CN111166486A

CN111166486A - Sterile separator and surgical operation auxiliary robot instrument system

Info

Publication number: CN111166486A
Application number: CN201811349208.9A
Authority: CN
Inventors: 王了; 胡江; 黄宇
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2018-11-13
Filing date: 2018-11-13
Publication date: 2020-05-19

Abstract

The invention discloses a sterile separator which comprises an upper separator plate connected with an instrument box and a lower separator plate connected with a power pack; the upper partition plate and the lower partition plate are correspondingly provided with cavities for accommodating transition flanges; a transition flange is arranged in the cavity; the inner diameter of the cavity is larger than the outer diameter of the transition flange; the upper baffle plate is provided with a first limiting boss at the upper end of the cavity; the lower end of the cavity of the lower clapboard is provided with a second limiting boss; the outer surface of the transition flange is provided with a third limiting boss corresponding to the first limiting boss and the second limiting boss; a gap for arranging a sterile cover is formed between the upper clapboard and the lower clapboard; the upper partition plate is fixedly connected with the lower partition plate through screws. The invention provides mechanical conditions for realizing force feedback, realizes direct-sensing operation, greatly increases the safety performance of operation and improves the overall safety performance of equipment.

Description

Sterile separator and surgical operation auxiliary robot instrument system

Technical Field

The present invention relates to a spacer for distinguishing surgical auxiliary robot power from instruments.

Background

A medical robot for performing minimally invasive surgery, which performs surgical operations on a patient by means of instruments fixed at the ends of the joints of the robot, such as a laparoscopic surgical robot disclosed in CN 107951565A. Specifically, the jaws of the instrument are jaws or scissors that are controlled by a wire. Due to the particular configuration of the robot and the nature of the procedure, the jaws of these instruments are placed on the distal end of an elongated shaft and the wires controlling the jaws are passed through the lumen of the elongated shaft.

During operation, the front part of the long rod extends into the abdominal cavity of a patient to perform operation, so that a doctor is required to accurately sense the whole operation process, the force generated by the instrument and the muscle tissue is truly reflected on the hand of a doctor, and the muscle tissue cannot be damaged due to large force in the process of grabbing, pushing and clamping the muscle tissue and the like by operating the instrument by the doctor, so that the operation is more accurately controlled, and the operation action can be accurately mastered. However, in the prior art, because the transmission links of the instrument are too many and the transmission distance is long, the transmission friction points are more, and the stress on the tail end of the instrument is difficult to be fed back to a doctor during the operation.

According to the specific situation of the operation, instruments with different claw structures are needed to perform the operation, but the instruments and the power system in the prior art are of an integral structure, so that the installation and the disassembly are very inconvenient. And the dynamic system part is easy to moisten the bacteria, thereby increasing the risk of infection of the patient.

Those skilled in the art have therefore endeavored to develop a device that can distinguish between the power of the surgical auxiliary robot and the instrument.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to provide a device for distinguishing the power of a surgical auxiliary robot from an instrument.

In order to achieve the above object, the present invention provides a sterile separator, comprising an upper partition plate connected with an instrument box and a lower partition plate connected with a power pack; the upper partition plate and the lower partition plate are correspondingly provided with cavities for accommodating transition flanges; a transition flange is arranged in the cavity; the inner diameter of the cavity is larger than the outer diameter of the transition flange;

the upper baffle plate is provided with a first limiting boss at the upper end of the cavity; the lower end of the cavity of the lower clapboard is provided with a second limiting boss; the outer surface of the transition flange is provided with a third limiting boss corresponding to the first limiting boss and the second limiting boss;

a gap for arranging a sterile cover is formed between the upper clapboard and the lower clapboard;

the upper clapboard is fixedly connected with the lower clapboard through screws or rivets.

In order to be connected with an instrument conveniently, two upper buckle seats are oppositely arranged on two edges of the upper clapboard; the upper buckle seat is provided with an upper buckle through a pin shaft and a torsional spring sleeved on the pin shaft; the buckle is provided with a first clamping flange.

Preferably, the upper buckle comprises two mounting arms arranged at intervals; the two mounting arms are connected into an integral structure through the buckling part; the mounting arm is sleeved on the pin shaft.

Preferably, the clamping part is of a wedge-shaped structure as a whole.

