CN106725859A - The steel wire rope that a kind of part is substituted by his thing - Google Patents
The steel wire rope that a kind of part is substituted by his thing Download PDFInfo
- Publication number
- CN106725859A CN106725859A CN201611214399.9A CN201611214399A CN106725859A CN 106725859 A CN106725859 A CN 106725859A CN 201611214399 A CN201611214399 A CN 201611214399A CN 106725859 A CN106725859 A CN 106725859A
- Authority
- CN
- China
- Prior art keywords
- steel wire
- wire rope
- section
- substitute
- thing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 96
- 239000010959 steel Substances 0.000 title claims abstract description 96
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- D—TEXTILES; PAPER
- D07—ROPES; CABLES OTHER THAN ELECTRIC
- D07B—ROPES OR CABLES IN GENERAL
- D07B1/00—Constructional features of ropes or cables
- D07B1/06—Ropes or cables built-up from metal wires, e.g. of section wires around a hemp core
-
- D—TEXTILES; PAPER
- D07—ROPES; CABLES OTHER THAN ELECTRIC
- D07B—ROPES OR CABLES IN GENERAL
- D07B1/00—Constructional features of ropes or cables
- D07B1/14—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable
-
- D—TEXTILES; PAPER
- D07—ROPES; CABLES OTHER THAN ELECTRIC
- D07B—ROPES OR CABLES IN GENERAL
- D07B2205/00—Rope or cable materials
- D07B2205/30—Inorganic materials
- D07B2205/3021—Metals
- D07B2205/3025—Steel
-
- D—TEXTILES; PAPER
- D07—ROPES; CABLES OTHER THAN ELECTRIC
- D07B—ROPES OR CABLES IN GENERAL
- D07B2401/00—Aspects related to the problem to be solved or advantage
- D07B2401/20—Aspects related to the problem to be solved or advantage related to ropes or cables
- D07B2401/2005—Elongation or elasticity
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The steel wire rope that a kind of part is substituted by his thing, including the substitute part that steel wire rope section and steel wire rope section are connected, the elongation of the elongation less than steel wire rope section of the substitute part；The substitute part is preferably steel pipe.In transmission process, using the steel wire rope section for making to move linearly in steel pipe replacement steel wire rope, simple possible；CONTACT WITH FRICTION can occur, the frictional force between steel pipe is less than the frictional force between steel wire rope section between steel wire rope of the present invention.
Description
Technical field
The present invention relates to technical field of medical instruments, and in particular to the steel wire rope of apparatus transmission.
Background technology
In transmission process, due to the characteristic of its own, in the case of loaded, meeting nature extends steel wire rope.It is theoretical
On, the elongation of traction steel-cable is 0.5% or so, and this results in it can cause driving error in transmission process, especially exist
To the exigent occasion of gearratio.For example, in laparoscopic surgery robot, the steel wire rope used by transmission apparatus pliers head.
The content of the invention
Technical problem solved by the invention：How the driving error of steel wire rope is reduced.
In order to solve the above technical problems, the present invention provides following technical scheme：The steel wire rope that a kind of part is substituted by his thing,
Including the substitute part that steel wire rope section and steel wire rope section are connected, the elongation of the substitute part is less than steel wire rope
Partial elongation.
In above-mentioned technical proposal, elongation refers to force-extension steel wire rope, and the length that steel wire rope increases is initial with steel wire rope
The percentage of length, or, force-extension steel wire rope section, the length that steel wire rope section increases is initially long with the steel wire rope section
The percentage of degree, or, force-extension substitute part, length and the substitute part initial length that substitute part increases
Percentage.
The steel wire rope section includes more than one section cable element, and the substitute part includes more than one section substitute
Unit.A piece steel wire rope for transmission, including two parts, steel wire rope section and substitute part, steel wire rope section include one section
Steel wire rope, two sections of steel wire ropes or more section steel wire rope, substitute part include that one section of substitute, two sections of substitutes or more section are replaced
For thing, one section of substitute is connected between every adjacent two sections of steel wire ropes, or, connect one section of steel wire between every adjacent two sections of substitutes
Rope.
In laparoscopic surgery robot, the steel wire rope of apparatus pliers is driven, wherein, the steel wire rope section includes two sections
Cable element, the substitute part includes one section of substitute unit, the first paragraph steel wire rope list in two sections of cable elements
Unit is connected with the head end of one section of substitute unit, second segment cable element and one section of substitute list in two sections of cable elements
The tail end connection of unit, first paragraph cable element is wrapped on the first directive wheel, and second segment cable element is wrapped in second and leads
To on wheel.During wire rope gearing, two sections of cable elements are contacted with directive wheel, and one section of substitute unit and directive wheel
Contactless, one section of substitute unit is for linear motion.
