CN115429436A - Surgical robot and driving device thereof - Google Patents

Abstract

The application discloses a surgical robot and a driving device thereof. The driving device includes a power assembly and a transmission assembly. The power assembly includes a power part and a casing part, the power part includes an output shaft, and the casing part is fixedly arranged on the power part and at least surrounds the outer periphery of the output shaft; the transmission assembly includes a protective shell As well as the transmission part, the protective shell button cover is arranged on the outside of the shell part and forms a sealed cavity surrounding the shell part, the output shaft is located in the sealed cavity, and the transmission part is rotatably installed in the The protective shell is fixedly connected with the output shaft. The surgical robot and its driving device of the present invention can solve the problem that the driving device of the surgical robot cannot be sterilized by high temperature and high pressure, and it is difficult to meet the operation requirements.

Description

Surgical robot and its driving device

technical field

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

Background technique

At present, surgical robots are more and more widely used in the medical field. For example, in a surgical robot used for injecting bone cement, a driving device such as a motor is usually used as a power element to drive a plunger of a bone cement injector to perform bone cement injection.

Before the actual operation, each module on the surgical robot needs to be sterilized under high temperature and high pressure. However, the driving device such as the motor is limited by its own structure and composition, and cannot be sterilized under high temperature and high pressure, which is difficult to meet the surgical requirements.

Contents of the invention

The main purpose of the present application is to provide a surgical robot and its driving device to solve the problem that the driving device of the surgical robot cannot be sterilized by high temperature and high pressure and is difficult to meet the surgical requirements.

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

A power assembly, the power assembly includes a power part and a casing part, the power part includes an output shaft, and the casing part is fixedly arranged on the power part and at least surrounds the outer periphery of the output shaft; and

The transmission assembly, the transmission assembly includes a protective shell and a transmission member, the protective shell button cover is arranged on the outside of the shell part and surrounds the shell part to form a sealed cavity, and the output shaft is located in the sealed cavity , the transmission member is rotatably installed on the protective shell and fixedly connected with the output shaft.

Further, the casing part includes a cylindrical casing, the first end of the cylindrical casing is fixed on the power part, the output shaft is located in the cylindrical casing, and the second end of the cylindrical casing There are avoidance through holes.

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

Further, an opening is provided at one end of the protective shell close to the outer shell part, the protective shell is sleeved on the outer periphery of the outer shell part through the opening, and the inner wall surface of the protective shell and the outer shell part A first sealing ring is arranged between them.

Further, the protective shell is provided with a mounting hole, and the mounting hole communicates with the sealed cavity;

The end of the transmission member is provided with a connecting portion, the transmission member is connected to the output shaft through the connecting portion, the connecting portion includes a connecting rod and an outer cover, the connecting rod is located inside the outer cover, the The connecting rod is connected to the output shaft through the installation hole, and the outer cover is sleeved on the outside of the protective shell.

Further, the transmission assembly further includes a limiting member, which is detachably sleeved on the connecting rod for locking the housing part in the outer cover.

Further, the driving device further includes a sterile protective film, and the sterile protective film covers the outer periphery of the power part and the shell part.

In another aspect, the present application provides a surgical robot, the surgical robot includes the above-mentioned driving device, the surgical robot also includes a mechanical arm, the driving device also includes a mount, and the power assembly is installed on the mount The mounting base is detachably mounted on the mechanical arm through a buckle assembly.

Further, a limiting chute is provided on the mechanical arm, and a limiting slider matching the limiting chute is provided at the bottom of the mounting seat, and the snap-fit assembly is used to hold the limiting chute The slide block is locked in the limit chute.

Further, the buckle assembly includes:

a locking groove, the locking groove is arranged at the bottom of the limiting slider, the locking groove includes a guide section and a locking section, the guiding section extends along the sliding direction of the limiting chute, and the locking section a segment communicates with the guide segment and extends in a direction perpendicular to the sliding direction;

A locking protrusion, the locking protrusion is arranged in the limiting chute, and the locking protrusion has a locking position locked in the locking section and an unlocking position detached from the locking section;

a button, the button is installed on the mechanical arm and connected with the protrusion, and the button is driven by an external force to reciprocate the protrusion in a direction perpendicular to the sliding direction; and

an elastic member, the elastic member is pressed between the button and the mechanical arm to provide a restoring force to the button.