In order to be connected with the power pack conveniently, lower buckle seats are arranged on two sides of the lower partition plate; a pressing part corresponding to the lower buckle seat is arranged on the mounting shell, which is connected with the power pack, of the lower partition plate; the two ends of the pressing part are integrally provided with a bolt; a blind hole at the large end of the spring guide shaft is formed in the middle of the pressing part;

the lower buckle seat is provided with a through hole and a third spring seat which correspond to the spring guide shaft; a spring is arranged between the third spring seat and the spring guide shaft; the mounting shell is provided with a through hole corresponding to the sheet bolt, and the sheet bolt can be buckled with a corresponding groove on the shell of the power part after extending out of the through hole.

Preferably, the bolt is a sheet bolt.

In order to simplify the power transmission structure, the upper part and the lower part of the transition flange are both provided with convex hulls or gaps.

The invention also provides a surgical assisted robotic instrument system comprising a sterile divider as described above.

The invention has the beneficial effects that:

1. the direct-sensing operation is realized: in the operation process, the force generated by the instrument and the muscle tissue of the patient is truly reflected on the hand of the doctor, so that the operation control is more accurate, and the operation action can be accurately mastered.

2. Because the direct operation is realized, the muscle tissue can not be damaged due to large force in the processes of actions of grabbing, pushing, clamping and the like, and the safety performance of the operation is greatly improved.

3. Under the condition of misoperation and fault, the maximum acting force is controlled due to force feedback, the damage to muscle tissues cannot be generated, and the overall safety performance of the equipment is improved.

4. The reliability and the precision are improved, and the direct drive is adopted, so that the motor directly drives the instrument to perform the operation through the transition flange, the route is short, the transmission rigidity is good, and the stability, the motion precision and the mechanism reliability are high.

5. The operation is simpler, and during the use, the transition flange of aseptic separator need not be to the direction, only needs to load on aseptic separator and apparatus just, and the system can make the flange closed automatically, and when taking off apparatus and aseptic separator, the flange autosegregation disconnection need not more actions.

6. Because of the modular structure, the operation is simple and convenient, the manufacture is simpler, and the maintenance is more convenient.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

3 FIG. 32 3 is 3a 3 schematic 3 sectional 3 view 3A 3- 3A 3 of 3 FIG. 31 3. 3

Fig. 3 is a partial enlarged view at I in fig. 2.

Fig. 4 is a schematic structural diagram of a power unit according to an embodiment of the present invention.

Fig. 5 is a schematic top view of the power unit according to the present embodiment.

Fig. 6 is a schematic view of the structure of fig. 5 in a rotary sectional view E-E.

FIG. 7 is a schematic sectional view of the structure of FIG. 5.

Fig. 8 is a schematic sectional structure view of L-L of fig. 7.

Figure 9 is a schematic diagram of a sterile divider according to an embodiment of the present invention.

Fig. 10 is a schematic top view of the structure of fig. 9.

FIG. 11 is a schematic sectional view of the structure of FIG. 10B-B.

Fig. 12 is a perspective view of a sterile divider according to an embodiment of the present invention.

Fig. 13 is a left side view of the structure of fig. 1.

Fig. 14 is a schematic cross-sectional structure view of fig. 13C-C.

Fig. 15 is a partial enlarged view at II in fig. 14.

Fig. 16 is a schematic sectional view of fig. 13 taken along line D-D.

Fig. 17 is a partial enlarged view at III in fig. 16.

FIG. 18 is a schematic sectional view I-I of FIG. 13.

Fig. 19 is a partial enlarged view at VII in fig. 18.

Fig. 20 is a schematic view of a connection structure of the sterile divider and the power section according to an embodiment of the present invention.

FIG. 21 is a schematic view of a cartridge removed in accordance with an embodiment of the present invention.

FIG. 22 is a schematic cross-sectional view of E-E of FIG. 21.

Fig. 23 is a schematic sectional view of fig. 21 showing the structure at F-F.

Fig. 24 is a partial enlarged view at IV in fig. 23.

Fig. 25 is a partial enlarged view at V in fig. 23.

Fig. 26 is a partial enlarged view at VI in fig. 21.

Fig. 27 is an M-direction view of fig. 21.

Fig. 28 is an N-directional view of fig. 21.

Fig. 29 is a schematic view showing the transmission of the long rod wire driving wheel and the long rod rotating wheel according to an embodiment of the present invention.

Fig. 30 is a schematic cross-sectional structure of fig. 29.

