CN111232620A

CN111232620A - Robot is transported to surgical instruments

Info

Publication number: CN111232620A
Application number: CN202010122517.3A
Authority: CN
Inventors: 查卿; 朱杰; 谢易恒
Original assignee: Yongkang Guoke Rehabilitation Engineering Technology Co ltd
Current assignee: Suzhou Guoke Medical Technology Development Group Co ltd
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-06-05

Abstract

The invention discloses a surgical instrument transfer robot, which does not need to be provided with a multi-degree-of-freedom mechanical arm to take and place surgical instruments, and a movable conveying unit can automatically move towards a fixed conveying unit to carry out effective butt joint when receiving an instruction. The follow-up simple conveying equipment that utilizes realizes taking out of surgical instruments, has avoided artifical getting to put waste time and energy, can also avoid surgical instruments to receive artificial pollution. The walking driver is used for providing walking power; the walking driving force is transmitted through the gear pairs, so that the walking driving device has the advantages of high transmission efficiency, good power transmission stability and the like; the self-rotating driving component can adjust the angle of the movable conveying unit relative to the operating doctor or the fixed conveying unit, so that the operating doctor can conveniently operate the movable conveying unit, and the movable conveying unit and the fixed conveying unit can accurately complete butt joint.

Description

Robot is transported to surgical instruments

Technical Field

The invention relates to the technical field of transfer robots, in particular to a surgical instrument transfer robot.

Background

Surgical procedures are an important component of medical care, and surgical instruments are indispensable tools during surgical procedures. Due to the complexity of surgical operation, various surgical instruments need to be used in the operation process, auxiliary personnel need to continuously submit the surgical instruments to a main surgeon, and other personnel are needed to manually put in inventory to take out the surgical instruments once the surgical instruments on the medical trolley are insufficient, so that the process is time-consuming and labor-consuming, and the operation process can be interrupted if the surgical instruments are not supplied timely; meanwhile, if the disinfection of other personnel is not thorough, the surgical instruments may be polluted due to the touch of hands in the taking and placing process, so that the incision part of the surgical operation is polluted.

Although surgical instrument transfer robots have also appeared in the market, these robots are complex in structure and require multiple degrees of freedom of manipulators to access the surgical instruments.

Disclosure of Invention

Aiming at the defects in the technology, the invention provides a surgical instrument transfer robot.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a surgical instrument transfer robot comprising: at least one fixed transport unit for storing different kinds of surgical instruments; and a mobile delivery unit capable of transferring the surgical instrument with the stationary delivery unit;

the movable conveying unit can walk between an operating table and the fixed conveying unit along a set guide path; when the movable conveying unit and the fixed conveying unit are matched and butted, the movable conveying unit and the fixed conveying unit can simultaneously perform actions of transferring the surgical instruments; and a walking module is arranged at the bottom of the movable conveying unit.

Preferably, the fixed conveying unit comprises a fixed frame body; a first conveying member provided on the fixing frame body; the transmission driving component is fixed on the fixed frame body and used for operating the first conveying component;

wherein, the transmission driving component comprises a transmission driving motor and a speed reducer.

Preferably, the first conveying member includes a first supporting roller, a second supporting roller and a driving roller rotatably mounted on the fixed frame body; and a first conveyor belt mounted on the first support roller, the second support roller, and the drive roller;

the first supporting roller and the second supporting roller are used for supporting the first conveying belt; the driving roller is in contact with an outer belt body of the first conveying belt and is used for driving the first conveying belt; the drive roller is connected to an output shaft of the speed reducer.

Preferably, the mobile conveying unit comprises a heightening frame body; the movable frame body is fixed on the heightening frame body; and a second conveying member provided on the moving rack body;

wherein the second conveying member is operable under the action of the transmission drive member; the second conveying component comprises a third supporting roller and a fourth supporting roller which are rotatably arranged on the moving frame body; the second conveying belt is arranged on the third supporting roller and the fourth supporting roller;

a first transmission gear is arranged on an output shaft of the speed reducer, and a second transmission gear is arranged on the third supporting roller; when the movable conveying unit is matched and butted with the fixed conveying unit, the first transmission gear is meshed with the second transmission gear.