The substitute part is preferably steel pipe.In the presence of external force, steel wire rope therein is stretched into steel tube end part extruding
Partial end, with connecting steel wire ropes part and steel pipe.That is, steel pipe and steel wire rope is connected by pressure clamp inside steel pipe
Steel wire is firmly pushed down.
The steel wire rope that a kind of part of the present invention is substituted by his thing, has the advantages that：First, replaced using steel pipe
For the steel wire rope section for making to move linearly in steel wire rope, simple possible；Second, many steel wire ropes of the present invention are set up in parallel,
In transmission process, CONTACT WITH FRICTION can occur between many steel wire ropes of the present invention, the frictional force between steel pipe is less than steel wire
Frictional force between rope section.
Brief description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the construction of wire rope schematic diagram that a kind of part of the invention is substituted by his thing.
Symbol description in figure：
10th, first paragraph steel wire rope；
20th, second segment steel wire rope；
30th, one section of substitute unit；
40th, the first directive wheel；
50th, the second directive wheel.
Specific embodiment
Laparoscopic surgery robot, including apparatus control section, instrument shaft, pliers head, apparatus control section is by this hair
The steel wire rope action pliers head that the bright part is substituted by his thing, the part is located in instrument shaft by the steel wire rope that his thing is substituted
Hollow space.
The length of the instrument shaft is 547mm, the external diameter 8.5mm of instrument shaft, internal diameter 6.5mm.Now take portion of the present invention
Divide the steel wire rope 600mm substituted by his thing.
In transmission process, the steel wire rope that part of the present invention is substituted by his thing has 20mm or so in apparatus control section
Meeting flexion torsion, the part uses steel wire rope, the present embodiment to be referred to as first paragraph cable element 10, the directive wheel of pile warp first
40.The steel wire rope that part of the present invention is substituted by his thing has 20mm or so meeting flexion torsions near pliers head, and the part is adopted
With steel wire rope, the present embodiment is referred to as second segment cable element 20, the second directive wheel of pile warp 50.Part of the present invention is by him
The middle 560mm parts of the steel wire rope that thing is substituted simply are done in instrument shaft and are moved up and down along bar length direction, and the part uses
Elongation is less than one section of substitute unit 30 of steel wire rope, the preferred steel pipe of the present embodiment, to replace steel wire rope.
The external diameter 1.2mm of the steel pipe, internal diameter 0.6mm.Steel pipe and two sections of cable elements are connected by pressure clamp handle
Steel wire inside steel pipe is firmly pushed down.Or, the end of either segment cable element is fixed with a pair of grabs, a pair of grabs
It is symmetrical set, a pair of grabs are in m shapes, and a pair of draw-in grooves are opened up on the side wall of steel tube end part, and a pair of draw-in grooves are symmetrical set,
Draw-in groove is in strip, and the length direction of draw-in groove is the axial direction of steel pipe；When steel pipe is connected with cable element, a pair of grabs insert steel
Pipe, a pair of grabs are subject to the extruding of steel pipe inner wall that elastic deformation occurs, and continue deeper into steel pipe, and a pair of grabs are in the presence of elastic force
Circumferentially extending, correspondingly snaps in a pair of draw-in grooves, toward a pair of grabs of pulling back, makes a pair of grabs and a pair of draw-in groove clampings, to complete
Connection.
In practical operation, the steel tube elongation amount of 560mm can be ignored, and two sections of cable element elongations of 40mm are
0.2mm, has been obviously improved the error completely as caused by wire rope gearing.
Above content is only better embodiment of the invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this hair
Bright limitation.
Claims (5)
1. the steel wire rope that a kind of part is substituted by his thing, including steel wire rope section, it is characterised in that：Also include and steel wire rope section
The substitute part of connection, the elongation of the elongation less than steel wire rope section of the substitute part.
2. the steel wire rope that a kind of part as claimed in claim 1 is substituted by his thing, it is characterised in that：The steel wire rope section bag
More than one section cable element is included, the substitute part includes more than one section substitute unit.
3. the steel wire rope that a kind of part as claimed in claim 1 is substituted by his thing, it is characterised in that：The steel wire rope section bag
Two sections of cable elements are included, the substitute part includes one section of substitute unit, the first paragraph steel in two sections of cable elements
Cord unit (10) is connected with the head end of one section of substitute unit (30), the second segment cable element in two sections of cable elements
(20) tail end with one section of substitute unit (30) is connected, and first paragraph cable element is wrapped on the first directive wheel (40), the
Two sections of cable elements are wrapped on the second directive wheel (50).
4. the steel wire rope that a kind of part as claimed in claim 1 is substituted by his thing, it is characterised in that：The substitute part
(30) it is steel pipe.