Fig. 31 is a partial enlarged view at VII in fig. 30.

Fig. 32 is a schematic sectional structure view of G-G in fig. 30.

FIG. 33 is a schematic structural view of a claw portion in an embodiment of the present invention.

FIG. 34 is a schematic sectional view of H-H in FIG. 33.

Fig. 35 is a schematic view of the P-direction structure of fig. 33.

Detailed Description

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

as shown in fig. 1-35, a surgical assisted robotic instrument system includes a power section 100, a sterile divider 200, and an instrument 300.

In this embodiment, the power unit includes four power groups, and the four power groups 101 are arranged in parallel in a rectangular shape. In other embodiments, the number of power packs may be set according to particular needs, such as the number of degrees of freedom of operation of the jaws of the instrument, etc. Of course, it is also possible to provide only one power pack, with one or more outputs from the transmission part, for the purpose of controlling the movement of the jaws of the instrument.

As shown in fig. 1 to 3, each of the four power sets includes a motor 101, each motor 101 is connected to a speed reducer 102, and an output shaft 103 of the speed reducer is sleeved with a telescopic output flange 104. Output flange 104 may be coupled to transition flange 201 of aseptic divider 200, and transition flange 201 may be coupled to input flange 301 of the instrument, with the number and location of output flange 104, transition flange 201, and input flange 301 corresponding. Obviously, with such a drive configuration, the output power of the motor will be transmitted to the implement via the shortest transmission path after being decelerated, and therefore this will effectively simplify the transmission configuration, and more importantly, the simplified transmission configuration means that there will be fewer possible friction points during the transmission. Therefore, the power of the motor is saved, the transmission precision is improved, and the resistance on the surgical tool is fed back to the motor through the transmission system. Can set up torque sensor in motor output shaft 106 department and gather the resistance data of operation, simultaneously, refer to the size of these resistances, control the rotational speed and the moment of torsion of the master hand motor that the doctor of main sword operated, then can realize letting the doctor feel the real-time condition of operation to it is light and heavy to make the doctor can accurately master the operation action, makes operation control more accurate.

The output flange 104, the transition flange 201 and the input flange 301 are provided with a convex hull 1 and a gap 2 which can be matched with each other as a simpler and more compact structure.

As shown in fig. 3 to 8, the reduction gear 102 includes a reduction output shaft 103 and a reduction intermediate shaft 105. In the present embodiment, the reduction gears are arranged in two stages, that is, each reduction gear is provided with only one reduction intermediate shaft 105, and each reduction intermediate shaft 105 is arranged on the reduction gear base 108. The speed reduction output shaft 103, the speed reduction intermediate shaft 105 and the motor output shaft 106 are driven by a synchronous belt 107.

In other embodiments, a plurality of deceleration intermediate shafts 105 can be arranged according to the situation so as to achieve the purpose of multi-stage deceleration. The speed reduction output shaft 103, the speed reduction intermediate shaft 105 and the motor output shaft can also be provided with transmission wheels which are driven by steel wires to achieve the basically same technical effect of smaller friction.

In this embodiment, the center line L of each synchronous belt connecting the deceleration intermediate shaft 105 and the deceleration output shaft 103 passes through the geometric center O of the output axis of each motor, and the lengths of each synchronous belt or steel wire connecting the deceleration output shaft, the intermediate shaft, and the output shaft of the motor are equal.

The motor 101 is disposed on the motor mount 110. The motor mounting seat 110 is provided with a plurality of screw holes 109 corresponding to the speed reducer seat 108, the speed reducer seat 108 is relatively provided with two connecting support lugs 112 capable of being in bolt connection with the screw holes 109, and the connecting support lugs 112 are provided with kidney-shaped holes 113. The central combined component composed of the parts such as the reducer seat and the like is free and unfixed in the initial installation state, the assembled position is determined by eight synchronous belts, the eight synchronous belts can be simultaneously tensioned by rotating the central combined component, then the connecting support lug 112 and the screw hole 109 are fixed by screwing the screw 114, and the assembly work is finished by fixing the position of the central combined component. Because the position of the central combined component is free and unfixed, when the eight synchronous belts are tensioned, the difference caused by position manufacturing tolerance can be automatically compensated, so that the synchronous belts or steel wires with the same length can reach the same tensioning degree.

An output shaft mounting base 115 of the speed reducer is fixed to the mounting base 110 of the motor.