Preferably, the walking module comprises a walking frame body which is fixed at the bottom of the heightening frame body; the self-rotation driving component is arranged on the walking frame body and used for driving the movable conveying unit to rotate along the axis of the self-rotation driving component; and a travel driving member provided on the travel frame body for driving the mobile conveying unit.

Preferably, the self-rotation driving component comprises at least three self-rotation driving assemblies, and the self-rotation driving assemblies are arranged on the walking frame body in a circular array manner; the self-rotation driving component comprises a self-rotation driving motor which is fixed on the walking frame body; and a self-rotating drive wheel connected to an output shaft of the self-rotating drive motor;

wherein, a plurality of follow-up rollers are arranged on the self-rotating driving wheel in a rolling way; the follow-up roller and the self-rotating driving wheel are vertically arranged.

Preferably, the self-rotating driving wheel consists of a first self-rotating driving wheel and a second self-rotating driving wheel which are equal in size; the follow-up roller comprises a first follow-up roller and a second follow-up roller; the first follow-up roller is uniformly arranged on the first self-rotating driving wheel in a rolling mode, and the second follow-up roller is uniformly arranged on the second self-rotating driving wheel in a rolling mode; the first follow-up roller and the second follow-up roller are arranged at intervals.

Preferably, the walking driving member comprises a walking assembly which is rotatably arranged on the walking frame body; the steering assembly is arranged on the walking frame body and used for adjusting the walking direction of the walking assembly; and a walking drive assembly for supplying and transmitting walking power;

the walking driving assembly comprises a walking driver, a walking frame body and a walking driving device, wherein the walking driver is arranged on the walking frame body and used for supplying walking power; and a traveling interlocking part for transmitting traveling power to the first half shaft and the second half shaft.

Preferably, the walking assembly comprises a support frame body; the first half shaft is rotatably arranged on one side of the support frame body; the second half shaft is rotatably arranged on the other side of the support frame body; a first road wheel fixed to the first half shaft; and a second road wheel fixed on the second half shaft.

Preferably, the steering assembly comprises a steering motor fixed on the walking frame body, and the output shaft end of the steering motor is connected with a first steering gear; and a second steering gear meshed with the first steering gear is fixed on the walking assembly.

Compared with the prior art, the invention has the beneficial effects that: the surgical instrument transfer robot provided by the invention does not need to be provided with a multi-degree-of-freedom mechanical arm for taking and placing surgical instruments, and the movable conveying unit can automatically move towards the fixed conveying unit to carry out effective butt joint when receiving an instruction. The follow-up simple conveying equipment that utilizes realizes taking out of surgical instruments, has avoided artifical getting to put waste time and energy, can also avoid surgical instruments to receive artificial pollution. The walking driver is used for providing walking power; the walking driving force is transmitted through the gear pairs, so that the walking driving device has the advantages of high transmission efficiency, good power transmission stability and the like; the self-rotating driving component can adjust the angle of the movable conveying unit relative to the operating doctor or the fixed conveying unit, so that the operating doctor can conveniently operate the movable conveying unit, and the movable conveying unit and the fixed conveying unit can accurately complete butt joint.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic illustration of the docking of a stationary conveyor unit and a mobile conveyor unit of the present invention;

FIGS. 3-4 are schematic views of a partial structure of a stationary conveyor unit according to the invention;

FIG. 5 is a schematic view of the overall structure of the mobile conveyor unit of the present invention;

FIG. 6 is a schematic view of a portion of a mobile conveyor unit according to the invention;

FIG. 7 is a schematic view of the overall structure of the walking module of the present invention;

FIGS. 8-9 are schematic structural views of a self-rotation driving device according to the present invention;

FIG. 10 is an isometric view of the overall structure of the travel drive member of the present invention;

FIG. 11 is a side view of the overall structure of the travel drive unit of the present invention;

FIG. 12 is a front view schematically showing a partial structure of a walking drive unit according to the present invention;

FIG. 13 is a side view of the walking linkage part structure of the present invention;

FIG. 14 is a schematic top view of the structure of the traveling linkage part according to the present invention.

