CN108451552A - A kind of driving device of surgical instrument - Google Patents
A kind of driving device of surgical instrument Download PDFInfo
- Publication number
- CN108451552A CN108451552A CN201810217321.5A CN201810217321A CN108451552A CN 108451552 A CN108451552 A CN 108451552A CN 201810217321 A CN201810217321 A CN 201810217321A CN 108451552 A CN108451552 A CN 108451552A
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- China
- Prior art keywords
- layer
- bottom plate
- driving device
- consumptive material
- motor
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- 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.)
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- 239000000463 material Substances 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 230000005622 photoelectricity Effects 0.000 claims 1
- 230000005693 optoelectronics Effects 0.000 abstract description 10
- 230000006378 damage Effects 0.000 abstract description 2
- 241001310793 Podium Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 4
- 230000035611 feeding Effects 0.000 description 4
- 206010045178 Tunnel vision Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000001079 digestive effect Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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)
- Manipulator (AREA)
Abstract
The present invention provides a kind of driving device of surgical instrument, includes consumptive material contact layer, driving body layer, mobile platform layer and mobile foundation layer successively from top to bottom；Wherein, it drives and is provided with multigroup drive component on body layer, drive component drives consumptive material movement through consumptive material contact layer；Drive component bottom is provided with sliding block, and sliding block passes through the sliding with the first sliding rail clamping drive drive component being fixed on the first bottom plate；Mobile foundation layer drives each podium level in upper layer to carry out mass motion.Inventive drive means realize the setting of initial position using optoelectronic switch, and position zero is carried out in booting, while are during the work time in the lifting arm in consumptive material and determining known position；The limit switch being arranged in driving device prevents rack from causing the destruction to driving device during advancing；Simultaneously in the present invention using motor drive upper hierarchical structure drive it is whole do feed motion and realize the feeding of lifting arm, to realize the multi-level feeding of inventive drive means.
Description
Technical field
The present invention relates to surgical instrument actuation techniques field more particularly to a kind of driving devices of surgical instrument.
Background technology
In order to solve to have tunnel vision during digested road surgical cut to cause the situation of bleeding, surgical assistant system is needed
The lesions position for driving miniature manipulator's lifting to be cut by driving device, which reaches, to be solved the problems, such as to have tunnel vision.
The prior art discloses the " a kind of for assisted minimally invasive surgical operation robot of Publication No. CN101627921B
Rapid replacing interface ", Fig. 1 are its schematic diagram, and wherein module 2 is driving device, and module 1 is quick change box, i.e. consumptive material, module 1 and module 2
It realize combination and detaches by the plug on the directions P.Fig. 2 is the structural schematic diagram of quick change box, and the module 2 as driving device has
4 motors, there are one disk with groove on each machine shaft, also there are one disk, disks in each corresponding position for consumptive material
It is upper to carry boss, consumptive material with being engaged for boss and groove is realized in driving device assembling process, then motor can pass through circle
Disk imparts power to the transmission device inside consumptive material, and the transmission device inside consumptive material is left finger tip rotation shaft portion 1-3, right finger
Point rotation shaft portion 1-5, pitching rotate shaft portion 1-7, and rotation rotates tetra- rotary shafts of shaft portion 1-8 and steel wire connected to it
It restricts, two steel wires of connection are to realize that positive and negative both direction drives in each shaft.
The behaviour in service of technical solution disclosed above determines that surgical instrument rotation rotation shaft portion 1-9 is a rigidity
Pipe, this device are not suitable for the equipment such as digestive endoscopy of the cooperation with flexibility characteristics and use, and are motor direct-drive consumptions
Steel wire rope in material, such design cause driving device volume larger, and flexibility ratio is not high.
Invention content
To solve the above-mentioned problems, the main object of the present invention is to provide a kind of surgical instrument driving with rapid replacing interface
Device.