The output shaft mounting base 115 is integrally provided with a bearing mounting shaft 116, the bearing mounting shaft 116 is sleeved with a first speed reduction bearing 117 and a second speed reduction bearing 118, and the first speed reduction bearing 117 and the second speed reduction bearing 118 are arranged at intervals through a bush 119.

The outer rings of the first speed reduction bearing 117 and the second speed reduction bearing 118 are matched with the speed reduction output shaft 103, and the upper end surface of the first speed reduction bearing 117 is positioned by the step of the inner cavity of the speed reduction output shaft 103; the lower end surface of the second reduction bearing 118 is positioned by a collar 121 provided in the inner cavity of the reduction output shaft 103.

The speed reducing output shaft 120 is provided with a first spring seat 122, and the output flange 104 is sleeved at the upper end of the speed reducing output shaft 120 and is provided with a second spring seat 123. The first spring seat 122 and the second spring seat 123 are provided with a spring 124.

A limiting pin 125 is fixed on the inner wall of the output flange 104, a limiting sliding groove 126 corresponding to the limiting pin is arranged on the speed reduction output shaft 103, and the limiting pin 125 passes through the limiting sliding groove.

An end cover 126 is arranged on the upper end face of the first decelerating bearing 117, and the end cover 126 is screwed with the bearing mounting shaft 116 through a screw 127.

The lower part of the output shaft mounting seat 115 is provided with a space 120 for accommodating the motor output shaft 106 and the synchronous belt transmission, and the shaft axes of the motor output shaft 106 and the speed reduction output shaft 103 are overlapped.

As shown in fig. 9 to 20, the aseptic separator 200 includes an upper partition 202 and a lower partition 203, the upper partition 202 and the lower partition 203 are correspondingly provided with a cavity 204 for accommodating the transition flange 201, and the inner diameter of the cavity 204 is larger than the outer diameter of the transition flange 201.

The upper baffle plate 202 is provided with a first axial limiting boss 205 at the upper end of the cavity 204, the lower baffle plate 203 is provided with a second axial limiting boss 206 at the lower end of the cavity, and the outer surface of the transition flange 201 is provided with a third axial limiting boss 207 corresponding to the first axial limiting boss 205 and the second axial limiting boss 206.

Therefore, the four transition flanges are arranged between the upper partition plate and the lower partition plate and can freely rotate and freely move along the axis, and in operation, the four transition flanges are only contacted with the flanges connected up and down and synchronously rotate without being contacted with any other parts, so that friction force is not generated, and convenience is further provided for realizing force feedback of the operation.

The instrument system is provided with a self-locking buckle structure, the self-locking buckle structure comprises a first combining part and a second combining part, namely the first combining part and the second combining part respectively correspond to an upper partition plate 202 and an instrument box 301, two edges of the upper partition plate 202 are oppositely provided with two upper buckle seats 208, and the upper buckle seats 208 are provided with upper buckles 211 through pin shafts 209 and torsion springs 210 sleeved on the pin shafts 209. The upper buckle 211 is provided with a first detent flange 212, and the instrument box 301 of the instrument 300 is provided with a second detent flange 302 corresponding to the first detent flange 212.

Go up buckle 211 and include two installation arms 211a that the interval set up, two installation arms 211a connect as an organic whole structure through buckle 211b, and installation arm 211a suit is on round pin axle 209. The locking portion 211b is a wedge-shaped structure, and the locking flange 302 is provided with a second inclined surface 327 corresponding to the wedge-shaped inclined surface 211 c.

The instrument box 301 is provided with a first pressing portion of the rotary buckle, and the first pressing portion is located above the second clamping flange 302. The first pressing portion includes a pressing plate 323, a stopper plate 324, and a pressing plate 325 which are integrated, the pressing plate 323 and the pressing plate 325 are parallel to each other, and the stopper plate 324 is located between the pressing plate 323 and the pressing plate 325 and is perpendicular to the pressing plate 323 and the pressing plate 325.

The instrument box 301 is provided with a limit flange 326 abutting against the end face of the limit plate 324, the width of the limit flange 326 is smaller than that of the limit plate 324, and the top surface of the limit flange 323 is not higher than the root of the limit flange 326.

The upper clip 211 is provided with a pressed surface 211d corresponding to the pressing plate 325.