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

Since the transmission assembly in the present application is provided with a protective shell, the protective shell and the outer shell can be surrounded to form a sealed cavity. The function of the sealing cavity can block the bacteria on the side of the power component on the side of the transmission component close to the power component, which can meet the aseptic requirements of the surgical environment.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 is the three-dimensional structural view of the driving device (with the transmission part removed) disclosed in the embodiment of the present application;

Fig. 2 is A-A sectional view among Fig. 1;

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

Figure 4 is an enlarged view of the M area in Figure 2;

Fig. 5 is a three-dimensional structure diagram of the mechanical arm disclosed in the embodiment of the present application;

Fig. 6 is a three-dimensional structural view of the mounting seat part of the surgical robot disclosed in the embodiment of the present application installed on the mechanical arm;

Figure 7 is an exploded view of Figure 6;

Fig. 8 is a three-dimensional structural view of the mounting seat part disclosed in the embodiment of the present application.

Wherein, the above-mentioned accompanying drawings include the following reference signs:

10. Power assembly; 11. Power unit; 111. Motor; 112. Reducer; 1101. Output shaft; 12. Shell part; 121. Avoidance through hole; 122. Second end; 123. First end; Bacteria protective film; 30, transmission component; 31, protective shell; 311, bottom surface; 312, opening; 313, installation hole; 32, transmission part; 321, connecting part; 3211, connecting rod; Outer cover; 33, limit piece; 40, sealing cavity; 50, first gap; 60, first sealing ring; 70, second sealing ring; 80, mounting seat; 81, limit slider; 90, buckle assembly ;

detailed description

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, techniques, methods, and devices should be considered part of the authorized description. In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

Referring to FIG. 1 to FIG. 4 , according to an embodiment of the present application, a driving device is provided, which can be used for a surgical robot to provide surgical power and the like for the surgical robot.

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

Wherein, the power assembly 10 includes a power part 11 and a casing part 12, the power part 11 includes an output shaft 1101, and the casing part 12 is fixedly arranged on the power part 11 and at least surrounds the outer circumference of the output shaft 1101; the transmission assembly 30 includes a protective The shell 31 and the transmission part 32, the protective shell 31 is buckled and set on the outside of the shell part 12 and surrounded by the shell part 12 to form a sealed cavity 40, after the protective shell 31 and the shell part 12 are assembled, the output shaft 1101 is located in the sealed cavity 40 Inside, the transmission member 32 is mounted on the protective shell 31 in a transmission manner and is fixedly connected with the output shaft 1101 .

Since the transmission assembly 30 in the present application is provided with a protective shell 31, the protective shell 31 and the shell part 12 can be surrounded to form a sealed cavity 40. When actually connected, the transmission member 32 is connected to the output shaft 1101 located in the sealed cavity 40, and also That is to say, through the function of the protective shell 31 and the sealing cavity, the bacteria on the side of the power assembly 10 can be blocked on the side of the transmission assembly 30 close to the power assembly 10, which can meet the aseptic requirements of the operating environment.

Further, the driving device in this embodiment also includes a sterile protective film 20, which is coated on the outer circumference of the power part 11 and the housing part 12. When the driving device is working, the output shaft 1101 Rotate under the drive of 11, at this time, the housing part 12 will not rotate, when the output shaft 1101 rotates, it can drive the transmission part 32 to rotate, because the transmission part 32 is rotatably installed on the protective shell 31, the transmission part 32 is in the output When driven by the shaft 1101 to rotate, the protective case 31 and the outer shell part 12 are in a static state. That is to say, when the power part 11 drives the transmission member 32 to rotate, the protective shell 31 and the shell part 12 positioned on both sides of the sterile protective film 20 are in a static state, and the sterile protective film 20 will not be in the working state of the power part 11. Abraded or damaged by the protective shell 31 and the outer shell part 12, it can play a very good aseptic protection effect on the driving device.

