Medical mechanical gripper hand

Abstract

The utility model relates to a kind of medical mechanical claw hand, including handle, the left side rotation of handle is equipped with clamping finger, the top of handle is equipped with transition connecting box, the top of transition connecting box is fixedly installed with bent pole, the inside of transition connecting box is provided with locking assembly, the side fixedly installed with extension rod of bent pole away from transition connecting box.This medical mechanical claw hand, by setting transmission work component, cooperate with finger shaft and winding wheel etc., only need to be by thumb and index finger to be inserted into the clamping finger on handle, control the opening and closing of clamping finger, it can be controlled by finger shaft etc. Structure to control clamping tooth plate work, by the above setting, not only the required mechanical structure is less, and operation is simple, reduce its upper hand threshold, reduce minimally invasive surgery training cost, improve surgical efficiency, with practicality, by setting locking assembly, realize the locking and relaxation of left and right swing and pitch angle during the operation of the device.

Description

Technical Field

[0001] This utility model relates to the field of minimally invasive surgical instruments, specifically a medical mechanical gripper. Background Technology

[0002] With the continuous advancement of medical technology, minimally invasive surgery has become an important trend in modern medicine. Traditional laparoscopic surgical instruments are relatively mature, with their types and functions largely standardized. However, because most traditional laparoscopic surgical instruments have limited functions, they present a significant operational advantage in the face of increasingly complex minimally invasive surgeries. However, due to the complexity of the technology and commercial monopoly associated with these robots, the cost of using them for minimally invasive surgery remains high, limiting their large-scale adoption.

[0003] In recent years, with the advancement of technology, a surgical robotic hand device has emerged that is between traditional laparoscopic surgical instruments and multi-degree-of-freedom surgical robots. It not only possesses the multi-degree-of-freedom and high flexibility of the da Vinci robot, but also, due to its purely mechanical structure, it has the low-cost characteristics of traditional laparoscopic surgery. However, its structure is very compact and relatively complex, and it generally adopts an integrated design with a whole section of steel wire wrapped around it for installation, which is quite difficult. Therefore, a medical robotic gripper has been proposed to solve the above problems. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a medical robotic gripper that is simple in structure, easy to operate, and capable of being locked and unlocked.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a medical mechanical gripper, including a handle, a finger gripper rotatably mounted on the left side of the handle, a transition connecting box mounted on the top of the handle, a bent rod fixedly mounted on the top of the transition connecting box, a locking assembly provided inside the transition connecting box, an extension rod fixedly mounted on the side of the bent rod away from the transition connecting box, a transmission working assembly provided on the left side of the extension rod, a pitch shaft rotatably mounted inside the transition connecting box, and a handle saddlebag mounted on the left side of the handle;

[0006] The transmission assembly includes a finger shaft rotatably mounted inside the finger clamp, a winding wheel fixedly mounted on the surface of the finger shaft, a transition shaft rotatably mounted inside the transition connecting box, a transition wheel fixedly mounted on the surface of the transition shaft, a reversing shaft rotatably mounted inside the transition connecting box, a traction wheel fixedly mounted on the surface of the reversing shaft, four anti-tipping wheels rotatably mounted inside the bent rod, a guide groove provided inside the extension rod, a first transmission shaft and a second transmission shaft rotatably mounted and fixedly mounted inside the left side of the extension rod, a traction wheel fixedly mounted on the surface of the first transmission shaft, a threading plate fixedly mounted on the left side of the second transmission shaft, and two toothed clamping plates rotatably mounted on the left side of the threading plate.

[0007] Furthermore, a handle pouch is installed on the left side of the grip, and the transition reel and the winding reel are connected by a transmission steel wire.

[0008] Furthermore, the transition reel and the traction reel are connected by a transmission steel wire, and a transmission reel is fixedly installed on the surface of the pitch shaft. The transmission reel and the traction reel are connected by a transmission steel wire.