In order to realize the main object of the present invention, a kind of driving device of surgical instrument provided by the invention, from top to bottom
Include consumptive material contact layer, driving body layer, mobile platform layer and mobile foundation layer successively；Wherein, it drives on body layer and is arranged
There are multigroup drive component, drive component to drive consumptive material movement through consumptive material contact layer；Drive component bottom is provided with sliding block, sliding block
By the sliding for driving drive component with the first sliding rail clamping being fixed on the first bottom plate；Mobile foundation layer drives consumptive material contact
Layer, driving body layer and mobile platform layer carry out mass motion.
Further scheme is that drive component includes first motor and rack, be fixed on the axis of first motor around
Line wheel is wound with steel wire rope on reel, and steel wire rope both ends are connected to rack both ends.
Further scheme is that the first microswitch is being respectively arranged with outside the both ends of the rack of glide direction,
The first catch is connected on the side of the rack in vertical sliding motion direction, the first catch blocks the first light being arranged on the first bottom plate
Electric switch.
Further scheme is, consumptive material contact layer includes the second bottom plate and the first motor that is fixed on the second bottom plate
Driver is provided with multiple grooves on the second bottom plate, and the rack on multiple drive components passes through groove to drive consumptive material movement；First
Motor driver drives first motor rotation.
Further scheme is that mobile platform layer includes third bottom plate and the second motor being fixed on third bottom plate
Driver is opposite with the second motor driver that pressing plate and the second catch are provided on third bottom plate side.
Further scheme is that mobile foundation layer includes the 4th bottom plate and the second electricity being fixed on the 4th bottom plate
Machine is arranged with synchronous belt on the axis of the second motor；It is fixed with the second sliding rail on 4th bottom plate, the second cunning is connected on the second sliding rail
Block is respectively arranged with the second microswitch by the second sliding rail both ends along the second sliding block glide direction.
Further scheme is that the synchronous belt of mobile foundation layer is compressed by the pressing plate of mobile platform layer, mobile foundation layer
The second sliding block connect with the bottom of the third bottom plate of mobile platform layer.
Further scheme is that the second motor driver drives the rotation of the second motor, the second motor that synchronous belt is driven to turn
Dynamic, synchronous belt is by pulling pressing plate that mobile platform layer is driven to be slided along the second sliding rail.
Further scheme is fixedly connected between consumptive material contact layer, driving body layer and mobile platform layer.
The beneficial effects of the invention are as follows：Inventive drive means realize the setting of initial position using optoelectronic switch, make
Unified position zero may be implemented in driving device under boot program, while making during the work time at the lifting arm in consumptive material
The position known to determination；The limit switch being arranged in driving device prevents rack from being caused to driving device during advancing
It destroys；Simultaneously in the present invention using motor drive upper hierarchical structure drive it is whole do feed motion and realize the feeding of lifting arm,
To realize the multi-level feeding of inventive drive means.
Description of the drawings
Fig. 1 is the decomposition diagram of the rapid replacing interface major part of the prior art；
Fig. 2 is the structural schematic diagram of the quick change box part of the rapid replacing interface of the prior art；
The surgical instrument driving device of Fig. 3 embodiment of the present invention and the position view of consumptive material；
The part explosive view of the surgical instrument driving device of Fig. 4 embodiment of the present invention；
The side view at the first visual angle of body layer is driven in Fig. 5 embodiment of the present invention；
The side view at the second visual angle of body layer is driven in Fig. 6 embodiment of the present invention；
The vertical view of body layer is driven in Fig. 7 embodiment of the present invention；
The front view of body layer is driven in Fig. 8 embodiment of the present invention；
The structural schematic diagram of consumptive material contact layer in Fig. 9 embodiment of the present invention；
The structural schematic diagram of mobile platform layer in Figure 10 inventive embodiments；
The structural schematic diagram of body layer is driven in Figure 11 inventive embodiments.
