block 102, and a straight-extending first guide groove 401 is provided on the fixed base 4. The first slider 106 is slidably engaged in the first guide groove 401 and slides along it. This structure can limit the movement direction of the first movable block 102, ensuring that the first movable block 102 and the first fixed block 101 are directly aligned, so that the front and rear width of the first fixed position formed between them is consistent, thereby stably positioning the actuator.

[0031] Similarly, the second moving block 202 is driven by the second driving mechanism to translate relative to the second fixed block 201. The second driving mechanism includes a second connecting block 208 fixed on the fixed base 4 and a second driving rod 209 screwed to the second connecting block 208. The end of the second driving rod 209 is pivotally disposed in the second moving block 202. The second driving rod 209 drives the second moving block 202 to translate by rotating.

[0032] The bottom of the second moving block 202 is fixedly connected to the second slider 210. The fixed base 4 is provided with a straight extending second guide groove 402. The second slider 210 is slidably engaged in the second guide groove 402 and slides along it.

[0033] like Figure 1 As shown, the rear end face of the abutment block 203 is provided with a socket 205, and the front end face of the drive seat has a locking block (not shown in the figure) that is adapted to the socket 205 to be inserted into the socket 205. This structure can ensure the docking between the abutment block 203 and the drive seat.

[0034] The first positioning rod 204 is movably inserted into the abutment block 203. The first positioning rod 204 can move axially relative to the abutment block 203 and can also rotate relative to the abutment block 203. Each first positioning rod 204 has symmetrically protruding positioning blocks 206 on both sides of its rear end face to engage with a gear. The end face of the gear has a groove that matches the positioning block 206. Rotating the first positioning rod 204 aligns the positioning block 206 with the groove, and translating the first positioning rod 204 allows the positioning block 206 to engage with the groove, thus limiting the rotation of the gear. Furthermore, each first positioning rod 204 has a locking button 207 at its tail end. The locking button 207 is fixed to the front end face of the fixing base 1 or the abutment block 203. When the first positioning rod 204 engages with the gear, tightening the locking button 207 limits the first positioning rod 204.

[0035] This solution also includes a third fixing position consisting of a second positioning rod 501 and a third positioning block 502. The second positioning rod 501 is vertically fixed to one side of the second fixing block 201, and the third positioning block 502 is disposed on the second positioning rod 501. The side of the third positioning block 502 has a locking slot 503, and a positioning bolt 505 is inserted downward from the top of the locking slot 503 to limit the wire divider block 301 within the locking slot 503. The third fixing position is set to fix the pulled-out threading rod. After the threading rod is pulled out, it has not completely separated from a set of wires. Therefore, the threading rod, which still has wires threaded on it, is fixed to the third fixing position to facilitate the operator to pull out the wires one by one and wind them onto the gear of the drive seat. This can prevent the threading rod from rolling or falling, which would cause a set of wires to separate from the threading rod at the same time.

[0036] Furthermore, the top of the second positioning rod 501 has a vertically extending waist-shaped hole 504, and the third positioning block 502 is adjustablely disposed on the second positioning rod 501 to adjust the up and down position of the third positioning block 502, making actual operation more convenient.

[0037] The working process of this plan is as follows:

[0038] First, a set of ropes are threaded through the threading holes 303 one by one to be placed on the threading rod;

[0039] Next, the wire guide rod is moved forward axially to pre-install a set of wires into the actuator;

[0040] Then, the actuator is fixed in the first fixed position and the drive seat is fixed in the second fixed position;

[0041] Next, the threading rod is moved axially backward to pull it out of the drive seat, and then the threading rod is fixed in the third fixed position;

[0042] Ideally, pull out the rope one by one and wind it around the gear of the drive unit until all the ropes are wound.