[0009] Furthermore, the guide wheel is connected to one of the anti-tipping wheels via a transmission steel wire, and the other anti-tipping wheel is connected to the guide wheel via a transmission steel wire. The threading plate is rotatably mounted on two rotating shafts. Both rotating shafts are fixedly mounted with toothed plates on their surfaces, and both rotating shafts are fixedly mounted with guide wheels. The threading plate has two threading holes inside.

[0010] Furthermore, a swing shaft is rotatably mounted inside the transition connection box, and a base is fixedly mounted on the surface of the swing shaft. The locking assembly includes a rotating shaft, which is rotatably mounted inside the handle saddlebag. A wire groove is provided inside the handle, and a wire outlet wheel is fixedly mounted on the surface of the rotating shaft.

[0011] Furthermore, a locking box is fixedly installed inside the transition connection box, a rotating rod is fixedly installed inside the locking box, a take-up reel is fixedly installed on the surface of the rotating rod, the lead-out reel and the take-up reel are connected by a transmission steel wire, a cam is fixedly installed on the surface of the rotating rod, an insertion hole is fixedly installed inside the base, two lifting plates are slidably installed inside the locking box, a pin is fixedly installed between the two lifting plates, the pin is adapted to the insertion hole, and a locking assembly is also provided on the outer side of the pitch axis.

[0012] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0013] 1. This medical robotic gripper, through the setting of a transmission working component, and the cooperation of finger shafts and winding wheels, etc., only requires the thumb and index finger to be inserted into the gripper on the handle to control the opening and closing of the gripper. The gripper plate can be controlled by the finger shaft and other structures. Through the above setting, not only are fewer mechanical structures required, but the operation is also simple, lowering the learning threshold, reducing the training cost of minimally invasive surgery, and improving surgical efficiency, thus having practicality.

[0014] 2. This medical robotic gripper, by setting a locking component, can lock and release the device by swinging left and right during operation through the cooperation of the rotating shaft and the wire groove, thereby controlling the left and right swing locking and releasing of the tool end, i.e., the clamping tooth plate, etc. Furthermore, by setting a locking component at the pitch axis, the pitch angle can also be locked and released, thereby improving the operating efficiency. Attached Figure Description

[0015] Figure 1 This is a plan view of the present utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0017] Figure 3 This is a schematic diagram of the transmission working component of this utility model.

[0018] In the diagram: 1. Handle; 2. Finger clip; 3. Transition connection box; 4. Bend rod; 5. Locking assembly; 501. Rotating shaft; 502. Wire guide groove; 503. Locking box; 504. Rotating rod; 505. Cam; 6. Extension rod; 7. Pitch shaft; 8. Transmission working assembly; 801. Finger shaft; 802. Winding reel; 803. Transition shaft; 804. Transition reel; 805. Reversing shaft; 806. Traction reel; 807. Anti-tipping reel; 808. First drive shaft; 809. Traction reel; 810. Guide groove; 811. Second drive shaft; 812. Wire threading plate; 813. Grip plate; 9. Handle saddlebag; 10. Base. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-3In this embodiment, a medical mechanical gripper includes a handle 1, a finger gripper 2 rotatably mounted on the left side of the handle 1, a transition connection box 3 mounted on the top of the handle 1, a bent rod 4 fixedly mounted on the top of the transition connection box 3, a locking assembly 5 disposed inside the transition connection box 3, an extension rod 6 fixedly mounted on the side of the bent rod 4 away from the transition connection box 3, a transmission working assembly 8 disposed on the left side of the extension rod 6, a pitch shaft 7 rotatably mounted inside the transition connection box 3, and a handle saddlebag 9 disposed on the left side of the handle 1.