Label declaration：
100, consumptive material；200, driving device；21, consumptive material contact layer；210, the second bottom plate；211, first motor driver；
212, groove；22, body layer is driven；220, the first bottom plate；221, first motor；222, reel；223, steel wire rope；224, tooth
Item；225, first pulley；226, the first catch；227, the first optoelectronic switch；229, the first microswitch；23, mobile platform layer；
230, third bottom plate；231, the second motor driver；232, the second catch；233, pressing plate；24, mobile foundation layer；240, the 4th
Bottom plate；241, the second motor；242, synchronous belt；243, second pulley；244, the second optoelectronic switch；245, the second microswitch；
246, the second sliding rail；247, the second sliding block.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and embodiments.
As can be seen from figs. 3 and 4 a kind of driving device 200 provided in this embodiment, includes that consumptive material contacts successively from top to bottom
Layer 21, driving body layer 22, mobile platform layer 23 and mobile foundation layer 24；Consumptive material contact layer 21, driving body layer 22 and
It is fixedly connected between mobile platform layer 23, is specifically fixedly connected in this embodiment by column；Mobile foundation layer
24, by driving mobile platform layer 23 to slide, drive consumptive material contact layer 21, driving body layer 22 and mobile platform layer 23 to carry out
Whole sliding.
In conjunction with Fig. 5 to Fig. 8 it is found that being provided with multigroup drive component on driving body layer 22, it is preferred that in the present embodiment
Drive component is 5 groups, and drive component drives consumptive material 100 to move through consumptive material contact layer 21；Drive component bottom is provided with first
Sliding block (not shown), the first sliding block with the first sliding rail (not shown) being fixed on the first bottom plate 220 by being clamped
Drive the sliding of drive component.
Specifically, drive component includes first motor 221 and rack 224, coiling is fixed on the axis of first motor 221
222 are taken turns, is wound with steel wire rope 223 on reel 222,223 both ends of steel wire rope are connected to 224 both ends of rack, steel wire rope 223
One end be connected on one end of rack 224 around first pulley 226, the other end of steel wire rope 223 is directly connected on the another of rack 224
End；224 lower section of rack is fixed with the first sliding block of the first sliding rail of connection.
Preferably, it is being respectively arranged with the first microswitch 229 outside the both ends of the rack 224 of glide direction, is realizing
To the limit that rack 224 moves, prevent rack 224 from causing the other structures to driving device 200 to cause brokenly during advancing
It is bad.
The first catch 226 is connected on the side of the rack 224 in vertical sliding motion direction, the first catch 226 blocks setting
The first optoelectronic switch 227 on the first bottom plate 220, the first catch 226 coordinate optoelectronic switch 227 to realize drive component movement
Initial position determines, makes drive component that position zero may be implemented under boot program.
As shown in Figure 9, consumptive material contact layer 21 includes the second bottom plate 210 and the first electricity being fixed on the second bottom plate 210
Machine driver 221 is provided with multiple grooves 212 on second bottom plate 210, and the rack 224 on multiple drive components passes through groove 212
It drives consumptive material 100 to move, drives consumptive material 100 to move specifically, rack 224 engages with the gear on consumptive material 100；Consumptive material contact layer
The first motor 221 on the control driving body layer 22 of first motor driver 211 on 21 rotates.
As shown in Figure 10, mobile platform layer 23 includes third bottom plate 230 and the second electricity being fixed on third bottom plate 230
Machine driver 231 is opposite with the second motor driver 231 to be provided with pressing plate 233 and second on 230 side of third bottom plate
Catch 232.
As shown in Figure 11, mobile foundation layer 24 includes the 4th bottom plate 240 and the second electricity being fixed on the 4th bottom plate 240
Machine 241 is fixed with the second sliding rail 246 on the 4th bottom plate 240, the second sliding block 247 is connected on the second sliding rail 246, along second
It is respectively arranged with the second microswitch 245 by 246 both ends of the second sliding rail of 247 glide direction of sliding block, realizes that the second sliding block 247 exists
Limit in glide direction prevents rack 224 from causing the other structures to driving device 200 to damage during advancing.