[0043] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0044] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. A surgical robot assembly fixture, characterized in that: The device includes a fixed base (4) and a first fixed position and a second fixed position disposed thereon. The first fixed position includes a first fixed block (101) fixed on the fixed base (4) and a first movable block (102) that can translate relative to the first fixed block (101), which is used to limit the actuator. The second fixed position includes a second fixed block (201) fixed on the fixed base (4) and a second movable block (202) that can translate relative to the second fixed block (201), which is used to limit the drive seat. The front end of the second fixed position is provided with an abutment block (203) that is adapted to the front end face of the drive seat. A set of rotatable first positioning rods (204) are inserted into the abutment block (203). The first positioning rods (204) extend into the drive seat and rotate. The mechanism engages with the gears in the drive seat to limit the rotation of the gears; it also includes a threading rod pre-installed in the actuator, the threading rod including a branch block (301) and a pull rod (302) fixed to the axis of the branch block (301), the branch block (301) has a set of threading holes (303) spaced parallel around its central axis, each threading hole (303) can be threaded with a rope, the pull rod (302) moves forward axially to pre-install a set of ropes in the actuator, and moves backward axially to limit the parallel extension of the set of ropes in pairs; when the actuator and the drive seat are respectively fixed in the first fixed position and the second fixed position, the pull rod (302) is pulled out to straighten the set of ropes and wind the set of ropes one by one onto the gear.

2. The surgical robot assembly fixture according to claim 1, characterized in that: The inner wall of the first fixed block (101) or the first moving block (102) is recessed with a limiting groove (103) that matches the outer diameter of the actuator.

3. The surgical robot assembly fixture according to claim 2, characterized in that: The first movable block (102) is driven by a first driving mechanism to translate relative to the first fixed block (101). The first driving mechanism includes a first connecting block (104) fixed on the fixed base (4) and a first driving rod (105) screwed to the first connecting block (104). The end of the first driving rod (105) is pivotally disposed in the first movable block (102). The first driving rod (105) drives the first movable block (102) to translate by rotating.

4. The surgical robot assembly fixture according to claim 3, characterized in that: The bottom of the first movable block (102) is fixedly connected to a first slider (106), and the fixed seat (4) is provided with a straight extending first guide groove (401). The first slider (106) is slidably locked in the first guide groove (401) and slides along it.

5. The surgical robot assembly fixture according to claim 4, characterized in that: The second moving block (202) is driven by the second driving mechanism to translate relative to the second fixed block (201). The second driving mechanism includes a second connecting block (208) fixed on the fixed base (4) and a second driving rod (209) screwed to the second connecting block (208). The end of the second driving rod (209) is pivotally disposed in the second moving block (202). The second driving rod (209) drives the second moving block (202) to translate by rotating.

6. The surgical robot assembly fixture according to claim 5, characterized in that: The bottom of the second movable block (202) is fixed with a second slider (210), and the fixed seat (4) is provided with a straight extended second guide groove (402). The second slider (210) is slidably engaged in the second guide groove (402) and slides along it.

7. The surgical robot assembly fixture according to claim 6, characterized in that: The rear end face of the abutment block (203) is provided with a socket (205), and the front end face of the drive seat has a locking block adapted to the socket (205) to be inserted into the socket (205); the rear end face of each of the first positioning rods (204) is symmetrically provided with positioning locking blocks (206) to engage with the gear.

8. The surgical robot assembly fixture according to claim 1, characterized in that: Each of the first positioning rods (204) is provided with a locking button (207) at its tail end. The locking button (207) is fixed to the front end face of the fixed base (4) or the abutment block (203). When the first positioning rod (204) is engaged with the gear, the locking button (207) is tightened to limit the first positioning rod (204).

9. The surgical robot assembly fixture according to any one of claims 1-8, characterized in that: It also includes a third fixed position consisting of a second positioning rod (501) and a third positioning block (502). The second positioning rod (501) is vertically fixed on one side of the second fixed block (201). The third positioning block (502) is disposed on the second positioning rod (501). The side of the third positioning block (502) has a bayonet (503). The bayonet (503) is provided with a positioning bolt (505) from its top downward to limit the dividing block (301) within the bayonet (503).

10. The surgical robot assembly fixture according to claim 9, characterized in that: The top of the second positioning rod (501) has a vertically extending waist-shaped hole (504), and the third positioning block (502) is adjustablely disposed on the second positioning rod (501).

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