[0021] The transmission working assembly 8 includes a finger shaft 801, which is rotatably mounted inside the finger clamp 2. A winding wheel 802 is fixedly mounted on the surface of the finger shaft 801. A transition shaft 803 is rotatably mounted inside the transition connection box 3. A transition wheel 804 is fixedly mounted on the surface of the transition shaft 803. A reversing shaft 805 is rotatably mounted inside the transition connection box 3. A traction wheel 806 is fixedly mounted on the surface of the reversing shaft 805. Four anti-tipping wheels 807 are rotatably mounted inside the bent rod 4. A guide groove 810 is provided inside the extension rod 6. A first transmission shaft 808 and a second transmission shaft 811 are rotatably mounted and fixedly mounted inside the left side of the extension rod 6. A traction wheel 809 is fixedly mounted on the surface of the first transmission shaft 808. A threading plate 812 is fixedly mounted on the left side of the second transmission shaft 811. Two clamping tooth plates 813 are rotatably mounted on the left side of the threading plate 812.

[0022] like Figure 1 and Figure 2 As shown, a handle saddlebag 9 is installed on the left side of the handle 1, and the transition spool 804 and the winding spool 802 are connected by a transmission steel wire. When the winding spool 802 rotates, it can also drive the transition spool 804 to rotate.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown, the transition sheave 804 and the traction sheave 806 are connected by a transmission steel wire. When the transition sheave 804 rotates, it can drive the traction sheave 806 to rotate. By setting the transmission sheave, the connection and transportation of the transmission steel wire are facilitated. By setting the rotating shaft and the guide wheel, and both guide wheels are connected to the traction sheave 809 by the transmission steel wire, the two transmission steel wires are connected to the guide wheel through the wire hole, reducing the mutual interference between the steel wire ropes.

[0024] like Figure 2As shown, by setting a swing shaft and a base 10, the device can swing left and right. By setting a locking assembly 5, which includes a rotating shaft 501, a wire groove 502, a locking box 503, a rotating rod 504, and a cam 505, in use, by rotating the rotating shaft 501, the rotating shaft 501 drives the lead-out wheel to rotate, the lead-out wheel tightens the transmission steel wire, and then drives the take-up wheel to rotate, which in turn drives the rotating rod 504 to rotate. The rotating rod 504 drives the cam 505 to rotate, and the cam 505 pushes the pin into the insertion hole inside the base 10, thereby locking the base 10 and the transition connection box 3 through the insertion action. When it is to be released, the rotating shaft 501 is rotated in the opposite direction, which drives the cam 505 to move away from the pin. Then, through the reset action of the spring, the pin moves away from the insertion hole, thereby releasing the base 10 and the transition connection box 3. Thus, locking and releasing with left and right degrees of freedom can be achieved. The locking assembly 5 set at the pitch axis 7 works in the same way.

[0025] When the transmission working component 8 is running, operate according to the following steps:

[0026] 1) First, control the opening and closing of the clamping fingers 2 to rotate the finger shaft 801, which in turn drives the winding wheel 802 to rotate;

[0027] 2) Then the winding wheel 802 drives the transition shaft 803 to rotate through the transition wheel 804;

[0028] 3) The transition pulley 804 drives one of the anti-tipping pulleys 807 to rotate through the traction pulley 806. Since every two of the four anti-tipping pulleys 807 are connected by a transmission steel wire, the other three anti-tipping pulleys 807 rotate accordingly.

[0029] 4) Finally, as the anti-tipping wheel 807 rotates, it drives the traction wheel 806 to rotate, thereby driving the first drive shaft 808 to rotate. The traction wheel 806 drives the two clamping plates 813 to clamp through the cooperation of the guide wheel and the rotating shaft, which facilitates operation.

[0030] In summary, this medical robotic gripper, through the setting of the transmission working component 8 and the cooperation of the finger shaft 801 and the winding wheel 802, etc., only requires the thumb and index finger to be inserted into the gripper finger 2 on the handle to control the opening and closing of the gripper finger 2. The gripper tooth plate 813 can be controlled through the structure such as the finger shaft 801. Through the above setting, not only are fewer mechanical structures required, but the operation is also simple, lowering the learning threshold, reducing the training cost of minimally invasive surgery, and improving surgical efficiency, thus having practicality.