In the figure: 1. a fixed conveying unit; 2. a mobile conveying unit; 3. a walking module; 10. a fixed frame body; 14. a transmission drive motor; 13. a speed reducer; 121. a first support roller; 122. a second support roller; 123. a drive roller; 11. a first conveyor belt; 201. heightening frame bodies; 202. moving the frame body; 221. a third support roller; 222. a fourth support roller; 21. a second conveyor belt; 120. a first drive gear; 220. a second transmission gear; 30. a walking frame body; 5. a travel drive member; 31. a controller; 4. a self-rotating drive component; 40. a self-rotating drive motor; 41. a self-rotating drive wheel; 411. a first self-rotating drive wheel; 412. a second self-rotating drive wheel; 421. a first follow-up roller; 422. a second follow-up roller; 6. a walking assembly; 60. a support frame body; 640. a first half shaft; 630. a second half shaft; 64. a first running wheel; 63. a second road wheel; 51. a steering motor; 510. a first steering gear; 600. a second steering gear; 611. a first drive shaft; 614. a first linkage gear; 631. a second interlocking gear; 632. a third interlocking gear; 633. a fourth interlocking gear; 634. a fifth interlocking gear; 621. a second drive shaft; 623. a sixth interlocking gear; 641. a seventh interlocking gear; 642. an eighth interlocking gear; 643. a ninth interlocking gear; 613. a first co-rotating gear; 622. a second co-rotating gear; 65. the middle part is provided with a gear which rotates synchronously; 53. a first travel drive motor; 530. a first output gear; 52. a second travel driving motor; 520. a second output gear; 612. an input gear.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

As shown in fig. 1 to 14, the present invention provides a surgical instrument transfer robot including:

at least one fixed transport unit 1 for storing different kinds of surgical instruments; and

a mobile delivery unit 2 capable of transferring the surgical instrument with the fixed delivery unit 1;

the mobile conveying unit 2 can travel between an operating table and the fixed conveying unit 1 along a set guide path;

when the movable conveying unit 2 and the fixed conveying unit 1 are matched and butted, the movable conveying unit and the fixed conveying unit can simultaneously perform actions of transferring the surgical instruments;

and a walking module 3 is arranged at the bottom of the movable conveying unit 2.

As an embodiment of the present invention, a sensing assembly is disposed on the mobile conveying unit 2 for monitoring whether it is completely mated and docked with the fixed conveying unit 1.

As an embodiment of the invention, the fixed conveying unit 1 comprises

A fixed frame body 10;

a first conveying member provided on the fixing frame body 10; and

a transmission driving member fixed on the fixing frame 10 for operating the first conveying member;

wherein the transmission driving component comprises a transmission driving motor 14 and a speed reducer 13.

As an embodiment of the present invention, the first conveying member includes

A first support roller 121, a second support roller 122 and a driving roller 123 rotatably installed on the fixing frame body 10; and

a first conveyor belt 11 mounted on the first support roller 121, the second support roller 122, and the drive roller 123;

wherein the first support roller 121 and the second support roller 122 are used for supporting the first conveyor belt 11; the driving roller 123 is in contact with an outer belt body of the first conveying belt 11 and is used for driving the first conveying belt 11;

the drive roller 123 is connected to an output shaft of the speed reducer 13.

In an embodiment of the present invention, the outer surface of the driving roller 123 is provided with a dial tooth (not shown), and the first conveyor belt 11 is provided with an insertion hole (not shown) for receiving the dial tooth, so as to increase a transmission force between the driving roller 123 and the first conveyor belt 11.

As an embodiment of the present invention, the mobile conveying unit 2 comprises

A heightening frame body 201;

a movable frame 202 fixed to the heightening frame 201; and

a second conveying member provided on the moving frame 202;

wherein the second conveying member is operable under the action of the transmission drive member.