Further, the power unit 11 in this embodiment includes a motor 111 and a reducer 112, the motor 111 is drivingly connected to the reducer 112, the reducer 112 is provided with the above-mentioned output shaft 1101, and the output shaft 1101 and the transmission member 32 pass through Coupling 120 connects. During the actual connection, the output shaft 1101, the transmission member 32 and the coupling 120 are connected by a top wire or a locking pin, and the aseptic protective film 20 is provided with a through hole to avoid the top wire and the positioning pin, and the operation is simple , which is easy to implement. When working, the motor 111 rotates, which can drive the reducer 112 to work, and then drive the output shaft 1101 and the transmission member 32 to move synchronously.

Referring to Fig. 1, the housing part 12 in this embodiment includes a cylindrical housing, the first end 123 of the cylindrical housing is fixed on the power part 11, the output shaft 1101 is located in the cylindrical housing, and the first end 123 of the cylindrical housing is The two ends 122 are provided with avoidance through holes 121, so that it is convenient to connect the transmission member 32 to the output shaft 1101; the sterile protective film 20 is coated on the outer surface of the cylindrical shell and is directed from the port of the avoidance through hole 121 to the avoidance passage. The inside of the hole 121 extends a predetermined distance. That is to say, in addition to being coated on the outer surface of the shell part 12, the sterile protective film 20 also covers a certain length inwardly from the second end 122 of the shell part 12, so that the aseptic protective film can not only be improved. The installation stability of the 20 prevents the aseptic protective film 20 from falling off, and can also improve the protective effect of the aseptic protective film 20.

As shown in FIGS. 1 to 3 , the protective shell 31 in this embodiment is generally arranged in a cylindrical structure, and the inner wall surface of the end surface of the protective shell 31 facing the second end 122 of the cylindrical shell is a bottom surface 311, and the bottom surface 311 There is a first gap 50 between the end face of the second end 122 and the cylindrical housing. That is to say, after the protective shell 31 is installed on the shell part 12, the protective shell 31 will not abut against the end of the protective shell 31, so even if the protective shell 31 moves relative to the shell part 12, it will not It is easy to cause wear and damage to the sterile protective film 20 at the end of the shell part 12, and it is also convenient to reduce the working noise of the driving device in this embodiment.

Further, an opening 312 is provided at one end of the protective shell 31 close to the outer shell portion 12, the protective shell 31 is sheathed on the outer periphery of the outer shell portion 12 through the opening 312, and the inner wall surface of the protective shell 31 and the sterile protective film 20 are provided with The first sealing ring 60 can further improve the aseptic protection effect of the driving device in this embodiment.

In order to install the transmission part 32, the protective shell 31 in this embodiment is provided with an installation hole 313, and the installation hole 313 communicates with the sealing cavity 40; The connecting part 321 is connected to the output shaft 1101. The connecting part 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 is connected to the output shaft 1101 through the mounting hole 313. The outer cover 3212 is sleeved on the outside of the protective shell 31. Through the function of the outer cover 3212, the installation hole 313 can be covered and covered, and the aseptic protection effect of the driving device in this embodiment can be further improved.

Optionally, a second sealing ring 70 is provided between the outer cover 3212 and the protective shell 31 in this embodiment. Through the function of the second sealing ring 70, bacteria in the sealing cavity 40 can be prevented from entering the installation hole 313 and the protective shell. The operation environment entering the gap between the shell 31 and the outer cover 3212 can further effectively improve the aseptic protection effect of the driving device in this embodiment.

As shown in FIG. 4 , the transmission assembly 30 in this embodiment further includes a limiting member 33 , which is detachably sleeved on the connecting rod 3211 for locking the housing part 12 in the outer cover 3212 . During actual use, the entire transmission assembly 30 is a disposable consumable, which can be sterilized separately under high temperature and high pressure, and the outer shell part 12 is locked in the outer cover 3212 by the limiting member 33, which can improve the assembly efficiency of the driving device.

