CN112545612A - Binding clip mechanism of single-hole operation arm - Google Patents
Binding clip mechanism of single-hole operation arm Download PDFInfo
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- CN112545612A CN112545612A CN202011406717.8A CN202011406717A CN112545612A CN 112545612 A CN112545612 A CN 112545612A CN 202011406717 A CN202011406717 A CN 202011406717A CN 112545612 A CN112545612 A CN 112545612A
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- jaw
- hole
- connecting rod
- sliding block
- pin
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2906—Multiple forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a binding clip mechanism of a single-hole operation mechanical arm, which relates to the technical field of medical machinery and comprises the following components: the clamp comprises a driving wire, a clamp head base, a sliding block, a pin, a first connecting rod, a guide wheel, a first clamp, a second clamp, a pin shaft, a second connecting rod and a spring. The slider is located the inside of binding clip base, the inside of binding clip base is located to the spring, the spring has one end and supports in the slider, the inside of spring is located to the drive silk, the drive silk has one end and is connected with the slider, the slider rotates with first connecting rod to be connected, the slider rotates with the second connecting rod to be connected, first forceps holder rotates with first connecting rod to be connected, the second forceps holder rotates with the second connecting rod to be connected, the guide pulley is located between first forceps holder and the second forceps holder, first forceps holder and second forceps holder pass through the guide pulley and rotate to be connected. According to the invention, through the matching between the single driving wire and the spring, the fact that the single driving wire can control the clamp to open and close is ensured, and the situation that the friction of a plurality of driving wires is increased and the clamping effect is reduced due to overlarge torque is avoided.
Description
Technical Field
The invention relates to the technical field of medical machinery, in particular to a forceps head mechanism of a single-hole surgical mechanical arm.
Background
As an end effector of a laparoscopic surgery robot, an operating forceps is directly contacted with focal tissues, and the laparoscopic surgery robot is a direct instrument for completing surgical operations. In a traditional laparoscopic surgery, a surgical clamp is designed into a multi-degree-of-freedom mechanism for realizing multi-degree-of-freedom movement and enhancing flexibility in the surgery, the surgical clamp can usually realize clamping, twisting, deflection and other movements, a clamp head mechanism is usually connected with a longer rigid hollow connecting rod, and a plurality of groups of driving wires for controlling the movement of the clamp head move in the connecting rod.
The single-hole operation is different from the single-hole operation, the operation forceps are connected with a bendable flexible connecting rod, the operation forceps can flexibly move with multiple degrees of freedom through the flexible connecting rod, however, after the flexible connecting rod deforms, serious friction can occur in a tube due to excessive driving wires in the forceps head, the motor torque is increased, the service life of the system is shortened, the movement effect is not good, and good clamping effect is difficult to achieve.
Disclosure of Invention
In view of the above-mentioned problems, an object of the present invention is to provide a jaw mechanism of a single-hole surgical robot arm.
In order to achieve the purpose, the invention adopts the technical scheme that:
a binding clip mechanism of a single-hole surgical mechanical arm, comprising:
binding clip base 2
The sliding block 3 is arranged inside the tong head base 2;
the spring 11 is arranged inside the forceps head base 2 and slides along the length direction of the forceps head base; one end of the spring 11 is abutted against the sliding block 3;
a driving wire 1, the driving wire 1 is arranged in the spring 11, the driving wire 1 is provided with one end connected with the sliding block 3
The first connecting rod 5 is rotatably connected with the sliding block 3;
the sliding block 3 is rotatably connected with the second connecting rod 10;
a first jaw 7, said first jaw 7 being rotatably connected to said first link 5;
a second jaw 8, said second jaw 8 being rotatably connected to said second link 10;
and the guide wheel 6 is arranged between the first jaw 7 and the second jaw 8, and the first jaw 7 and the second jaw 8 are rotatably connected through the guide wheel 6.