As an embodiment of the present invention, the second conveying member includes

A third support roller 221 and a fourth support roller 222 rotatably installed on the moving frame 202; and

a second conveyor belt 21 mounted on the third support roller 221 and the fourth support roller 222;

a first transmission gear 120 is arranged on an output shaft of the speed reducer 13, and a second transmission gear 220 is arranged on the third supporting roller 221;

when the mobile conveying unit 2 and the fixed conveying unit 1 are in matched butt joint, the first transmission gear 120 and the second transmission gear 220 are meshed to simultaneously and simultaneously operate the first conveying member and the second conveying member.

As an embodiment of the present invention, the walking module 3 comprises

A traveling frame body 30 fixed to the bottom of the heightening frame body 201;

the self-rotation driving component is arranged on the walking frame body 30 and is used for driving the mobile conveying unit 2 to rotate along the axis of the mobile conveying unit; and

and a travel driving member 5 provided on the traveling frame body 30, for driving the mobile conveying unit 2 to travel along a set guide path.

As an embodiment of the present invention, the walking module 3 further includes a controller 31 fixed on the walking frame 30, and configured to operate or stop the self-rotation driving member and the walking driving member 5.

As an embodiment of the present invention, the self-rotation driving component includes at least three self-rotation driving components 4, which are arranged on the walking frame 30 in a circular array manner; the self-rotation driving component 4 comprises

A self-rotation driving motor 40 fixed on the traveling frame body 30; and

a self-rotation drive wheel 41 connected to an output shaft of the self-rotation drive motor 40;

wherein, a plurality of follow-up rollers are arranged on the self-rotating driving wheel 41 in a rolling way; the follower roller and the self-rotating driving wheel 41 are vertically arranged.

As an embodiment of the present invention, the self-rotating driving wheel 41 is composed of a first self-rotating driving wheel 411 and a second self-rotating driving wheel 412 which are equal in size;

the follow-up roller comprises a first follow-up roller 421 and a second follow-up roller 422;

the first follower rollers 421 are uniformly and rotatably mounted on the first self-rotating driving wheel 411, and the second follower rollers 422 are uniformly and rotatably mounted on the second self-rotating driving wheel 412;

the first follower roller 421 and the second follower roller 422 are disposed at an interval (facing the view angle of the self-rotation driving wheel 41).

As an embodiment of the present invention, the travel driving means 5 comprises

A traveling assembly 6 rotatably provided on the traveling frame body 30;

the steering assembly is arranged on the walking frame body 30 and used for adjusting the walking direction of the walking assembly 6; and

and the walking driving assembly is used for supplying and transmitting walking power.

As an embodiment of the invention, the walking assembly 6 comprises

A support frame body 60;

a first half shaft 640 rotatably provided at one side of the support frame 60;

a second half shaft 630 rotatably provided at the other side of the support frame body 60;

a first road wheel 64 fixed to the first half-shaft 640; and

a second road wheel 63 fixed to said second half-shaft 630.

As an embodiment of the present invention, the steering assembly includes a steering motor 51 fixed on the walking frame body 30, and an output shaft end of the steering motor is connected with a first steering gear 510;

a second steering gear 600 engaged with the first steering gear 510 is fixed to the traveling unit 6.

As an embodiment of the present invention, the second steering gear 600 is fixed to the support frame body 60.

As an embodiment of the invention, the walking drive assembly comprises

A traveling driver provided on the traveling frame body 30 for supplying traveling power; and

and a walking linkage part for transmitting walking power.

As an embodiment of the present invention, the walking linkage part comprises

A first transmission shaft 611 rotatably installed on the traveling frame body 30 and the support frame body 60, on which a first linkage gear 614 is fixed;

a second interlocking gear 631, a third interlocking gear 632, and a fourth interlocking gear 633 rotatably mounted on the support frame body 60;

a fifth interlocking gear 634 fixed to the second half shaft 630;

a second transmission shaft 621 rotating in the same direction as the first transmission shaft 611, rotatably mounted on the support frame body 60, and having a sixth interlocking gear 623 fixed thereon;

a seventh interlocking gear 641 and an eighth interlocking gear 642 rotatably mounted on the support frame body 60; and

and a ninth interlocking gear 643 fixed to the first half shaft 640.