When the upper spacer 202 is coupled to the instrument box 301, the wedge-shaped slope 211c first contacts the second slope 327 and then slides relative thereto, and the torsion spring 210 is bent. When the instrument reaches the target position, the torsion spring 210 springs back, and the first detent flange 212 snaps over the second detent flange 302, thereby locking. If the pressing plate 323 is pressed, the pressing plate 325 pushes the latch 211b, thereby pushing the upper latch to rotate against the elastic force of the torsion spring 210, thereby separating the upper partition from the instrument box.

Lower buckle seats 213 are arranged on two sides of the lower partition plate 203, a second pressing part 219 corresponding to the lower buckle seat 213 is arranged on the mounting shell 214 of the lower partition plate 203 connected with the power pack, sheet-shaped bolts 215 are integrally arranged at two ends of the second pressing part 219, and a blind hole at the large end of the spring guide shaft 130 is arranged in the middle of the second pressing part 219.

The lower latch holder 213 is provided with a through hole corresponding to the spring guide shaft 130 and a third spring holder 131, and a spring 132 is installed between the third spring holder 131 and the spring guide shaft 130. The mounting shell 214 is provided with a through hole 216 corresponding to the sheet-shaped bolt 215, and the sheet-shaped bolt 215 extends out of the through hole 216 and then is buckled with a corresponding groove on the shell of the power part.

In this embodiment, the upper buckle 211 and the latch 215 are configured as wedge-shaped structures for easy operation.

As shown in fig. 1, 2 and 21-32, the instrument 300 includes an instrument cartridge 301, an instrument holder 302, a long rod 303 and a jaw portion 304. A bearing bracket 305 is fixed on the instrument base, and the bearing bracket 305 and the instrument base 302 are provided with an input flange shaft through a bearing, and the input flange is arranged at the lower part of the input flange shaft.

The long rod 303 is mounted on the instrument base 302 through a bearing, and a long rod rotating wheel 311 is fixed on the upper part of the long rod 303.

The power part comprises a long-rod power group and a claw power group, one of the four power groups 100 is used as the long-rod power group, and the other three power groups are used as the claw power groups.

The long rod input flange shaft 306 corresponding to the long rod power group is fixed with a long rod steel wire driving wheel 310, the long rod steel wire driving wheel 310 is wound with a long rod steel wire 309, one end of the long rod steel wire 309 is fixed with the long rod steel wire driving wheel 310, and the other end of the long rod steel wire is wound with a long rod rotating wheel 311 and then fixed with the long rod steel wire driving wheel 310.

The long pole wire driving wheel 310 includes an upper long pole wire driving wheel 310a and a lower long pole wire driving wheel 310 b. The upper and lower long rod wire take-up

wheels

310a and 310b are located between the first and second mounting

bearings

312a and 312b of the long rod input flange shaft 306. The upper long rod steel wire driving wheel 310a and the lower long rod steel wire driving wheel 310b are correspondingly provided with saw teeth 310c which can be buckled.

One end of the long rod steel wire 309 is fixed with the upper long rod steel wire driving wheel 310a, and the other end is fixed with the lower long rod steel wire driving wheel 310 b. The specific fixing mode is conventional fixing, for example, a small hole is arranged on the steel wire driving wheel, and a rope knot is arranged after the rope head penetrates through the small hole.

The long-rod steel wire rotating wheel 311 is provided with a steel wire fixing seat 323 along the radial direction, and the steel wire fixing seat 323 is provided with a first steel wire rope knot part 323a and a second steel wire rope knot part 323b which are protruded relative to the long-rod steel wire rotating wheel 311 at intervals. The first and second wire

rope knot portions

323a and 323b have first and

second guide slots

324a and 324b through which the long rod wire 309 passes, the first and

second guide slots

324a and 324b being located on the path of the long rod wire 309 wound around the first guide slot 325 of the wire rotating wheel 311;

a wire sheath 326 is fixed to the long rod wire 309 between the first wire rope knot portion 323a and the second wire rope knot portion 323 b. Three second guide grooves 327 overlapping with the first guide groove 325 are arranged on the steel wire fixing seat 323 at intervals, and the middle second guide groove overlaps with the paths of the first guide groove hole 324a and the second guide groove hole 324 b. Therefore, during transmission, circumferential relative movement cannot be generated between the steel wire and the long-rod steel wire rotating wheel 311, in addition, a part of steel wire is always pressed on the rope knot part before and after the rope knot, so that the steel wire is fixed and cannot be separated, and the production operation is facilitated.