One end of synchronous belt 242 is arranged on the axis of second motor 241, the other end of synchronous belt 242 is set in the second cunning
On wheel 246,242 one side of synchronous belt is fixed with the position of the second optoelectronic switch 244 and the second catch 232 on mobile platform layer 23
Corresponding, the second enabled catch 232 of the second optoelectronic switch 224 triggering realizes the initial position of whole driving device 200 really
It is fixed.
The setting of the whole initial position of driving device 200 may be implemented in the present embodiment using the second optoelectronic switch 244, together
When in conjunction with the first optoelectronic switch 227 make the lifting arm in consumptive material 100 be in determine known to position, while can under boot program
To make the position of mobile foundation layer and drive component be zeroed respectively, lifting arm is made to be in preliminary examination state.
In conjunction with Figure 10 and Figure 11 it is found that the synchronous belt 242 of mobile foundation layer 24 is pressed by the pressing plate 233 of mobile platform layer 23
Tightly, the second sliding block 243 of mobile foundation layer 24 is connect with the bottom of the third bottom plate 230 of mobile platform layer 23.Mobile platform layer
The second motor 241 rotation on the second motor driver 231 driving mobile foundation layer 24 on 23, the second motor 241 drive together
It walks band 242 to rotate, synchronous belt 242 is by pulling pressing plate 233 that mobile platform layer 23 is driven to slide along the second sliding rail 246.
It is fixedly connected between consumptive material contact layer 21, driving body layer 22 and mobile platform layer 23, specifically in this implementation
In example it is fixedly connected by column；Mobile foundation layer 24 drives consumptive material contact by driving mobile platform layer 23 to slide
Layer 21, driving body layer 22 and mobile platform layer 23 carry out whole sliding.
Upper hierarchical structure is driven to drive driving device 200 is whole to feed by using the second motor 241 in the present embodiment
Movement realizes the feeding of lifting arm, to combine the drive component on driving body layer 22 to realize inventive drive means
200 multi-level feedings.
Above example, only preferred embodiments of the invention, be not to limit the scope of the present invention, therefore it is all according to the present invention
The equivalent change or modification that the structure, feature and principle of claim is done should all be included in present patent application model
In enclosing.
Claims (9)
1. a kind of driving device of surgical instrument includes consumptive material contact layer, driving body layer, mobile platform layer successively from top to bottom
And mobile foundation layer；
It is characterized in that：
Multigroup drive component is provided on the driving body layer, the driving component drives consumptive material through the consumptive material contact layer
Movement；The driving component bottom is provided with sliding block, is clamped by the sliding block and the first sliding rail being fixed on the first bottom plate
Drive the sliding of the driving component；
The mobile foundation layer drives the consumptive material contact layer, driving body layer and mobile platform layer to carry out mass motion.
2. driving device according to claim 1, it is characterised in that：
The driving component includes first motor and rack, and reel, the coiling are fixed on the axis of the first motor
Steel wire rope is wound on wheel, the steel wire rope both ends are connected to the rack both ends.
3. driving device according to claim 2, it is characterised in that：
It is being respectively arranged with the first microswitch outside the both ends of the rack of glide direction, in the vertical glide direction
The first catch is connected on the side of the rack, first catch blocks the first photoelectricity being arranged on first bottom plate
Switch.
4. driving device according to claim 3, it is characterised in that：
The consumptive material contact layer includes the second bottom plate and the first motor driver that is fixed on second bottom plate, and described
Multiple grooves are provided on two bottom plates, the rack in multiple the driving component passes through the groove to drive the consumptive material fortune
It is dynamic；
The first motor driver drives the first motor rotation.
5. driving device according to claim 4, it is characterised in that：
The mobile platform layer includes third bottom plate and the second motor driver for being fixed on the third bottom plate, and described
Second motor driver is opposite to be provided with pressing plate and the second catch on third bottom plate side.