Specifically, the outer periphery of the connecting rod 3211 is provided with an annular installation groove 32111, and the limiting member 33 is sleeved on the outer periphery of the connecting rod 3211 through the annular installation groove 32111, which has a simple structure and is convenient for installation. Optionally, the limiting member 33 in this embodiment is an annular limiting piece, and the outer diameter of the annular limiting piece is not smaller than the inner diameter of the installation hole 313. In this way, not only the outer shell part 12 can be locked in the outer cover 3212, but also To a certain extent, bacteria in the sealed cavity 40 can be prevented from entering the external operation environment from the installation hole 313, and the aseptic protection effect of the driving device in this embodiment can be improved to a certain extent.

Referring to FIG. 1 to FIG. 8 , the present application also provides a surgical robot, such as a bone cement injection robot. The surgical robot includes the driving device in the above embodiment, therefore, the surgical robot in this embodiment includes all the technical effects of the driving device in the above embodiment, since the technical effect of the driving device has been described in detail above, here No longer.

Specifically, the surgical robot in this embodiment may be, for example, a bone cement injection robot. The surgical robot also includes a mechanical arm 100, and the drive device also includes a mounting base 80, on which the power assembly 10 is installed. During actual installation, the mounting base 80 is detachably mounted on the mechanical arm 100 through a buckle assembly 90. .

Further, a limit slide 101 is provided on the mechanical arm 100 , and a limit slide 81 matching the limit slide 101 is provided on the bottom of the mounting base 80 , and the buckle assembly 90 is used to place the limit slide 81 Locked in the limit chute 101. Cooperating between the limit chute 101 and the limit slider 81, and then locking the two with the buckle assembly 90, the contact area between the mounting base 80 and the mechanical arm 100 can be increased, and the installation stability of the driving device can be improved. Of course, in other implementations of the present application, the limiting slide 101 can also be arranged on the mounting base 80 , and the limiting slider 81 can be arranged on the mechanical arm 100 .

Optionally, the snap assembly 90 in this embodiment includes a slot 91 and a protrusion 92 . Wherein, the locking groove 91 is arranged at the bottom of the limiting slider 81, and the locking groove 91 includes a guiding section 911 and a locking section 912. The guiding section 911 extends along the sliding direction of the limiting chute 101, and the locking section 912 and the guiding section 911 communicates with and extends in a direction perpendicular to the sliding direction of the limit slider 81; the card protrusion 92 is protruded in the limit chute 101, and the card protrusion 92 has a locking position locked in the locking section 912 and a disengagement card. The unlocked position of the stop section 912.

During actual assembly, the limit slider 81 at the bottom of the mounting base 80 slides along the limit chute 101. At this time, the card protrusion 92 can slide along the guide section 911 of the card groove 91. After the limit slider 81 slides in place, The locking protrusion 92 just slides into the locking section 912 . At this time, the locking protrusion 92 is moved into the locking section 912 in a direction perpendicular to the sliding direction of the limiting slider 81, so that the limiting slider 81 can be locked in the limiting chute 101; When the seat 80 is disassembled from the mechanical arm 100, it is only necessary to move the locking protrusion 92 in a direction perpendicular to the sliding direction of the limit slider 81 to align with the guide section 911, and then make the limit slide at the bottom of the mounting seat 80 Block 81 slides out from limit chute 101 and gets final product.

In order to facilitate the control and operation of the buckle 92, the buckle assembly 90 in this embodiment also includes a button 93 and an elastic member 94, the button 93 is installed on the mechanical arm 100 and connected with the buckle 92, and the button 93 is affected by an external force The locking protrusion 92 is driven to reciprocate in a direction perpendicular to the sliding direction of the limit slider 81 ; the elastic member 94 is pressed 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, and the two ends of the plate-shaped structure are provided with positioning posts, and the positioning posts extend along the width direction of the mechanical arm 100. The elastic member 94 is a spring, and the spring sleeve It is arranged on the positioning post, and the 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 locking protrusion 92 is arranged on the button 93 and protrudes inside the limit slide groove 101 . When the button 93 is pressed along the direction perpendicular to the length of the mechanical arm 100 , it will drive the locking protrusion 92 to switch from the locked position to the unlocked position. When the external force is removed, under the action of the spring, the locking protrusion 92 can be switched from the unlocking position to the locking position, so as to lock the limiting slider 81 in the limiting sliding groove 101 .