In the binding clip mechanism of the single-hole surgical mechanical arm, the binding clip base 2 is cylindrical, and the binding clip base 2 is provided with two first holes, two second holes and two third holes.
The binding clip mechanism of above-mentioned haplopore operation arm wherein, still includes: the pin 4, the slider 3 has one end, slider 3 serves and is equipped with first through-hole, pin 4 with first through-hole phase-match.
In the forceps head mechanism of the single-hole surgical manipulator, one end of the sliding block 3 is arranged between the first connecting rod 5 and the second connecting rod 10, the first connecting rod 5 and the sliding block 3 are rotatably connected through the pin 4, and the second connecting rod 10 and the sliding block 3 are rotatably connected through the pin 4.
In the forceps head mechanism of the single-hole surgical manipulator, the guide wheel 6 is provided with gear teeth, the gear teeth are matched with the first forceps holder 7, and the gear teeth are matched with the second forceps holder 8.
The binding clip mechanism of above-mentioned haplopore operation arm wherein, still includes: and the pin shaft 9 is provided with two ends which are respectively limited in the two second holes.
In the forceps head mechanism of the single-hole surgical manipulator, the guide wheel 6 is provided with a second through hole, the second through hole is matched with the pin shaft 9, and the guide wheel 6 is operably connected around the pin shaft 9 in a rotating manner.
In the forceps head mechanism of the single-hole surgical manipulator, a third through hole is formed in the first forceps holder 7, the third through hole is matched with the pin shaft 9, the first forceps holder 7 is operatively connected to the pin shaft 9 in a rotating manner, and a first plane is formed in the first forceps holder 7.
In the forceps head mechanism of the single-hole surgical manipulator, a fourth through hole is formed in the second forceps holder 8, the fourth through hole is matched with the pin shaft 9, the second forceps holder 8 is operatively connected to the pin shaft 9 in a rotating manner, and a second plane is formed in the second forceps holder 8.
The jaw mechanism of the single-hole surgical robot arm, wherein the first plane of the first jaw 7 is operably abutted against the second plane of the second jaw 8.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
(1) according to the invention, through the matching between the single driving wire and the spring, the fact that the single driving wire can control the jaws to open and close is ensured, and meanwhile, the number of the driving wires is reduced, so that the friction of the driving wires in the tube is reduced, and the moment generated by the driving wires on the motor is reduced;
(2) the guide wheel is adopted for connecting the jaws, the contact surface between the guide wheel and the jaws is small, and the phenomenon of serious abrasion of the two jaws due to overlarge contact area is avoided.
Drawings
Fig. 1 is a schematic structural diagram of the components of the forceps head mechanism of the single-hole surgical manipulator of the invention.
Fig. 2 is a schematic diagram of the overall structure of the forceps head mechanism of the single-hole surgical manipulator of the invention.
Fig. 3 is a schematic structural diagram of a forceps head base of a forceps head mechanism of a single-hole surgical manipulator according to the present invention.
In the drawings: 1. a drive wire; 2. a tong head base; 3. a slider; 4. a pin; 5. a first link; 6. a guide wheel; 7. a first jaw; 8. a second jaw; 9. a pin shaft; 10. a second link; 11. a spring.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 3, a forceps head mechanism of a single-hole surgical robot arm is shown, which includes: the clamp comprises a clamp head base 2, a sliding block 3, a spring 11, a driving wire 1, a first connecting rod 5, a second connecting rod 10, a first jaw 7, a second jaw 8, a guide wheel 6, a pin 4 and a pin shaft 9.
Further, in a preferred embodiment, the binding clip base 2 is cylindrical, and the binding clip base 2 is provided with two first holes, two second holes and two third holes.
Further, in a preferred embodiment, the sliding block 3 has one end, the one end of the sliding block 3 is provided with a first through hole, and the pin 4 is matched with the first through hole.
Further, in a preferred embodiment, one end of the slider 3 is disposed between the first link 5 and the second link 10, the first link 5 and the slider 3 are rotatably connected by the pin 4, and the second link 10 and the slider 3 are rotatably connected by the pin 4.