The first mounting bearing 312a is positioned at an upper portion of the second mounting bearing 312 and is locked by a locking screw 313. In other embodiments, locking may be achieved using a locking nut or similar structure.

As shown in fig. 33 to 35, a claw steel wire driving wheel 315 is fixed on the claw input flange shaft 314 corresponding to the claw power set, a claw steel wire 316 is fixed on the claw steel wire driving wheel 315, and the other end of the claw steel wire 316 passes through the cavity of the long rod 303 after passing through the wire grooved wheel 317 and is connected with the claw 304.

The installation position of the instrument seat 302 corresponding to the long rod 303 is provided with a wire sheave installation frame 318, the wire sheave installation frame 318 is provided with guide sheaves 319, the positions of the guide sheaves 319 correspond to the claw part steel wire driving wheels 315, the number of the guide sheaves is twice of that of the claw part steel wire driving wheels 315, one of the guide sheaves is used for guiding the long rod entering into the cavity of the long rod, and the other guide sheave is used for guiding the long rod penetrating out of the cavity of the long rod.

Each claw portion wire pulley 315 includes an upper claw portion wire pulley 315a and a lower claw portion wire pulley 315 b. The upper jaw portion wire driving pulley 315a and the lower jaw portion wire driving pulley 315b are located between the third mounting bearing 320 and the fourth mounting bearing 321 of the jaw portion input flange shaft 314. The upper claw portion wire driving wheel 315a and the lower claw portion wire driving wheel 315b are provided with serrations 315c that can be engaged with each other.

Claw portion wires 316 are fixed to the upper claw portion wire driving pulley 315a and the lower claw portion wire driving pulley 315 b. The specific fixing mode is conventional fixing, for example, a small hole is arranged on the steel wire driving wheel, and a rope knot is arranged after the rope head penetrates through the small hole.

The third mounting shaft 320 is supported on the upper portion of the fourth mounting bearing 321 and is locked by a locking nut 322. In other embodiments, locking may be achieved using a locking screw or similar structure.

The distal end of the long rod 303 is provided as a claw portion 304. The claw part 304 comprises a claw part seat 328 fixed with the tail end of the long rod 303, a surgical tool seat 333 is hinged on the claw part seat 328 through a first hinge shaft 329, and a first working part 331 and a second working part 332 are hinged at the lower end of the surgical tool seat 329 through a second hinge shaft 330. The first hinge shaft 329 is provided with two first guide wheels 334 and two second guide wheels 335 on both sides of the pawl seat 333, respectively. Two third guide wheels 336 and two fourth guide wheels 337 are respectively and correspondingly disposed below the first guide wheel 334 and the second guide wheel 335 of the surgical tool holder 333. The surgical tool holder 333, the first working portion 331, and the second working portion 332 are each provided with a guide groove and a through hole for allowing a wire to be wound around the claw portion.

After passing through the inner cavity of the long rod 303, the claw steel wires of the power set pass through the first guide wheel 334, the third guide wheel 336, the guide groove and the via hole on the first working part 331, the fourth guide wheel 337 and the second guide wheel 335, return to the inner cavity of the long rod, and then pass through the guide grooved wheels 319 and are fixed with the corresponding claw steel wire driving wheels 315. The other group of claw steel wires directly pass through the guide groove and the via hole on the surgical tool seat 333 and return to the inner cavity of the long rod, and are fixed with the corresponding claw steel wire driving wheel after passing through the guide grooved wheel.

In the embodiment, each bearing is a rolling bearing, so that the friction force of transmission is extremely small, and convenience is further provided for force feedback of operation.

In the embodiment, all the parts related to the rotating shaft are provided with the bearing bushes made of the polytetrafluoroethylene materials, so that the friction coefficient is reduced to a very small degree, the friction force is reduced, and a convenient condition is further provided for realizing force feedback of the operation.

When the instrument system works, the power of the motor in the power part is directly transmitted to the claw part steel wire driving wheel and the long rod steel wire driving wheel through the flange after being reduced, so that the claw part is controlled to work, the transmission path is short, a plurality of intermediate links are omitted, the motor is equivalent to direct rotation, and the steel wire is pulled to rotate forwards or backwards. Based on this, the stress state of the claw part can be more sensitively fed back to the motor shaft. In the whole steel wire transmission process, friction is generated only at the guide sheave, so that force feedback is more sensitive.