As an embodiment of the present invention, the second interlocking gear 631 and the third interlocking gear 632 are coaxially fixed, and the seventh interlocking gear 641 and the eighth interlocking gear 642 are coaxially fixed;

the first linkage gear 614 is engaged with the second linkage gear 631, and the third linkage gear 632 and the fifth linkage gear 634 are both engaged with the fourth linkage gear 633;

the sixth interlocking gear 623 meshes with the seventh interlocking gear 641, and the eighth interlocking gear 642 meshes with the ninth interlocking gear 643.

As an embodiment of the present invention, a first co-rotating gear 613 is fixed to the first transmission shaft 611, and a second co-rotating gear 622 is fixed to the second transmission shaft 621;

the support frame 60 is provided with an intermediate co-rotating gear 65 engaged with both the first co-rotating gear 613 and the second co-rotating gear 622.

As an embodiment of the present invention, the walking driver includes a frame body 30 fixed to the walking frame body

A first travel driving motor 53 having a first output gear 530 provided at an output shaft end thereof; and

a second travel driving motor 52 having a second output gear 520 provided at an output shaft end thereof;

an input gear 612 is further fixed to the first transmission shaft 611, and is meshed with the second output gear 520; the first co-rotating gear 613 is engaged with the first output gear 530.

The working principle of the surgical instrument transfer robot is as follows:

different kinds of surgical instruments are placed on the plurality of fixed transport units 1; when a surgeon needs to obtain a corresponding surgical instrument, the surgeon sends an instruction to the movable conveying unit 2, and the movable conveying unit 2 automatically moves towards the fixed conveying unit 1 for placing the required instrument according to the corresponding instruction according to a preset program until the two are completely matched and butted. Subsequently, the transmission driving motor 14 operates and drives the first conveying belt 11 and the second conveying belt 21 to rotate in the same direction, so as to realize the removal of the required equipment from the fixed conveying unit 1; after the desired implement has been guided to the mobile conveyor unit 2, the transfer drive motor 14 is deactivated and the traveling module 3 transports the mobile conveyor unit 2 back to the starting position according to the travel path.

When the surgeon needs to store the corresponding surgical instrument, the surgeon sends an instruction to the movable conveying unit 2, and the movable conveying unit 2 automatically moves towards the set fixed conveying unit 1 according to the corresponding instruction according to a preset program until the two are completely matched and butted. Subsequently, the transmission driving motor 14 runs in the reverse direction and drives the first conveying belt 11 and the second conveying belt 21 to rotate in the same direction, so as to remove the surgical instrument from the movable conveying unit 2; after the instrument has been conveyed to the stationary transport unit 1, the transmission drive motor 14 is deactivated and the traveling module 3 transports the mobile transport unit 2 back to the starting position according to the travel path.

In the walking process of the mobile conveying unit 2, the steering motor 51 is used for controlling the walking direction, and the walking driver is used for providing walking power; the walking driving force is transmitted through the gear pairs, so that the walking driving device has the advantages of high transmission efficiency, good power transmission stability and the like; the self-rotating driving component can adjust the angle of the movable conveying unit 2 relative to the operating doctor or the fixed conveying unit 1, so that the operating doctor can conveniently operate the movable conveying unit, and the movable conveying unit and the fixed conveying unit 1 can accurately complete butt joint.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. A surgical instrument transfer robot, comprising:

at least one fixed transport unit (1) for storing different kinds of surgical instruments; and

a mobile delivery unit (2) capable of transferring the surgical instruments with the fixed delivery unit (1);

wherein the mobile conveying unit (2) can travel between an operating table and the stationary conveying unit (1) along a set guide path;

when the movable conveying unit (2) and the fixed conveying unit (1) are in matched butt joint, the movable conveying unit and the fixed conveying unit can simultaneously perform actions of transferring the surgical instruments;

and a walking module (3) is arranged at the bottom of the movable conveying unit (2).

2. Surgical instrument transfer robot according to claim 1, characterized in that the stationary transport unit (1) comprises

A fixed frame body (10);

a first conveying member provided on the stationary frame (10); and

a transmission driving member fixed on the fixed frame body (10) for operating the first conveying member;

wherein, the transmission driving component comprises a transmission driving motor (14) and a speed reducer (13).