Further, in a preferred embodiment, the guide wheel 6 is provided with gear teeth, which are adapted to the first jaw 7 and to the second jaw 8.
Further, in a preferred embodiment, the pin 9 has two ends respectively limited in the two second holes.
Further, in a preferred embodiment, the guide wheel 6 is provided with a second through hole, the second through hole is matched with the pin shaft 9, and the guide wheel 6 is operatively connected around the pin shaft 9 in a rotating way.
Further, in a preferred embodiment, the first jaw 7 is provided with a third through hole, the third through hole is matched with the pin 9, the first jaw 7 is operatively connected to rotate around the pin 9, and the first jaw 7 has a first plane.
Further, in a preferred embodiment, the second jaw 8 is provided with a fourth through hole, the fourth through hole is matched with the pin 9, the second jaw 8 is operatively connected to rotate around the pin 9, and the second jaw 8 has a second plane.
Further, in a preferred embodiment, a first plane of the first jaw 7 is operatively against a second plane of the second jaw 8.
The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The present invention also has the following embodiments in addition to the above:
in a further embodiment of the present invention, the base 2 is tubular, and the first hole, the second hole and the third hole are respectively disposed along the axial direction of the base 2, the two first holes are disposed along the radial direction of the base 2, the two second holes are disposed along the radial direction of the base 2, and the two third holes are disposed along the radial direction of the base 2.
In a further embodiment of the present invention, the base 2 of the binding clip comprises: the two first parts, the second part and the third part are connected in sequence.
In a further embodiment of the present invention, the outer diameter of the third portion is smaller than the outer diameter of the second portion, two third holes are radially formed in the third portion, and the binding clip base 2 is connected to the flexible connecting rod through the third portion.
In a further embodiment of the present invention, one end of each first portion is connected to the second portion, the other end of each first portion is provided with a second hole, and the middle of each first portion is provided with a first hole.
In a further embodiment of the invention, the pin 4 is operable to move in a vertical direction.
In a further embodiment of the invention, the forceps head only retains 1 clamping degree of freedom without affecting the operation, and in order to minimize the adverse effects of excessive drive wires 1, the forceps head mechanism only retains a single clamping degree of freedom.
In a further embodiment of the present invention, the clamping degree of freedom is realized by a pair of crank-slider 3 mechanisms sharing the same slider 3, the first crank-slider 3 mechanism is composed of the slider 3, the first connecting rod 5 and the first jaw 7, the second crank-slider 3 mechanism is composed of the slider 3, the second connecting rod 10 and the second jaw 8, when the slider 3 translates rightward, the first jaw 7 rotates clockwise, the second jaw 8 rotates counterclockwise, the clamping angle increases, when the slider 3 translates leftward, the first jaw 7 rotates counterclockwise, the second jaw 8 rotates clockwise, and the clamping angle decreases.
In a further embodiment of the invention, the clamping movement is realized by the combined control of the driving wire 1 and the spring 11, in an initial state, the clamping angle is 0 degrees, the spring 11 is subjected to small pre-pressure and keeps a compression deformation state, one end of the driving wire 1 is connected with the sliding block 3, the other end of the driving wire 1 is connected with the driving device, when the driving device receives the wire, the sliding block 3 moves rightwards, the pressure applied to the spring 11 is increased, the deformation amount of the spring 11 is increased, the clamping angle is increased, when the driving device releases the wire, the sliding block 3 moves leftwards under the elastic force of the spring 11, the deformation amount of the spring 11 is decreased, and the clamping angle is decreased until the initial position is recovered.
In a further embodiment of the invention, the guide wheel 6 is provided with small bosses at both sides, which are respectively contacted with the first jaw 7 and the second jaw 8, and because the contact surface is small, the abrasion of parts is small in the movement process, and the service life is prolonged.