[0031] Furthermore, this medical robotic gripper, by setting a locking component 5, can lock and release the device by swinging left and right during operation through the cooperation of the rotating shaft and the wire groove 502, thereby controlling the left and right swing locking and releasing of the tool end, namely the clamping tooth plate 813, etc., and by also setting a locking component 5 at the pitch axis 7, the pitch angle can also be locked and released, thereby improving the operating efficiency.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A medical robotic gripper, comprising a handle (1), characterized in that: A finger clip (2) is rotatably mounted on the left side of the handle (1), a transition connecting box (3) is mounted on the top of the handle (1), a bent rod (4) is fixedly mounted on the top of the transition connecting box (3), a locking component (5) is provided inside the transition connecting box (3), an extension rod (6) is fixedly mounted on the side of the bent rod (4) away from the transition connecting box (3), a transmission working component (8) is provided on the left side of the extension rod (6), a pitch shaft (7) is rotatably mounted inside the transition connecting box (3), and a handle saddlebag (9) is mounted on the left side of the handle (1). The transmission assembly (8) includes a finger shaft (801), which is rotatably mounted inside the finger clamp (2). A winding wheel (802) is fixedly mounted on the surface of the finger shaft (801). A transition shaft (803) is rotatably mounted inside the transition connecting box (3). A transition wheel (804) is fixedly mounted on the surface of the transition shaft (803). A reversing shaft (805) is rotatably mounted inside the transition connecting box (3). A traction wheel (806) is fixedly mounted on the surface of the reversing shaft (805). The bent rod (4) The extension rod (6) has four anti-tipping wheels (807) rotatably mounted inside. The extension rod (6) has a guide groove (810) inside. The left side of the extension rod (6) has a first drive shaft (808) and a second drive shaft (811) rotatably and fixedly mounted inside. The first drive shaft (808) has a pull wheel (809) fixedly mounted on its surface. The second drive shaft (811) has a threading plate (812) fixedly mounted on its left side. The threading plate (812) has two toothed plates (813) rotatably mounted on its left side.

2. The medical robotic gripper according to claim 1, characterized in that: A handle saddlebag (9) is installed on the left side of the handle (1), and the transition reel (804) and the winding reel (802) are connected by a transmission steel wire.

3. The medical robotic gripper according to claim 1, characterized in that: The transition sheave (804) and the traction sheave (806) are connected by a transmission steel wire. A transmission sheave is fixedly installed on the surface of the pitch shaft (7). The transmission sheave and the traction sheave (806) are connected by a transmission steel wire.

4. A medical robotic gripper according to claim 3, characterized in that: The guide wheel (809) is connected to one of the anti-tipping wheels (807) via a transmission steel wire, and the other anti-tipping wheel (807) is connected to the guide wheel via a transmission steel wire. The threading plate (812) is rotatably mounted on two rotating shafts. The surfaces of the two rotating shafts are fixedly mounted with toothed plates (813), and the surfaces of the two rotating shafts are fixedly mounted with guide wheels. The threading plate (812) has two threading holes inside.

5. A medical robotic gripper according to claim 2, characterized in that: The transition connection box (3) is rotatably mounted inside, and a base (10) is fixedly mounted on the surface of the rotatable shaft. The locking assembly (5) includes a rotating shaft (501), which is rotatably mounted inside the handle saddlebag (9). A wire groove (502) is provided inside the handle (1), and a wire wheel is fixedly mounted on the surface of the rotating shaft (501).

6. A medical robotic gripper according to claim 5, characterized in that: The transition connection box (3) is fixedly installed with a locking box (503), and a rotating rod (504) is fixedly installed inside the locking box (503). A take-up reel is fixedly installed on the surface of the rotating rod (504). The lead-out reel and the take-up reel are connected by a transmission steel wire. A cam (505) is fixedly installed on the surface of the rotating rod (504). An insertion hole is fixedly installed inside the base (10). Two lifting plates are slidably installed inside the locking box (503). A pin is fixedly installed between the two lifting plates. The pin is adapted to the insertion hole. A locking assembly (5) is also provided on the outside of the pitch axis (7).

Images