6. driving device according to claim 5, it is characterised in that：
The mobile foundation layer includes the 4th bottom plate and the second motor for being fixed on the 4th bottom plate, second motor
Axis on be arranged with synchronous belt；
It is fixed with the second sliding rail on 4th bottom plate, the second sliding block is connected on second sliding rail, is slided along described second
It is respectively arranged with the second microswitch by second sliding rail both ends of block glide direction.
7. driving device according to claim 6, it is characterised in that：
The synchronous belt of the mobile foundation layer is compressed by the pressing plate of the mobile platform layer, the mobile foundation layer
Second sliding block is connect with the bottom of the third bottom plate of the mobile platform layer.
8. driving device according to claim 7, characteristic value are：
Second motor driver drives the second motor rotation, second motor to drive the synchronous belt rotation, institute
Synchronous belt is stated by pulling the pressing plate that the mobile platform layer is driven to be slided along second sliding rail.
9. according to claim 1 to 8 any one of them driving device, it is characterised in that：
It is fixedly connected between the consumptive material contact layer, the driving body layer and the mobile platform layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810217321.5A CN108451552A (en) | 2018-03-16 | 2018-03-16 | A kind of driving device of surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810217321.5A CN108451552A (en) | 2018-03-16 | 2018-03-16 | A kind of driving device of surgical instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108451552A true CN108451552A (en) | 2018-08-28 |
Family
ID=63236615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810217321.5A Pending CN108451552A (en) | 2018-03-16 | 2018-03-16 | A kind of driving device of surgical instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108451552A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050240178A1 (en) * | 2000-12-29 | 2005-10-27 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
| US20070239120A1 (en) * | 1998-02-24 | 2007-10-11 | Brock David L | Flexible instrument |
| CN102630154A (en) * | 2009-09-23 | 2012-08-08 | 伊顿株式会社 | Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument |
| CN103932790A (en) * | 2014-03-11 | 2014-07-23 | 哈尔滨工程大学 | Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function |
| US20150142013A1 (en) * | 2010-09-17 | 2015-05-21 | Hansen Medical, Inc. | Systems and methods for positioning an elongate member inside a body |
| CN105012022A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Integrated surgical instrument drive device with decoupling function |
| CN105147393A (en) * | 2015-08-19 | 2015-12-16 | 哈尔滨工业大学 | Minimally invasive robot mirror-holding mechanical arm |
| CN107257669A (en) * | 2015-02-26 | 2017-10-17 | 柯惠Lp公司 | Apparatus driver element comprising guide screw bar track |
| CN107374738A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot from end and its mobile platform and control method |
| CN208864367U (en) * | 2018-03-16 | 2019-05-17 | 深圳市罗伯医疗科技有限公司 | A kind of driving device of surgical instrument |
-
2018
- 2018-03-16 CN CN201810217321.5A patent/CN108451552A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070239120A1 (en) * | 1998-02-24 | 2007-10-11 | Brock David L | Flexible instrument |
| US20050240178A1 (en) * | 2000-12-29 | 2005-10-27 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
| CN102630154A (en) * | 2009-09-23 | 2012-08-08 | 伊顿株式会社 | Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument |
| US20150142013A1 (en) * | 2010-09-17 | 2015-05-21 | Hansen Medical, Inc. | Systems and methods for positioning an elongate member inside a body |
| CN103932790A (en) * | 2014-03-11 | 2014-07-23 | 哈尔滨工程大学 | Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function |
| CN107257669A (en) * | 2015-02-26 | 2017-10-17 | 柯惠Lp公司 | Apparatus driver element comprising guide screw bar track |
| CN105012022A (en) * | 2015-08-19 | 2015-11-04 | 哈尔滨工业大学 | Integrated surgical instrument drive device with decoupling function |
| CN105147393A (en) * | 2015-08-19 | 2015-12-16 | 哈尔滨工业大学 | Minimally invasive robot mirror-holding mechanical arm |
| CN107374738A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot from end and its mobile platform and control method |
| CN208864367U (en) * | 2018-03-16 | 2019-05-17 | 深圳市罗伯医疗科技有限公司 | A kind of driving device of surgical instrument |
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