In a further embodiment of the present invention, in order to ensure the normal assembly of the pin 4 with the first link 5 and the second link 10, a first hole is reserved on the base 2 of the binding clip for the installation.
In a further embodiment of the invention, the first link 5 and the second link 10 cannot be separated from the pin 4 in movement under the restriction of the binding clip base 2.
In a further embodiment of the invention, in order to prevent the sliding block 3 from being stuck in the moving process, the contact surface between the sliding block 3 and the tong head base 2 is a cylindrical surface.
In a further embodiment of the invention, the maximum clamping angle of the structure can reach 90 degrees, and the surgical requirements are met.
In a further embodiment of the present invention, in a single-hole operation, since the flexibility requirement is met by the flexible connecting rod, the forceps head does not need to reduce the system performance for increasing the flexibility characteristic, the degree of freedom of the forceps head should be reduced by a proper amount, otherwise the system performance is greatly influenced.
In a further embodiment of the invention, the clamping function required in the operation can be still better realized after the flexible connecting rod is deformed.
In a further embodiment of the invention, the forceps head only retains 1 degree of freedom, and can realize the clamping movement required in the operation.
In a further embodiment of the present invention, the driving mode is changed from the conventional control of a pair of driving wires 1 to the combined control of the driving wires 1 and the springs 11.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A binding clip mechanism of single-hole surgical mechanical arm, characterized by comprising:
a tong head base (2);
the sliding block (3) is arranged inside the binding clip base (2) and slides along the length direction of the binding clip base;
the spring (11) is arranged inside the tong head base (2), and one end of the spring (11) is abutted against the sliding block (3);
the driving wire (1) is arranged inside the spring (11), and one end of the driving wire (1) is connected with the sliding block (3);
the sliding block (3) is rotationally connected with the first connecting rod (5);
the sliding block (3) is rotationally connected with the second connecting rod (10);
a first jaw (7), said first jaw (7) being rotatably connected to said first link (5);
a second jaw (8), said second jaw (8) being rotatably connected to said second link (10);
a guide wheel (6), wherein the guide wheel (6) is arranged between the first jaw (7) and the second jaw (8), and the first jaw (7) and the second jaw (8) are rotatably connected through the guide wheel (6).
2. The forceps head mechanism of the single-hole surgical mechanical arm according to claim 1, wherein the forceps head base (2) is cylindrical, and two first holes, two second holes and two third holes are formed in the forceps head base (2).
3. The jaw mechanism of a single-hole surgical robotic arm of claim 2, further comprising: the sliding block (3) is provided with one end, one end of the sliding block (3) is provided with a first through hole, and the pin (4) is matched with the first through hole.
4. The forceps head mechanism of the single-hole surgical mechanical arm according to claim 3, wherein one end of the sliding block (3) is arranged between the first connecting rod (5) and the second connecting rod (10), the first connecting rod (5) and the sliding block (3) are rotatably connected through the pin (4), and the second connecting rod (10) and the sliding block (3) are rotatably connected through the pin (4).
5. The forceps head mechanism of the single-hole surgical mechanical arm according to claim 1, wherein the guide wheel (6) is provided with gear teeth, the gear teeth are matched with the first jaw (7), and the gear teeth are matched with the second jaw (8).
6. The jaw mechanism of a single-hole surgical robotic arm of claim 2, further comprising: and the pin shaft (9) is provided with two ends which are respectively limited in the two second holes.
7. The forceps head mechanism of the single-hole surgical mechanical arm as claimed in claim 6, wherein the guide wheel (6) is provided with a second through hole, the second through hole is matched with the pin shaft (9), and the guide wheel (6) is operatively connected around the pin shaft (9) in a rotating manner.
8. The jaw mechanism of the single-hole surgical mechanical arm according to claim 7, wherein a third through hole is formed in the first jaw (7), the third through hole is matched with the pin shaft (9), the first jaw (7) is operatively connected in a rotating mode around the pin shaft (9), and the first jaw (7) is provided with a first plane.
9. The jaw mechanism of a single-hole surgical robotic arm according to claim 8, wherein said second jaw (8) is provided with a fourth through hole, said fourth through hole is matched with said pin (9), said second jaw (8) is operatively connected in a rotation manner around said pin (9), and said second jaw (8) has a second plane thereon.
10. The jaw mechanism of a single-hole surgical robotic arm according to claim 9, wherein a first plane of said first jaw (7) is operatively opposed to a second plane of said second jaw (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406717.8A CN112545612B (en) | 2020-12-04 | 2020-12-04 | Binding clip mechanism of single-hole operation arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406717.8A CN112545612B (en) | 2020-12-04 | 2020-12-04 | Binding clip mechanism of single-hole operation arm |
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| Publication Number | Publication Date |
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| CN112545612A true CN112545612A (en) | 2021-03-26 |
| CN112545612B CN112545612B (en) | 2022-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011406717.8A Active CN112545612B (en) | 2020-12-04 | 2020-12-04 | Binding clip mechanism of single-hole operation arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113616278A (en) * | 2021-07-30 | 2021-11-09 | 中南大学湘雅三医院 | Endoscope clamp capable of being bent |
| CN114469291A (en) * | 2022-02-14 | 2022-05-13 | 郑州大学 | Negative-pressure tracheal foreign body taking-out forceps and using method thereof |
| CN114748167A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible endoscope minimally invasive surgery instrument arm |
| CN115477025A (en) * | 2022-10-31 | 2022-12-16 | 哈尔滨工业大学 | Passive modular interface clamping device for realizing auxiliary expansion of satellite fault sailboard |
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| US20100280543A1 (en) * | 2007-10-17 | 2010-11-04 | Dong Jun Kim | Small caliber laparoscope surgical apparatus |
| CN201949091U (en) * | 2010-12-29 | 2011-08-31 | 申屠作本 | Single-orifice bent surgical clamp |
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| WO2020027654A1 (en) * | 2018-08-03 | 2020-02-06 | Itrec B.V. | Power Tong |
| CN210130893U (en) * | 2019-04-12 | 2020-03-10 | 佛山市高明区人民医院 | Laparoscopic surgery forceps |
| CN111789662A (en) * | 2020-08-12 | 2020-10-20 | 江苏唯德康医疗科技有限公司 | ESD operation traction apparatus |
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100280543A1 (en) * | 2007-10-17 | 2010-11-04 | Dong Jun Kim | Small caliber laparoscope surgical apparatus |
| CN201949091U (en) * | 2010-12-29 | 2011-08-31 | 申屠作本 | Single-orifice bent surgical clamp |
| CN202604951U (en) * | 2012-03-31 | 2012-12-19 | 杭州汇大医疗器械有限公司 | Electrocoagulation gripping forceps |
| CN102846365A (en) * | 2012-09-07 | 2013-01-02 | 北京航空航天大学 | Wrist type end effector driven by four shape memory alloy wires |
| CN110063791A (en) * | 2014-08-13 | 2019-07-30 | 柯惠Lp公司 | The clamping with mechanical dominance of robot control |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113616278A (en) * | 2021-07-30 | 2021-11-09 | 中南大学湘雅三医院 | Endoscope clamp capable of being bent |
| CN114469291A (en) * | 2022-02-14 | 2022-05-13 | 郑州大学 | Negative-pressure tracheal foreign body taking-out forceps and using method thereof |
| CN114469291B (en) * | 2022-02-14 | 2023-08-08 | 郑州大学 | Negative pressure tracheal foreign body extraction forceps and use method thereof |
| CN114748167A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible endoscope minimally invasive surgery instrument arm |
| CN115477025A (en) * | 2022-10-31 | 2022-12-16 | 哈尔滨工业大学 | Passive modular interface clamping device for realizing auxiliary expansion of satellite fault sailboard |
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| Publication number | Publication date |
|---|---|
| CN112545612B (en) | 2022-11-01 |
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