For the convenience of description, spatially relative terms may be used here, such as "on ...", "over ...", "on the surface of ...", "above", etc., to describe the The spatial positional relationship between one device or feature shown and other devices or features. 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 the device in the figures is turned over, devices described as "above" or "above" other devices or configurations would then be oriented "beneath" or "above" the other devices or configurations. under other devices or configurations”. Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. To limit the protection scope of this application.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. A driving device, characterized in that, comprising: The power assembly (10), the power assembly (10) includes a power part (11) and a housing part (12), the power part (11) includes an output shaft (1101), and the housing part (12) is fixedly arranged on on the power part (11) and at least surround the outer circumference of the output shaft (1101); and A transmission assembly (30), the transmission assembly (30) comprising a protective case (31) and a transmission member (32), the protective case (31) button cover is arranged on the outside of the shell part (12) and is connected with the The casing part (12) is surrounded to form a sealed cavity (40), the output shaft (1101) is located in the sealed cavity (40), the transmission member (32) is rotatably mounted on the protective shell (31) and It is fixedly connected with the output shaft (1101). 2. The driving device according to claim 1, characterized in that, the housing part (12) comprises a cylindrical housing, and the first end (123) of the cylindrical housing is fixed on the power part (11) , the output shaft (1101) is located in the cylindrical casing, and the second end (122) of the cylindrical casing is provided with an escape through hole (121). 3. The driving device according to claim 2, characterized in that, the inner wall surface of the end surface of the protective shell (31) facing the second end (122) of the cylindrical shell is a bottom surface (311), and the bottom surface There is a first gap (50) between (311) and the end surface of the second end (122) of the cylindrical housing. 4. The driving 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), and the protective shell (31) passes through the The opening (312) is sheathed on the outer periphery of the shell part (12), and a first sealing ring (60) is arranged between the inner wall surface of the protective shell (31) and the 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), and the mounting hole (313) communicates with the sealed 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), and the connecting portion (321) It includes a connecting rod (3211) and a housing (3212), the connecting rod (3211) is located inside the housing (3212), the connecting rod (3211) passes through the mounting hole (313) and the output shaft (1101) is connected, and the outer cover (3212) is sleeved on the outside of the protective shell (31). 6. The driving device according to claim 5, characterized in that, the transmission assembly (30) further comprises a limiter (33), and the limiter (33) is detachably sleeved on the connecting rod (3211) for locking the housing part (12) within the housing (3212). 7. The driving device according to any one of claims 1 to 6, characterized in that, the driving device further comprises a sterile protective film (20), and the sterile protective film (20) is coated and arranged on the The outer circumference of the power part (11) and the outer shell part (12). 8. A surgical robot, characterized in that, the surgical robot comprises the driving device according to any one of claims 1 to 6, the surgical robot also comprises a mechanical arm (100), and the driving device also includes a mounting seat (80), the power assembly (10) is mounted on the mounting seat (80), and the mounting seat (80) is detachably mounted on the mechanical arm (100) through a buckle assembly (90) . 9. The surgical robot according to claim 8, characterized in that, the mechanical arm (100) is provided with a limit slide (101), and the bottom of the mounting seat (80) is provided with a limit slide The slot (101) is matched with the limit slider (81), and the buckle assembly (90) is used to lock the limit slider (81) in the limit slide groove (101). 10. The surgical robot according to claim 9, characterized in that, the buckle assembly (90) comprises: A card slot (91), the card slot (91) is arranged at the bottom of the limit slider (81), the card slot (91) includes a guide section (911) and a locking section (912), the The guide section (911) extends along the sliding direction of the limiting chute (101), and the locking section (912) communicates with the guide section (911) and extends in a direction perpendicular to the sliding direction; A locking protrusion (92), the locking protrusion (92) is protrudingly provided in the limiting chute (101), and the locking protrusion (92) has a locking position locked in the locking section (912) and disengage from the unlocked position of the locking section (912); A button (93), the button (93) is installed on the mechanical arm (100) and connected with the protrusion (92), and the button (93) is driven by an external force to drive the protrusion (92) along the reciprocating in a direction perpendicular to the sliding direction; and An elastic member (94), the elastic member (94) is pressed between the button (93) and the mechanical arm (100) to provide restoring force to the button (93).

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