3. The surgical instrument transfer robot of claim 2, wherein the first transport member comprises

A first supporting roller (121), a second supporting roller (122) and a driving roller (123) which are rotatably arranged on the fixed frame body (10); and

a first conveyor belt (11) mounted on the first support roller (121), the second support roller (122), and the drive roller (123);

wherein the first support roller (121) and the second support roller (122) are used to support the first conveyor belt (11); the driving roller (123) is in contact with an outer belt body of the first conveying belt (11) and is used for driving the first conveying belt (11);

the drive roller (123) is connected to an output shaft of the speed reducer (13).

4. Surgical instrument transfer robot according to claim 3, characterized in that the mobile transport unit (2) comprises

A heightening frame body (201);

a movable frame (202) fixed to the heightening frame (201); and

a second conveying member provided on the moving rack (202);

wherein the second conveying member is operable under the action of the transmission drive member; the second conveying member comprises

A third support roller (221) and a fourth support roller (222) rotatably mounted on the moving frame body (202); and

a second conveyor belt (21) mounted on the third support roller (221), the fourth support roller (222);

a first transmission gear (120) is arranged on an output shaft of the speed reducer (13), and a second transmission gear (220) is arranged on the third supporting roller (221);

when the movable conveying unit (2) is matched and butted with the fixed conveying unit (1), the first transmission gear (120) is meshed with the second transmission gear (220).

5. Surgical instrument transfer robot according to claim 1, characterized in that the walking module (3) comprises

A traveling frame body (30) fixed to the bottom of the mobile conveying unit (2);

the self-rotation driving component is arranged on the walking frame body (30) and is used for driving the movable conveying unit (2) to rotate along the axis of the self-rotation driving component; and

a travel drive member (5) provided on the travel frame body (30) for driving the mobile conveying unit (2).

6. The surgical instrument transfer robot according to claim 5, wherein the self-rotating drive members comprise at least three self-rotating drive components (4) arranged in a circular array on the walking frame (30); the self-rotation driving component (4) comprises

A self-rotating driving motor (40) fixed on the walking frame body (30); and

a self-rotating drive wheel (41) connected to an output shaft of the self-rotating drive motor (40);

wherein, a plurality of follow-up rollers are arranged on the self-rotating driving wheel (41) in a rolling way; the follow-up roller and the self-rotating driving wheel (41) are vertically arranged.

7. The surgical instrument transfer robot of claim 6, wherein the self-rotating drive wheel (41) is comprised of a first self-rotating drive wheel (411) and a second self-rotating drive wheel (412) of equal size;

the follow-up roller comprises a first follow-up roller (421) and a second follow-up roller (422);

the first follow-up roller (421) is uniformly arranged on the first self-rotating driving wheel (411) in a rolling manner, and the second follow-up roller (422) is uniformly arranged on the second self-rotating driving wheel (412) in a rolling manner;

the first follow-up roller (421) and the second follow-up roller (422) are arranged at intervals.

8. The surgical instrument transfer robot according to claim 5, wherein the walking drive member (5) includes

A walking assembly (6) rotatably arranged on the walking frame body (30);

the steering assembly is arranged on the walking frame body (30) and is used for adjusting the walking direction of the walking assembly (6); and

a walking drive assembly for supplying and transmitting walking power;

wherein the walking drive assembly comprises

A traveling driver provided on the traveling frame body (30) for supplying traveling power; and

and a walking linkage part for transmitting walking power to the walking component (6).

9. Surgical instrument transfer robot according to claim 8, characterized in that the walking assembly (6) comprises

A support frame body (60);

a first half shaft (640) rotatably provided at one side of the support frame body (60);

a second half shaft (630) rotatably provided at the other side of the support frame body (60);

a first road wheel (64) fixed to the first half-shaft (640); and

a second road wheel (63) fixed to the second half-shaft (630).

10. The surgical instrument transfer robot according to claim 8, wherein the steering assembly includes a steering motor (51) fixed to the undercarriage body (30), and an output shaft end of the steering motor is connected with a first steering gear (510);

and a second steering gear (600) meshed with the first steering gear (510) is fixed on the walking assembly (6).