The upper and lower partition plates of the sterile separator are used for clamping a sterile cover, and the sterile cover isolates a mechanical arm seat, a motor output shaft and a mechanical arm (not shown in the figure) of the robot, so that the interior of the instrument is in a sterile environment.

In operation, sterile divider 200 is attached to power section 100, and instrument 300 is attached to sterile divider 200.

In most cases, the output flange 104, transition flange 201, and input flange 301 are not bonded to each other, the respective convex hulls do not enter the grooves and notches, and the jaw surgical tool is not controlled.

The motor 101 is rotated, under the action of friction force, several flanges may rotate simultaneously without relative rotation until the surgical tools at the jaw part of the instrument are limited by the rotation from the rotation to the limit, and after the limitation, the flanges of the instrument stop rotating.

When the motor continues to rotate, the transition flange 201 and the input flange 301 generate relative movement, when the convex hull of the flange is opposite to the groove, the transition flange 201 moves towards the apparatus under the action of the spring 124, and the convex hull is inserted into the groove, so that the input flange 301 and the transition flange 201 are combined.

At this time, the two flanges are still, and when the motor 101 continues to rotate, the reducer output flange 104 and the transition flange 201 in the sterile divider generate relative movement, and when the convex hull is aligned with the notch, the reducer output flange 104 moves towards the sterile divider under the action of the spring 124, and the convex hull is inserted into the notch, so that the output flange 104 and the transition flange 201 are combined.

During separation, the separation of the flanges is completed by removing the instrument and the sterile divider, respectively.

Therefore, the transition flange of the sterile separator does not need to be aligned, the sterile separator and the instrument are only required to be installed, the system can automatically close the flange, and when the instrument and the sterile separator are taken down, the flange is automatically separated and disconnected without more actions. And the transition flange can freely rotate and move along the axis in the middle of the upper partition plate and the lower partition plate, and the moving stroke is equivalent to that of the output flange 104. During operation, 4 transition flanges are only contacted with the flanges connected up and down and synchronously rotate, are not contacted with other parts, and do not generate friction force, so that the force feedback is more sensitive.

Due to the arrangement of the upper buckle and the lower buckle, when the sterile separator needs to be taken down, the lower buckle is pinched by a hand, and the sterile separator is taken down conveniently.

After working for a period of time, the steel wire may be loosened, but due to the saw-toothed structures on the long-rod steel wire driving wheel and the claw steel wire driving wheel, the steel wire can be tensioned by relatively rotating the upper part and the lower part of the steel wire driving wheel, when tensioning is finished, the saw teeth are buckled, the upper part and the lower part of the steel wire driving wheel are prevented from rotating towards the loosening direction of the steel wire, and the steel wire is not loosened any more after being compressed by a nut or a screw at the shaft end.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A sterile divider, characterized by: comprises an upper clapboard connected with the instrument box and a lower clapboard connected with the power pack; the upper partition plate and the lower partition plate are correspondingly provided with cavities for accommodating transition flanges; a transition flange is arranged in the cavity; the inner diameter of the cavity is larger than the outer diameter of the transition flange;

2. The sterile divider of claim 1, wherein: two upper buckle seats are oppositely arranged on two edges of the upper clapboard; the upper buckle seat is provided with an upper buckle through a pin shaft and a torsional spring sleeved on the pin shaft; the buckle is provided with a first clamping flange.

3. The sterile divider of claim 2, wherein: the upper buckle comprises two mounting arms arranged at intervals; the two mounting arms are connected into an integral structure through the buckling part; the mounting arm is sleeved on the pin shaft.

4. The sterile divider of claim 3, wherein: the clamping part is of a wedge-shaped structure on the whole.

5. The sterile divider of claim 1, wherein: the two sides of the lower partition plate are provided with lower buckle seats; a pressing part corresponding to the lower buckle seat is arranged on the mounting shell, which is connected with the power pack, of the lower partition plate; the two ends of the pressing part are integrally provided with a bolt; a blind hole at the large end of the spring guide shaft is formed in the middle of the pressing part;

6. The sterile divider of claim 5, wherein: the bolt is a sheet bolt.

7. The sterile divider of claim 1, wherein: and the upper part and the lower part of the transition flange are both provided with convex hulls or gaps.

8. A surgical assistant robot instrument system, characterized in that: comprising a sterile separator according to any of claims 1 to 7.