5. the steel wire rope that a kind of part as claimed in claim 4 is substituted by his thing, it is characterised in that：In the presence of external force,
The end of steel wire rope section therein is stretched into steel tube end part extruding, with connecting steel wire ropes part and steel pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611214399.9A CN106725859B (en) | 2016-12-26 | 2016-12-26 | Wire rope partially replaced by other objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611214399.9A CN106725859B (en) | 2016-12-26 | 2016-12-26 | Wire rope partially replaced by other objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106725859A true CN106725859A (en) | 2017-05-31 |
| CN106725859B CN106725859B (en) | 2024-05-10 |
Family
ID=58920561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611214399.9A Active CN106725859B (en) | 2016-12-26 | 2016-12-26 | Wire rope partially replaced by other objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106725859B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426809A (en) * | 2023-12-21 | 2024-01-23 | 苏州康多机器人有限公司 | Tensioning method and tensioning tool for rope of surgical instrument |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH037839U (en) * | 1989-06-14 | 1991-01-25 | ||
| JPH10137261A (en) * | 1996-11-09 | 1998-05-26 | Masahide Omae | P0lypect0my appliance |
| US20070089557A1 (en) * | 2004-09-30 | 2007-04-26 | Solomon Todd R | Multi-ply strap drive trains for robotic arms |
| CN2905736Y (en) * | 2006-05-24 | 2007-05-30 | 上海梅山钢铁股份有限公司 | Hanger steel cable pulley case capable of reducing wear |
| JP2010243882A (en) * | 2009-04-08 | 2010-10-28 | Toray Monofilament Co Ltd | Tension member for communication cable and method of manufacturing the same |
| CN201798759U (en) * | 2010-10-09 | 2011-04-20 | 上海菲捷实业有限公司 | Ring weld type biopsy forceps |
| CN203822973U (en) * | 2014-05-08 | 2014-09-10 | 周晗 | Steel wire rope transmission mechanism with olive-shaped expanding teeth |
| CN104224325A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Steel wire rope transmitting linear telescopic mechanism for minimally-invasive surgery robot |
| CN105534598A (en) * | 2015-12-17 | 2016-05-04 | 天津工业大学 | Three-axis-intersected steel wire rope transmission mechanism for surgical instrument |
| CN206852657U (en) * | 2016-12-26 | 2018-01-09 | 苏州康多机器人有限公司 | The steel wire rope that a kind of part is substituted by his thing |
| CN211496478U (en) * | 2019-12-20 | 2020-09-15 | 常州脉康仪医疗机器人有限公司 | Transmission mechanism based on high-rigidity steel wire rope |
-
2016
- 2016-12-26 CN CN201611214399.9A patent/CN106725859B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH037839U (en) * | 1989-06-14 | 1991-01-25 | ||
| JPH10137261A (en) * | 1996-11-09 | 1998-05-26 | Masahide Omae | P0lypect0my appliance |
| US20070089557A1 (en) * | 2004-09-30 | 2007-04-26 | Solomon Todd R | Multi-ply strap drive trains for robotic arms |
| CN2905736Y (en) * | 2006-05-24 | 2007-05-30 | 上海梅山钢铁股份有限公司 | Hanger steel cable pulley case capable of reducing wear |
| JP2010243882A (en) * | 2009-04-08 | 2010-10-28 | Toray Monofilament Co Ltd | Tension member for communication cable and method of manufacturing the same |
| CN201798759U (en) * | 2010-10-09 | 2011-04-20 | 上海菲捷实业有限公司 | Ring weld type biopsy forceps |
| CN203822973U (en) * | 2014-05-08 | 2014-09-10 | 周晗 | Steel wire rope transmission mechanism with olive-shaped expanding teeth |
| CN104224325A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Steel wire rope transmitting linear telescopic mechanism for minimally-invasive surgery robot |
| CN105534598A (en) * | 2015-12-17 | 2016-05-04 | 天津工业大学 | Three-axis-intersected steel wire rope transmission mechanism for surgical instrument |
| CN206852657U (en) * | 2016-12-26 | 2018-01-09 | 苏州康多机器人有限公司 | The steel wire rope that a kind of part is substituted by his thing |
| CN211496478U (en) * | 2019-12-20 | 2020-09-15 | 常州脉康仪医疗机器人有限公司 | Transmission mechanism based on high-rigidity steel wire rope |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426809A (en) * | 2023-12-21 | 2024-01-23 | 苏州康多机器人有限公司 | Tensioning method and tensioning tool for rope of surgical instrument |
| CN117426809B (en) * | 2023-12-21 | 2024-03-15 | 苏州康多机器人有限公司 | Tensioning method and tensioning tool for rope of surgical instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106725859B (en) | 2024-05-10 |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |