CN115429436A - Surgical robot and driving device thereof - Google Patents

Abstract

The application discloses a surgical robot and a driving device thereof. The driving device comprises a power assembly and a transmission assembly. The power assembly comprises a power part and a shell part, the power part comprises an output shaft, and the shell part is fixedly arranged on the power part and at least surrounds the periphery of the output shaft; the transmission assembly comprises a protective shell and a transmission piece, the protective shell is buckled and covered outside the outer shell and is surrounded with the outer shell to form a sealed cavity, the output shaft is located in the sealed cavity, and the transmission piece is rotatably installed on the protective shell and is fixedly connected with the output shaft. The surgical robot and the driving device thereof can solve the problems that the driving device of the surgical robot cannot perform high-temperature and high-pressure sterilization and is difficult to meet the surgical requirements.

Description

Surgical robot and driving device thereof

Technical Field

The application relates to the technical field of medical instruments, in particular to a surgical robot and a driving device thereof.

Background

At present, surgical robots are increasingly used in the medical field. For example, in a surgical robot for injecting bone cement, a driving device such as a motor is generally used as a power element to drive a plunger of a bone cement injector to move so as to inject bone cement.

Before the actual operation, high-temperature and high-pressure sterilization operation needs to be carried out on each module on the operation robot, however, the driving devices such as the motor and the like are limited by the structure of the driving devices, so that the high-temperature and high-pressure sterilization cannot be carried out, and the operation requirements are difficult to meet.

Disclosure of Invention

The main purpose of the present application is to provide a surgical robot and a driving device thereof, so as to solve the problem that the driving device of the surgical robot cannot perform high temperature and high pressure sterilization and is difficult to meet the surgical requirements.

According to an aspect of an embodiment of the present application, there is provided a driving apparatus including:

the power assembly comprises a power part and a shell part, the power part comprises an output shaft, and the shell part is fixedly arranged on the power part and at least surrounds the periphery of the output shaft; and

the transmission assembly comprises a protective shell and a transmission piece, the protective shell is buckled and covered outside the outer shell and is surrounded with the outer shell to form a sealed cavity, the output shaft is located in the sealed cavity, and the transmission piece is rotatably installed on the protective shell and is fixedly connected with the output shaft.

Further, the shell part comprises a cylindrical shell, a first end of the cylindrical shell is fixed on the power part, the output shaft is located in the cylindrical shell, and a avoiding through hole is formed in a second end of the cylindrical shell.

Further, the inner wall surface of the end surface of the protective shell facing the second end of the cylindrical shell is a bottom surface, and a first gap is formed between the bottom surface and the end surface of the second end of the cylindrical shell.

Furthermore, an opening is formed in one end, close to the outer shell portion, of the protective shell, the protective shell is sleeved on the periphery of the outer shell portion through the opening, and a first sealing ring is arranged between the inner wall face of the protective shell and the outer shell portion.

Furthermore, the protective shell is provided with a mounting hole which is communicated with the sealing cavity;

the end of the transmission part is provided with a connecting part, the transmission part passes through the connecting part and is connected with the output shaft, the connecting part comprises a connecting rod and an outer cover, the connecting rod is located inside the outer cover, the connecting rod penetrates through the mounting hole and is connected with the output shaft, and the outer cover is sleeved outside the protective shell.

Further, the transmission assembly further comprises a limiting part, and the limiting part is detachably sleeved on the connecting rod and used for locking the shell part in the outer cover.

Further, the driving device further comprises a sterile protective film, and the sterile protective film is arranged on the periphery of the power part and the periphery of the shell part in a wrapping mode.

On the other hand, the application provides a surgical robot, surgical robot includes foretell drive arrangement, surgical robot still includes the arm, drive arrangement still includes the mount pad, power component installs on the mount pad, the mount pad passes through buckle subassembly detachably and installs on the arm.

Furthermore, a limiting sliding groove is formed in the mechanical arm, a limiting sliding block matched with the limiting sliding groove is arranged at the bottom of the mounting seat, and the buckle assembly is used for locking the limiting sliding block in the limiting sliding groove.

Further, the buckle assembly includes:

the clamping groove is arranged at the bottom of the limiting sliding block and comprises a guide section and a clamping section, the guide section extends along the sliding direction of the limiting sliding groove, and the clamping section is communicated with the guide section and extends along the direction perpendicular to the sliding direction;

the clamping protrusion is arranged in the limiting sliding groove and is provided with a locking position clamped in the clamping section and an unlocking position separated from the clamping section;

the button is mounted on the mechanical arm and connected with the clamping protrusion, and the button is driven by external force to reciprocate along the direction perpendicular to the sliding direction; and

an elastic member abutting between the button and the mechanical arm to provide a restoring force to the button.

Compared with the prior art, the technical scheme of the application has at least the following technical effects:

because transmission assembly in this application is provided with the protecting crust, this protecting crust can enclose with shell portion and establish and form sealed chamber, and during the actual connection, the driving medium is connected with the output shaft that is located sealed intracavity, that is to say, through the effect in the sealed chamber of protecting crust cooperation, can be close to one side of power assembly with the bacterium separation of power assembly side in transmission assembly, can satisfy the aseptic demand of operation environment.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a perspective view of a driving device (with a transmission member removed) according to an embodiment of the present application;

FIG. 2 isbase:Sub>A cross-sectional view A-A of FIG. 1;

FIG. 3 is a cross-sectional view of a transmission assembly as disclosed in an embodiment of the present application;

FIG. 4 is an enlarged view of region M of FIG. 2;

FIG. 5 is a perspective view of a robotic arm according to the embodiments disclosed herein;

FIG. 6 is a perspective view of a mounting base portion of a surgical robot mounted on a robotic arm in accordance with an exemplary embodiment of the present disclosure;

FIG. 7 is an exploded view of FIG. 6;

fig. 8 is a perspective view of a mounting base portion disclosed in an embodiment of the present application.

Wherein the figures include the following reference numerals:

10. a power assembly; 11. a power section; 111. a motor; 112. a speed reducer; 1101. an output shaft; 12. a housing portion; 121. avoiding the through hole; 122. a second end; 123. a first end; 20. a sterile protective film; 30. a transmission assembly; 31. a protective shell; 311. a bottom surface; 312. an opening; 313. mounting holes; 32. a transmission member; 321. a connecting portion; 3211. a connecting rod; 32111. an annular mounting groove; 3212. a housing; 33. a limiting member; 40. sealing the cavity; 50. a first gap; 60. a first seal ring; 70. a second seal ring; 80. a mounting seat; 81. a limiting slide block; 90. a buckle assembly; 91. a card slot; 911. a guide section; 912. a clamping section; 92. clamping convex; 93. a button; 94. an elastic member; 100. a mechanical arm; 101. a limiting chute; 120. a coupling is provided.

Detailed Description

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Referring to fig. 1 to 4, according to an embodiment of the present application, there is provided a driving apparatus that may be used for a surgical robot to provide surgical power to the surgical robot, or the like.

Specifically, the drive device includes a power assembly 10 and a transmission assembly 30.

The power assembly 10 comprises a power part 11 and a shell part 12, wherein the power part 11 comprises an output shaft 1101, and the shell part 12 is fixedly arranged on the power part 11 and at least surrounds the periphery of the output shaft 1101; the transmission assembly 30 includes a protection shell 31 and a transmission member 32, the protection shell 31 is disposed outside the housing portion 12 in a covering manner and encloses with the housing portion 12 to form a sealed cavity 40, after the protection shell 31 and the housing portion 12 are assembled, the output shaft 1101 is located in the sealed cavity 40, and the transmission member 32 is installed on the protection shell 31 in a transmission manner and is fixedly connected with the output shaft 1101.

Because transmission assembly 30 in this application is provided with protective housing 31, this protective housing 31 and shell portion 12 can enclose to establish and form sealed chamber 40, and during the actual connection, driving medium 32 is connected with the output shaft 1101 that is located sealed chamber 40, that is to say, through the effect of protective housing 31 cooperation sealed chamber, can be close to one side of power assembly 10 with the bacterium separation of power assembly 10 side at transmission assembly 30, can satisfy the aseptic demand of operating environment.

Further, the driving device in this embodiment further includes a sterile protective film 20, the sterile protective film 20 is wrapped around the power portion 11 and the housing portion 12, when the driving device works, the output shaft 1101 is driven by the power portion 11 to rotate, at this time, the housing portion 12 does not rotate, when the output shaft 1101 rotates, the transmission member 32 can be driven to rotate, because the transmission member 32 is rotatably installed on the protective shell 31, when the transmission member 32 is driven by the output shaft 1101 to rotate, the protective shell 31 and the housing portion 12 are in a static state. That is, when the power portion 11 drives the transmission member 32 to rotate, the protection shell 31 and the outer shell 12 located at two sides of the sterile protection film 20 are both in a static state, and the sterile protection film 20 is not worn or worn by the protection shell 31 and the outer shell 12 when the power portion 11 works, so that a good sterile protection effect can be achieved on the driving device.

Further, the power unit 11 in this embodiment includes a motor 111 and a speed reducer 112, the motor 111 is connected to the speed reducer 112 in a driving manner, the speed reducer 112 is provided with the output shaft 1101, and the output shaft 1101 is connected to the transmission member 32 through a coupling 120. During actual connection, structural connection such as jackscrew or stop pin passes through between output shaft 1101 and driving medium 32 and the shaft coupling 120, is provided with the through-hole of dodging this jackscrew and locating pin on the aseptic protecting film 20, easy operation, the realization of being convenient for. During operation, the motor 111 rotates to drive the reducer 112 to operate, and further drive the output shaft 1101 and the transmission member 32 to move synchronously.

Referring to fig. 1, the housing part 12 in the present embodiment includes a cylindrical housing, a first end 123 of which is fixed to the power part 11, an output shaft 1101 is located in the cylindrical housing, and a second end 122 of which is provided with a bypass through hole 121, so as to facilitate connection of the output shafts 1101 of the transmission members 32; the aseptic barrier film 20 is coated on the outer surface of the cylindrical housing and extends from the port of the escape through hole 121 toward the inside of the escape through hole 121 by a predetermined distance. That is, sterile protective membrane 20 is wrapped from second end 122 of housing portion 12 to a certain length in addition to wrapping the outer surface of housing portion 12, and this configuration not only improves the stability of sterile protective membrane 20, prevents that sterile protective membrane 20 from falling off, but also improves the protection effect of sterile protective membrane 20.

As shown in fig. 1 to 3, the protective shell 31 in the present embodiment is substantially cylindrical, an inner wall surface of the protective shell 31 facing the end surface of the second end 122 of the cylindrical housing is a bottom surface 311, and a first gap 50 is formed between the bottom surface 311 and the end surface of the second end 122 of the cylindrical housing. That is, after the protective shell 31 is mounted on the housing portion 12, the protective shell 31 does not abut against the end portion of the protective shell 31, so that even if the protective shell 31 moves relatively to the housing portion 12, the aseptic protective film 20 at the end portion of the housing portion 12 is not easily worn or damaged, and the reduction of the operating noise of the driving apparatus in this embodiment is facilitated.

Further, an opening 312 is provided at one end of the protective shell 31 close to the outer shell 12, the protective shell 31 is sleeved on the outer periphery of the outer shell 12 through the opening 312, and the first sealing ring 60 is provided between the inner wall surface of the protective shell 31 and the sterile protective film 20, so that the sterile protection effect of the driving device in the embodiment can be further improved.

In order to mount the transmission member 32, the protective shell 31 in the present embodiment is provided with a mounting hole 313, and the mounting hole 313 communicates with the seal cavity 40; the end of the transmission member 32 is provided with a connecting portion 321, the transmission member 32 is connected to the output shaft 1101 through the connecting portion 321, the connecting portion 321 includes a connecting rod 3211 and an outer cover 3212, the connecting rod 3211 is located inside the outer cover 3212, the connecting rod 3211 passes through the mounting hole 313 to be connected to the output shaft 1101, and the outer cover 3212 is sleeved on the outside of the protective shell 31. The mounting hole 313 can be covered by the outer cover 3212, and the aseptic protection effect of the drive device in this embodiment can be further improved.

Optionally, a second sealing ring 70 is disposed between the outer cover 3212 and the protective shell 31 in this embodiment, and bacteria and the like in the sealing cavity 40 can be prevented from entering the surgical environment from the mounting hole 313 and the gap between the protective shell 31 and the outer cover 3212 by the second sealing ring 70, so that the sterile protection effect of the driving apparatus in this embodiment can be further effectively improved.

Referring to fig. 4, the transmission assembly 30 in the embodiment further includes a limiting member 33, wherein the limiting member 33 is detachably sleeved on the connecting rod 3211 for locking the casing portion 12 in the housing 3212. In the actual use process, the whole transmission assembly 30 is a disposable consumable, and can be subjected to separate high-temperature and high-pressure sterilization, and the shell portion 12 is locked in the housing 3212 through the limiting member 33, so that the assembly efficiency of the driving device can be improved.

Specifically, the periphery of this connecting rod 3211 is provided with annular mounting groove 32111, and locating part 33 overlaps through this annular mounting groove 32111 and establishes in the periphery of connecting rod 3211, simple structure, the installation of being convenient for. Optionally, the limiting member 33 in this embodiment is an annular limiting piece, and an outer diameter of the annular limiting piece is not smaller than an inner diameter of the mounting hole 313, so that not only the outer shell portion 12 can be locked in the outer housing 3212, but also bacteria and the like in the sealed cavity 40 can be prevented from entering the external surgical environment from the mounting hole 313 to some extent, and the sterile protection effect of the driving device in this embodiment can be improved to some extent.

Referring to fig. 1 to 8, the present application also provides a surgical robot, which may be, for example, a bone cement injection robot. The surgical robot includes the driving device in the above embodiment, and therefore, the surgical robot in this embodiment includes all the technical effects of the driving device in the above embodiment, and since the technical effects of the driving device have been described in detail in the foregoing, the details are not described here.

Specifically, the surgical robot in the present embodiment may be, for example, a bone cement injection robot. The surgical robot further comprises a mechanical arm 100, the driving device further comprises a mounting seat 80, the power assembly 10 is mounted on the mounting seat 80, and when in actual mounting, the mounting seat 80 is detachably mounted on the mechanical arm 100 through a buckle assembly 90.

Further, a limiting sliding groove 101 is formed in the mechanical arm 100, a limiting sliding block 81 matched with the limiting sliding groove 101 is arranged at the bottom of the mounting seat 80, and the buckle assembly 90 is used for locking the limiting sliding block 81 in the limiting sliding groove 101. Through the cooperation of spacing spout 101 and spacing slider 81, then adopt buckle assembly 90 with both locks, can improve the area of contact between mount pad 80 and the arm 100, be convenient for improve drive arrangement's installation stability. Of course, in other embodiments of the present application, the limit chute 101 may be disposed on the mounting seat 80, and the limit slider 81 may be disposed on the robot arm 100.

Optionally, the snap assembly 90 in this embodiment includes a snap slot 91 and a snap projection 92. The clamping groove 91 is arranged at the bottom of the limiting sliding block 81, the clamping groove 91 comprises a guide section 911 and a clamping and stopping section 912, the guide section 911 extends along the sliding direction of the limiting sliding groove 101, and the clamping and stopping section 912 is communicated with the guide section 911 and extends along the direction perpendicular to the sliding direction of the limiting sliding block 81; the locking projection 92 is provided in the stopper link 101 in a protruding manner, and the locking projection 92 has a locking position locked in the locking section 912 and an unlocking position disengaged from the locking section 912.

During actual assembly, the limiting sliding block 81 at the bottom of the mounting seat 80 slides along the limiting sliding groove 101, at this time, the clamping protrusion 92 can slide along the guide section 911 of the clamping groove 91, and after the limiting sliding block 81 slides in place, the clamping protrusion 92 just slides into the clamping stopping section 912. At this time, the locking protrusion 92 is moved into the locking section 912 along a direction perpendicular to the sliding direction of the limiting sliding block 81, so that the limiting sliding block 81 can be locked in the limiting sliding groove 101; when the mounting seat 80 needs to be detached from the mechanical arm 100, the clamping protrusion 92 only needs to move to be aligned with the guide section 911 along a direction perpendicular to the sliding direction of the limiting slide block 81, and then the limiting slide block 81 at the bottom of the mounting seat 80 slides out of the limiting slide groove 101.

In order to control and operate the locking protrusion 92 conveniently, the locking assembly 90 in this embodiment further includes a button 93 and an elastic member 94, the button 93 is mounted on the mechanical arm 100 and connected with the locking protrusion 92, and the button 93 is driven by external force to reciprocate the locking protrusion 92 in a direction perpendicular to the sliding direction of the limiting slider 81; the elastic member 94 abuts between the button 93 and the mechanical arm 100 to provide a restoring force to the button 93. Specifically, the button 93 in this embodiment is a plate-shaped structure, positioning pillars are disposed at two ends of the plate-shaped structure, the positioning pillars extend along the width direction of the mechanical arm 100, the elastic member 94 is a spring, the spring is sleeved on the positioning pillars, and two ends of the spring respectively abut against the button 93 and the mechanical arm 100. The button 93 is installed on the mechanical arm 100, and the clamping protrusion 92 is arranged on the button 93 and is convexly arranged inside the limiting sliding groove 101. When the button 93 is pressed in a direction perpendicular to the length direction of the robot arm 100, the latch 92 is switched from the locking position to the unlocking position. When the external force is removed, the locking protrusion 92 can be switched from the unlocking position to the locking position under the action of the spring, so that the limiting sliding block 81 can be conveniently locked in the limiting sliding groove 101.

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A drive device, comprising:

the power assembly (10) comprises a power part (11) and a shell part (12), wherein the power part (11) comprises an output shaft (1101), and the shell part (12) is fixedly arranged on the power part (11) and at least surrounds the periphery of the output shaft (1101); and

the transmission assembly (30) comprises a protective shell (31) and a transmission piece (32), the protective shell (31) is arranged outside the shell part (12) in a buckling mode and is surrounded with the shell part (12) to form a sealed cavity (40), the output shaft (1101) is located in the sealed cavity (40), and the transmission piece (32) is rotatably installed on the protective shell (31) and is fixedly connected with the output shaft (1101).

2. A drive arrangement according to claim 1, characterised in that the housing part (12) comprises a cylindrical housing, a first end (123) of which is fixed to the power part (11), the output shaft (1101) being located within the cylindrical housing, a second end (122) of which is provided with an escape through hole (121).

3. The drive device according to claim 2, characterized in that the inner wall surface of the protective shell (31) facing the end surface of the second end (122) of the cylindrical housing is a bottom surface (311), and a first gap (50) is provided between the bottom surface (311) and the end surface of the second end (122) of the cylindrical housing.

4. The drive device according to claim 1, characterized in that an opening (312) is provided at one end of the protective shell (31) close to the outer shell part (12), the protective shell (31) is sleeved on the outer periphery of the outer shell part (12) through the opening (312), and a first sealing ring (60) is provided between the inner wall surface of the protective shell (31) and the outer shell part (12).

5. The driving device according to claim 1, characterized in that the protective shell (31) is provided with a mounting hole (313), the mounting hole (313) is communicated with the sealed cavity (40);

the end of the transmission piece (32) is provided with a connecting portion (321), the transmission piece (32) is connected with the output shaft (1101) through the connecting portion (321), the connecting portion (321) comprises a connecting rod (3211) and an outer cover (3212), the connecting rod (3211) is located inside the outer cover (3212), the connecting rod (3211) penetrates through the mounting hole (313) to be connected with the output shaft (1101), and the outer cover (3212) is sleeved outside the protective shell (31).

6. The drive device according to claim 5, characterized in that the transmission assembly (30) further comprises a stopper (33), the stopper (33) being detachably fitted over the connecting rod (3211) for locking the housing portion (12) within the housing (3212).

7. The drive device according to any one of claims 1 to 6, characterized in that it further comprises a sterile protective film (20), said sterile protective film (20) being provided over the periphery of said power part (11) and of said housing part (12).

8. A surgical robot, characterized in that it comprises a drive arrangement according to any one of claims 1 to 6, and a robot arm (100), and the drive arrangement further comprises a mounting seat (80), and the power assembly (10) is mounted on the mounting seat (80), and the mounting seat (80) is detachably mounted on the robot arm (100) by means of a snap assembly (90).

9. The surgical robot according to claim 8, wherein a limiting sliding groove (101) is arranged on the mechanical arm (100), a limiting sliding block (81) matched with the limiting sliding groove (101) is arranged at the bottom of the mounting seat (80), and the buckle assembly (90) is used for locking the limiting sliding block (81) in the limiting sliding groove (101).

10. A surgical robot as claimed in claim 9, characterized in that said catch assembly (90) comprises:

the clamping groove (91) is arranged at the bottom of the limiting sliding block (81), the clamping groove (91) comprises a guide section (911) and a clamping stopping section (912), the guide section (911) extends along the sliding direction of the limiting sliding groove (101), and the clamping stopping section (912) is communicated with the guide section (911) and extends along the direction perpendicular to the sliding direction;

the clamping protrusion (92) is convexly arranged in the limiting sliding groove (101), and the clamping protrusion (92) is provided with a locking position clamped in the clamping stopping section (912) and an unlocking position separated from the clamping stopping section (912);

the button (93) is mounted on the mechanical arm (100) and connected with the clamping protrusion (92), and the button (93) drives the clamping protrusion (92) to reciprocate along a direction perpendicular to the sliding direction under the action of external force; and

a resilient member (94), the resilient member (94) bearing between the button (93) and the mechanical arm (100) to provide a restoring force to the button (93).

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